Add support for TI TMS570LC43 SoC #88741

ntavish · 2025-04-17T04:25:47Z

The SoC has a Cortex-R5 CPU, it required big-