借助 Lauterbach® 在 AM26x 器件上启用跟踪
- ZHCAEV3 December 2024 AM2631 , AM2631-Q1 , AM2632 , AM2632-Q1 , AM2634 , AM2634-Q1 , AM263P2-Q1 , AM263P4 , AM263P4-Q1

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Application Note

借助 Lauterbach® 在 AM26x 器件上启用跟踪

摘要

跟踪是一项实时监测软件的技术，可帮助开发人员调试和诊断应用的问题、异常和运行时行为。跟踪也可用于性能基准标记或记录。实时跟踪是解决复杂问题的理想选择。

Lauterbach® 是全球公认的嵌入式系统开发工具提供商，专注于高性能调试和跟踪设计。Lauterbach 提供的 TRACE32® 工具套件集成了硬件和软件，能够为高速跟踪和调试、代码分析及实时跟踪提供全面的支持。工具套件广泛用于各个行业，可优化和验证嵌入式软件。对于 AM26x 器件，Lauterbach 工具有助于无缝调试并支持详细查看系统行为，使开发人员能够高效地解决嵌入式软件开发中的难题。通过使用 Lauterbach 的 TRACE32 工具进行跟踪，开发人员可以详细了解 AM26x 器件上的软件执行。通过记录执行指令、存储器访问和外设交互的序列，跟踪功能有助于识别性能问题、调试复杂场景以及验证软件正确性。对于时序和执行流程非常关键的实时嵌入式系统，此功能至关重要。Lauterbach 的非侵入式跟踪方法与事件时间戳等功能相结合，可在保持系统完整性的同时支持深入分析，最终提高开发效率和系统可靠性。

ARM R5F 内核以及 ARM M4 内核支持 Lauterbach 跟踪。本文档提供了为德州仪器 (TI) 高性能 AM26x 微控制器启用 Lauterbach ETM 跟踪的分步指南。

注：本文档版本仅适用于 AM263x 和 AM263Px 器件。

商标

Code Composer Studio™is a TM ofTI corporate name.

FreeRTOS™is a TM ofAmazon Web Services, Inc.

Lauterbach® and TRACE32®are reg TMs ofLauterbach GmbH.

Windows®is a reg TM ofMicrosoft Corporation.

Linux®is a reg TM ofLinus Torvalds.

Other TMs

1 首字母缩略词列表

ETM - 嵌入式跟踪宏单元
MCU - 微控制器单元
PRU - 可编程实时单元
SDK - 软件开发套件
SBL - 次级引导加载程序
OSPI - 八线串行外设接口
QSPI - 四线串行外设接口
GPIO - 通用输入输出
IOMUX - 引脚多路复用
I2C - 内部集成电路
ROM - 只读存储器
CPU - 中央处理单元

2 软件设置

若要在 AM26x 器件上运行 MCU_PLUS_SDK 应用，需要安装以下软件和工具：

MCU_PLUS_SDK（版本 10.01 及更高版本）
1. AM263x：AM263x MCU_PLUS_SDK 的下载链接
2. AM263Px：AM263Px MCU_PLUS_SDK 的下载链接
Code Composer Studio™：Code Composer Studio (CCS) 的下载链接
Syscfg：Sysconfig 工具的下载链接
TI-ARM-CLANG 编译器：TI-ARM-CLANG 编译器的下载链接
TI UniFlash 工具（可选）：TI UniFlash 工具的下载链接
Python3：Python3 的下载链接
OpenSSL：OpenSSL 的下载链接

如果用户需要进一步帮助，请参阅官方文档的下载、安装和设置 SDK 和工具页面。

Lauterbach 软件 - 可从以下位置下载 Trace32 软件包：Lauterbach 支持与培训。对于 Windows®，请将该软件包安装在 C:\T32 中，对于 Linux®，请将该软件包安装在默认位置。

3 硬件设置

下面列出了启用 Lauterbach® 跟踪所需的硬件：

AM26x 微控制器：
1. AM263x controlCARD：TMDSCNCD263。
2. AM263Px controlCARD：TMDSCNCD263P。
HSEC 集线站和分线板：TMDSHSECDOCK-AM263。
适用于 HSEC 集线站分线板的标准电源。
USB Type A 转 USB micro-B 电缆，用于 JTAG、XDS110 与 AM26x 微控制器的连接。
Lauterbach 连接器适配器。
跟踪探头。
PowerView 迹线。
JTAG 电缆。
Lauterbach 的电源。
跟踪带状电缆。

3.1 AM263x 连接

将 AM263x 器件对接到 HSEC 集线站分线板上。
将电源连接到 HSEC 集线站分线板。
将 USB Type-A 转 micro-B 从主机 PC 连接到 AM26x 微控制器。

在 AM263Px 上，将 SW-5 开关置于断开状态以断开板载调试器。

开关	状态
SW-5	低

为 HSEC 集线站分线板上电。用户此时看到 AM263x 上的 LD1、LD6、LD14、LD15 亮起。

图 3-1 AM263x PCB# PROC E2 SW-5 开关

图 3-2 安装在 HSEC 集线站板上的 AM263x 控制卡

3.2 AM263Px 连接

AM263Px 原理图与 AM263x 不同。因此，对于 AM263Px，某些步骤可能会不同。

将 AM263Px 器件放置在 HSEC 集线站分线板上。
将电源连接到 HSEC 集线站分线板。
将 USB Type-A 转 micro-B 从主机 PC 连接到 AM26x 微控制器。

在 AM263Px 上，将 SW-1 开关置于关断状态以断开板载调试器。接下来，将 SW-14 开关置于关断状态，将 SW-15 开关置于关断状态，将 SW-16 开关置于导通状态。这是将信号路由到 Lauterbach 迹线引脚所连接的 HSEC 板所必需的。

开关	状态
SW-1	低
SW-14	低
SW-15	低
SW-16	高

为 HSEC 集线站分线板上电。AM263Px 上的 LD2、LD4、LD5、LD9 亮起。

图 3-3 AM263Px PCB# PROC E2 开关

图 3-4 安装在 HSEC 集线站板上的 AM263Px 控制卡

3.3 Lauterbach® 连接

将 Lauterbach 适配器连接到集线站板。
将 Lauterbach 跟踪探头连接到与连接到集线站板的适配器相同的端口（A 或 B）。
确保跟踪探头和 PowerView 迹线已正确连接到适配器。
在 PowerView 迹线与适配器之间连接 JTAG 电缆。
将 Lauterbach 电源连接到 PowerView 迹线并为硬件上电。
在跟踪探头与适配器之间连接跟踪带状电缆。

图 3-5 Lauterbach 设置连接

图 3-6 Lauterbach 设置连接

现在，用户可以打开 Lauterbach 电源。

4 构建 MCU_PLUS_SDK 示例

警告：

调试防火墙由 hsmRtImg 打开。此图形显示在 <mcu_plus_sdk>/source/security/security_common/drivers/hsmclient/soc/<device_name>/hsmRtImg.h 上

如果用户使用的是较早的 MCU_PLUS_SDK 版本（在 v10.01 之前），请将 hsmRtImg.h 替换为更新后的文件：

AM263x - Github

AM263Px - Github

在本应用手册中，用户使用 MCU_PLUS_SDK 示例，在 AM26x MCU 上运行这些示例并获取跟踪。如果用户希望使用不同的应用，请跳过本节。确保已构建 .debug 配置以获得一致的跟踪结果。

4.1 CCS 导入和构建

使用此处提到的步骤在 CCS 中导入应用：使用 SDK 及 CCS 工程
在工程视图窗口中右键点击工程，然后在调试配置中构建应用。这会生成 .out 二进制文件，该文件被加载到 AM26x 器件以用于调试。

4.2 命令行构建

从顶层 MCU_PLUS_SDK 文件夹中打开终端窗口并使用 GNU Make 命令构建应用。例如，

#TO CLEAN
gmake -sj -C examples/drivers/gpio/gpio_led_blink/am263px-cc/r5fss0-0_nortos/ti-arm-clang/ PROFILE=debug clean

#TO SCRUB
gmake -sj -C examples/drivers/gpio/gpio_led_blink/am263px-cc/r5fss0-0_nortos/ti-arm-clang/ PROFILE=debug scrub

#TO BUILD
gmake -sj -C examples/drivers/gpio/gpio_led_blink/am263px-cc/r5fss0-0_nortos/ti-arm-clang/ PROFILE=debug all

有关更多详细信息，请参阅使用 makefile 构建 SDK。

注：

若要对 AM263x 运行上述命令，请替换器件名称以使用 am263x 而不是 am263px。

5 CMM 脚本

CMM 是调试器使用的批处理类型脚本语言。下面的 CMM 脚本处理内核的复位和连接、配置 I2C 时钟、跟踪引脚、IO 扩展器配置、生成片外跟踪结果并将它们显示在窗口中。默认情况下，这适用于 R5F 内核 0，并可修改为针对其他 ARM R5F 和 ARM M4 内核运行。

警告：这些脚本针对基于 NoRTOS 的应用程序进行了验证。需要执行一些额外步骤才能获取 FreeRTOS™ 任务表和 FreeRTOS 组件详细信息。请参阅操作系统感知手册 FreeRTOS。

5.1 AM263x CMM 脚本

AM263x CMM 脚本

; -----------------------------------------------------------------------
; Copyright (C) 2023-2024 Texas Instruments Incorporated
;
; Redistribution and use in source and binary forms, with or without
; modification, are permitted provided that the following conditions
; are met:
;
; Redistributions of source code must retain the above copyright
; notice, this list of conditions and the following disclaimer.
;
; Redistributions in binary form must reproduce the above copyright
; notice, this list of conditions and the following disclaimer in the
; documentation and/or other materials provided with the
; distribution.
;
; Neither the name of Texas Instruments Incorporated nor the names of
; contributors can be used to endorse or promote products derived
; from this software without specific prior written permission.
;
; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
; "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
; LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
; A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
; OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
; SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
; LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
; DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
; THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
; (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
; OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
; -----------------------------------------------------------------------
;
; -----------------------------------------------------------------------
; @Title: Simple demo script for Cortex-R5F on TMDSCNCD263
; @Description:
;   Prompts the user to load application into RAM and sets up a demo debug
;   scenario for the first Cortex-R5F of the SS0 cluster.
;   In addition, configures the off-chip trace.
;   Prerequisites:
;    * Plug TMDSCNCD263 onto TI debug&trace adapter TMDSHSECDOCK-AM263
;    * Connect Debug Cable to J13 via adapter LA-3818
;    * SW5=OFF to deactivate onboard debugger and enable external JTAG debugger
; @Keywords: ARM, Cortex-R5F
; @Board: TMDSCNCD263
; @Chip: AM2634
; @Copyright: 2023-2024 Texas Instruments Incorporated
; -----------------------------------------------------------------------
 
&sbl=TRUE() ; When running in QSPI Bootmode
 
RESet
SYStem.CPU AM2634-SS0
CORE.ASSIGN 1.
 
IF &sbl==FALSE() ; In case of QSPI bootmode, SBL takes care of the below config
(
  ; ---------------------------------------------------------------------
  ; Attach to system bus and make some preparations
  SYStem.Mode PREPARE
 
  ; Unlock MSS_CTRL register
  Data.Set EAHB:0x50D01008 %Long 0x01234567 ; MSS_CTRL_LOCK0_KICK0
  Data.Set EAHB:0x50D0100c %Long 0x0fedcba8 ; MSS_CTRL_LOCK0_KICK1
 
  ; Eclipse ROM, use RAM in ATCM
  Data.Set EAHB:0x50D00080 %Long 0x00000007 ; MSS_CTRL_R5SS0_ROM_ECLIPSE
 
  ; Let core run
  Data.Set EAHB:0x50D00024 %Long 0x00000000 ; MSS_CTRL_R5SS0_CORE0_HALT
)
 
; -----------------------------------------------------------------------
; Attach to the cores
SYStem.Mode Attach
Break
 
IF &sbl==TRUE()
(
  Data.Set EAHB:0x50D01008 %Long 0x01234567 ; MSS_CTRL_LOCK0_KICK0
  Data.Set EAHB:0x50D0100c %Long 0x0fedcba8 ; MSS_CTRL_LOCK0_KICK1
)
 
; -----------------------------------------------------------------------
; Disable the MPU and the caches that have been enabled by the firmware (SCTLR)
Data.Set C15:0x1 %Long (Data.Long(C15:0x1)&(~0x1005))
 
; -----------------------------------------------------------------------
; Load demo program, opens up a file explorer. Navigate and select the application binary you wish
data.LOAD.Elf *
 
; -----------------------------------------------------------------------
; Configure off-chip trace
IF Analyzer()||CAnalyzer()
(  
  ; Unlock TOP_RCM register
  Data.Set EAHB:0x53201008 %Long 0x01234567 ; TOP_RCM_LOCK0_KICK0
  Data.Set EAHB:0x5320100C %Long 0x0fedcba8 ; TOP_RCM_LOCK0_KICK1
  WAIT 1.MS
 
  IF &sbl==FALSE() ; Incase of OSPI Bootmode, SBL does the PLL clock configuration
  (
    ; Config core PLL
    Data.Set EAHB:0x53200410 %Long 0x00010009 ; TOP_RCM_PLL_CORE_M2NDIV
    Data.Set EAHB:0x53200414 %Long 0x00000320 ; TOP_RCM_PLL_CORE_MN2DIV
    Data.Set EAHB:0x53200408 %Long 0x00000001 ; TOP_RCM_PLL_CORE_TENABLE
    Data.Set EAHB:0x53200404 %Long 0x00095001 ; TOP_RCM_PLL_CORE_CLKCTRL
    Data.Set EAHB:0x53200430 %Long 0x00000103 ; TOP_RCM_PLL_CORE_HSDIVIDER_CLKOUT1
  )
 
  ; Select trace clock source and divider
  Data.Set EAHB:0x53200C20 %Long 0x00000222 ; TOP_RCM_TRCCLKOUT_CLK_SRC_SEL
  Data.Set EAHB:0x53200C24 %Long 0x00000222 ; TOP_RCM_TRCCLKOUT_DIV_VAL
 
  ; Unlock IOMUX register and configure IOs
  Data.Set EAHB:0x53100298 %Long 0x83e70b13 ; IOMUX_IO_CFG_KICK0
  Data.Set EAHB:0x5310029C %Long 0x95a4f1e0 ; IOMUX_IO_CFG_KICK1
  WAIT 1.MS
 
  Data.Set EAHB:0x53100064 %Long 0x00000501 ; IOMUX_UART0_RTSN_CFG_REG
  Data.Set EAHB:0x53100068 %Long 0x00000501 ; IOMUX_UART0_CTSN_CFG_REG
 
  Data.Set EAHB:0x531000B0 %Long 0x000007F7 ; IOMUX_EPWM0_B_CFG_REG (GPIO44 -> input + pull-high)
  Data.Set EAHB:0x531000BC %Long 0x000007F7 ; IOMUX_EPWM2_A_CFG_REG (GPIO47 -> input + pull-high)
 
  Data.Set EAHB:0x53100298 %Long 0x83e70b13 ; IOMUX_IO_CFG_KICK0
  Data.Set EAHB:0x5310029C %Long 0x95a4f1e0 ; IOMUX_IO_CFG_KICK1
  WAIT 1.MS
   
  Data.Set EAHB:0x531001DC %Long 0x004 ; IOMUX_PR0_PRU1_GPO19_CFG_REG (TRC_CLK)
  Data.Set EAHB:0x531001E0 %Long 0x204 ; IOMUX_PR0_PRU1_GPO18_CFG_REG (TRC_CTL)
  Data.Set EAHB:0x5310019C %Long 0x204 ; IOMUX_PR0_PRU1_GPO5_CFG_REG (TRC_DATAD0)
  Data.Set EAHB:0x531001A0 %Long 0x204 ; IOMUX_PR0_PRU1_GPO9_CFG_REG (TRC_DATAD1)
  Data.Set EAHB:0x531001A4 %Long 0x204 ; IOMUX_PR0_PRU1_GPO10_CFG_REG (TRC_DATAD2)
  Data.Set EAHB:0x531001A8 %Long 0x204 ; IOMUX_PR0_PRU1_GPO8_CFG_REG (TRC_DATAD3)
 
  IF Analyzer()
  (
    Data.Set EAHB:0x531001AC %Long 0x204 ; IOMUX_PR0_PRU1_GPO6_CFG_REG (TRC_DATAD4)
    Data.Set EAHB:0x531001B0 %Long 0x204 ; IOMUX_PR0_PRU1_GPO4_CFG_REG (TRC_DATAD5)
    Data.Set EAHB:0x531001B4 %Long 0x204 ; IOMUX_PR0_PRU1_GPO0_CFG_REG (TRC_DATAD6)
    Data.Set EAHB:0x531001B8 %Long 0x204 ; IOMUX_PR0_PRU1_GPO1_CFG_REG (TRC_DATAD7)
    Data.Set EAHB:0x531001BC %Long 0x204 ; IOMUX_PR0_PRU1_GPO2_CFG_REG (TRC_DATAD8)
    Data.Set EAHB:0x531001C0 %Long 0x204 ; IOMUX_PR0_PRU1_GPO3_CFG_REG (TRC_DATAD9)
    Data.Set EAHB:0x531001C4 %Long 0x204 ; IOMUX_PR0_PRU1_GPO16_CFG_REG (TRC_DATAD10)
    Data.Set EAHB:0x531001C8 %Long 0x204 ; IOMUX_PR0_PRU1_GPO15_CFG_REG (TRC_DATAD11)
    Data.Set EAHB:0x531001CC %Long 0x204 ; IOMUX_PR0_PRU1_GPO11_CFG_REG (TRC_DATAD12)
    Data.Set EAHB:0x531001D0 %Long 0x204 ; IOMUX_PR0_PRU1_GPO12_CFG_REG (TRC_DATAD13)
    Data.Set EAHB:0x531001D4 %Long 0x204 ; IOMUX_PR0_PRU1_GPO13_CFG_REG (TRC_DATAD14)
    Data.Set EAHB:0x531001D8 %Long 0x204 ; IOMUX_PR0_PRU1_GPO14_CFG_REG (TRC_DATAD15)
  )
 
  ; Use I2C to control the GPIO expander (TCA6416) on the control card to route signals to the docking station
  Data.Set EAHB:0x52502024 %Long 0x00004620 ; I2C2_ICMDR
  Data.Set EAHB:0x5250200C %Long 0x00000009 ; I2C2_ICCLKL
  Data.Set EAHB:0x52502010 %Long 0x00000009 ; I2C2_ICCLKH
  Data.Set EAHB:0x5250201C %Long 0x00000020 ; I2C2_ICSAR
  Data.Set EAHB:0x52502020 %Long 0x00000006 ; I2C2_ICDXR;
  Data.Set EAHB:0x52502024 %Long 0x00006e20 ; I2C2_ICMDR;
  Data.Set EAHB:0x52502020 %Long 0x00000003 ; I2C2_ICDXR; 
  Data.Set EAHB:0x52502024 %Long 0x00006c20 ; I2C2_ICMDR
 
  IF Analyzer()
  (
    Trace.METHOD Analyzer
    TPIU.PortSize 16
  )
  ELSE
  (
    Trace.METHOD CAnalyzer
    TPIU.PortSize 4
  )
  TPIU.PortMode Continuous
  Trace.TERMination ON
  Trace.AutoFocus
)
 
; -----------------------------------------------------------------------
; Open some windows
WinCLEAR
Mode.Hll
WinPOS 0. 0. 116. 26.
List.auto
WinPOS 120. 0. 100. 8.
Frame.view
WinPOS 120. 14.
Var.Watch
Var.AddWatch %SpotLight ast flags
WinPOS 120. 25.
Trace.List
WinPOS 0. 32.
;Var.DRAW %DEFault sinewave
 
ENDDO

5.2 AM263Px CMM 脚本

AM263Px CMM 脚本

; -----------------------------------------------------------------------
; Copyright (C) 2023-2024 Texas Instruments Incorporated
;
; Redistribution and use in source and binary forms, with or without
; modification, are permitted provided that the following conditions
; are met:
;
; Redistributions of source code must retain the above copyright
; notice, this list of conditions and the following disclaimer.
;
; Redistributions in binary form must reproduce the above copyright
; notice, this list of conditions and the following disclaimer in the
; documentation and/or other materials provided with the
; distribution.
;
; Neither the name of Texas Instruments Incorporated nor the names of
; the contributors can be used to endorse or promote products derived
; from this software without specific prior written permission.
;
; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
; "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
; LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
; A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
; OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
; SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
; LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
; DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
; THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
; (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
; OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
; -----------------------------------------------------------------------
;
; -----------------------------------------------------------------------
; @Title: Simple demo script for Cortex-R5F on TMDSCNCD263P
; @Description:
;   Prompts the user to load application into RAM and sets up a demo debug
;   scenario for the first Cortex-R5F of the SS0 cluster.
;   In addition, configures the off-chip trace.
;   Prerequisites:
;    * Plug TMDSCNCD263P onto TI debug&trace adapter TMDSHSECDOCK-AM263
;    * Connect Debug Cable to J13 via adapter LA-3818
;    * SW1=OFF to deactivate onboard debugger and enable external JTAG debugger
;    * SW14=OFF, SW15=OFF, SW16=ON to have signals routed from PRU1 to HSEC
; @Keywords: ARM, Cortex-R5F
; @Board: TMDSCNCD263P
; @Chip: AM263P4
; @Copyright: 2023-2024 Texas Instruments Incorporated
; -----------------------------------------------------------------------
 
&sbl=TRUE() ; When running in OSPI Bootmode
 
RESet
SYStem.CPU AM263P4-SS0
CORE.ASSIGN 1.
 
IF &sbl==FALSE() ; In case of OSPI bootmode, SBL takes care of the below config
(
  ; ---------------------------------------------------------------------
  ; Attach to system bus and make some preparations
  SYStem.Mode PREPARE
 
  ; Unlock MSS_CTRL register
  Data.Set EAHB:0x50D01008 %Long 0x01234567 ; MSS_CTRL_LOCK0_KICK0
  Data.Set EAHB:0x50D0100c %Long 0x0fedcba8 ; MSS_CTRL_LOCK0_KICK1
 
  ; Eclipse ROM, use RAM in ATCM
  Data.Set EAHB:0x50D00080 %Long 0x00000007 ; MSS_CTRL_R5SS0_ROM_ECLIPSE
 
  ; Let core run
  Data.Set EAHB:0x50D00024 %Long 0x00000000 ; MSS_CTRL_R5SS0_CORE0_HALT
)
 
; -----------------------------------------------------------------------
; Attach to the cores
SYStem.Mode Attach
Break
 
IF &sbl==TRUE()
(
  Data.Set EAHB:0x50D01008 %Long 0x01234567 ; MSS_CTRL_LOCK0_KICK0
  Data.Set EAHB:0x50D0100c %Long 0x0fedcba8 ; MSS_CTRL_LOCK0_KICK1
)
 
; -----------------------------------------------------------------------
; Disable the MPU and the caches that have been enabled by the firmware (SCTLR)
Data.Set C15:0x1 %Long (Data.Long(C15:0x1)&(~0x1005))
 
; -----------------------------------------------------------------------
; Load demo program, opens up a file explorer. Navigate and select the application binary you wish
data.LOAD.Elf *
 
; -----------------------------------------------------------------------
; Configure off-chip trace
IF Analyzer()||CAnalyzer()
(  
  ; Unlock TOP_RCM register
  Data.Set EAHB:0x53201008 %Long 0x01234567 ; TOP_RCM_LOCK0_KICK0
  Data.Set EAHB:0x5320100C %Long 0x0fedcba8 ; TOP_RCM_LOCK0_KICK1
  WAIT 1.MS
 
  IF &sbl==FALSE() ; Incase of OSPI Bootmode, SBL does the PLL clock configuration
  (
    ; Config core PLL
    Data.Set EAHB:0x53200410 %Long 0x00010009 ; TOP_RCM_PLL_CORE_M2NDIV
    Data.Set EAHB:0x53200414 %Long 0x00000320 ; TOP_RCM_PLL_CORE_MN2DIV
    Data.Set EAHB:0x53200408 %Long 0x00000001 ; TOP_RCM_PLL_CORE_TENABLE
    Data.Set EAHB:0x53200404 %Long 0x00095001 ; TOP_RCM_PLL_CORE_CLKCTRL
    Data.Set EAHB:0x53200430 %Long 0x00000103 ; TOP_RCM_PLL_CORE_HSDIVIDER_CLKOUT1
  )
 
  ; Select trace clock source and divider
  Data.Set EAHB:0x53200C20 %Long 0x00000222 ; TOP_RCM_TRCCLKOUT_CLK_SRC_SEL
  Data.Set EAHB:0x53200C24 %Long 0x00000222 ; TOP_RCM_TRCCLKOUT_DIV_VAL
 
  ; Unlock IOMUX register and configure IOs
  Data.Set EAHB:0x53100298 %Long 0x83e70b13 ; IOMUX_IO_CFG_KICK0
  Data.Set EAHB:0x5310029C %Long 0x95a4f1e0 ; IOMUX_IO_CFG_KICK1
  WAIT 1.MS
 
  Data.Set EAHB:0x53100064 %Long 0x00000501 ; IOMUX_UART0_RTSN_CFG_REG
  Data.Set EAHB:0x53100068 %Long 0x00000501 ; IOMUX_UART0_CTSN_CFG_REG
 
  Data.Set EAHB:0x531000B0 %Long 0x000007F7 ; IOMUX_EPWM0_B_CFG_REG (GPIO44 -> input + pull-high)
  Data.Set EAHB:0x531000BC %Long 0x000007F7 ; IOMUX_EPWM2_A_CFG_REG (GPIO47 -> input + pull-high)
 
  Data.Set EAHB:0x53100298 %Long 0x83e70b13 ; IOMUX_IO_CFG_KICK0
  Data.Set EAHB:0x5310029C %Long 0x95a4f1e0 ; IOMUX_IO_CFG_KICK1
  WAIT 1.MS
   
  Data.Set EAHB:0x531001DC %Long 0x004 ; IOMUX_PR0_PRU1_GPO19_CFG_REG (TRC_CLK)
  Data.Set EAHB:0x531001E0 %Long 0x204 ; IOMUX_PR0_PRU1_GPO18_CFG_REG (TRC_CTL)
  Data.Set EAHB:0x5310019C %Long 0x204 ; IOMUX_PR0_PRU1_GPO5_CFG_REG (TRC_DATAD0)
  Data.Set EAHB:0x531001A0 %Long 0x204 ; IOMUX_PR0_PRU1_GPO9_CFG_REG (TRC_DATAD1)
  Data.Set EAHB:0x531001A4 %Long 0x204 ; IOMUX_PR0_PRU1_GPO10_CFG_REG (TRC_DATAD2)
  Data.Set EAHB:0x531001A8 %Long 0x204 ; IOMUX_PR0_PRU1_GPO8_CFG_REG (TRC_DATAD3)
 
  IF Analyzer()
  (
    Data.Set EAHB:0x531001AC %Long 0x204 ; IOMUX_PR0_PRU1_GPO6_CFG_REG (TRC_DATAD4)
    Data.Set EAHB:0x531001B0 %Long 0x204 ; IOMUX_PR0_PRU1_GPO4_CFG_REG (TRC_DATAD5)
    Data.Set EAHB:0x531001B4 %Long 0x204 ; IOMUX_PR0_PRU1_GPO0_CFG_REG (TRC_DATAD6)
    Data.Set EAHB:0x531001B8 %Long 0x204 ; IOMUX_PR0_PRU1_GPO1_CFG_REG (TRC_DATAD7)
    Data.Set EAHB:0x531001BC %Long 0x204 ; IOMUX_PR0_PRU1_GPO2_CFG_REG (TRC_DATAD8)
    Data.Set EAHB:0x531001C0 %Long 0x204 ; IOMUX_PR0_PRU1_GPO3_CFG_REG (TRC_DATAD9)
    Data.Set EAHB:0x531001C4 %Long 0x204 ; IOMUX_PR0_PRU1_GPO16_CFG_REG (TRC_DATAD10)
    Data.Set EAHB:0x531001C8 %Long 0x204 ; IOMUX_PR0_PRU1_GPO15_CFG_REG (TRC_DATAD11)
    Data.Set EAHB:0x531001CC %Long 0x204 ; IOMUX_PR0_PRU1_GPO11_CFG_REG (TRC_DATAD12)
    Data.Set EAHB:0x531001D0 %Long 0x204 ; IOMUX_PR0_PRU1_GPO12_CFG_REG (TRC_DATAD13)
    Data.Set EAHB:0x531001D4 %Long 0x204 ; IOMUX_PR0_PRU1_GPO13_CFG_REG (TRC_DATAD14)
    Data.Set EAHB:0x531001D8 %Long 0x204 ; IOMUX_PR0_PRU1_GPO14_CFG_REG (TRC_DATAD15)
  )
 
  ; Use I2C to control the GPIO expander (TCA6424) on the control card to route signals to the docking station
  Data.Set EAHB:0x52502024 %Long 0x00004620 ; I2C2_ICMDR
  Data.Set EAHB:0x5250200C %Long 0x00000009 ; I2C2_ICCLKL
  Data.Set EAHB:0x52502010 %Long 0x00000009 ; I2C2_ICCLKH
  Data.Set EAHB:0x5250201C %Long 0x00000022 ; I2C2_ICSAR
  Data.Set EAHB:0x52502020 %Long 0x0000000C ; I2C2_ICDXR
  Data.Set EAHB:0x52502024 %Long 0x00006e20 ; I2C2_ICMDR
  Data.Set EAHB:0x52502020 %Long 0x00000006 ; I2C2_ICDXR
  Data.Set EAHB:0x52502024 %Long 0x00006c20 ; I2C2_ICMDR
 
  IF Analyzer()
  (
    Trace.METHOD Analyzer
    TPIU.PortSize 16
  )
  ELSE
  (
    Trace.METHOD CAnalyzer
    TPIU.PortSize 4
  )
  TPIU.PortMode Continuous
  Trace.TERMination ON
  Trace.AutoFocus
)
 
; -----------------------------------------------------------------------
; Open some windows
WinCLEAR
Mode.Hll
WinPOS 0. 0. 116. 26.
List.auto
WinPOS 120. 0. 100. 8.
Frame.view
WinPOS 120. 14.
Var.Watch
Var.AddWatch %SpotLight ast flags
WinPOS 120. 25.
Trace.List
WinPOS 0. 32.
;Var.DRAW %DEFault sinewave
 
ENDDO

6 刷写 SBL Null

TI 建议用户将 SBL Null 刷写到 AM26x 器件中。

6.1 使用 UniFlash 工具

要使用 UniFlash 工具将 SBL Null 映像刷写到器件中，请按照以下步骤操作。

请按照此视频中的步骤操作：TI 视频。
确保选择文件 uart_uniflash 和 sbl_null 进行刷写。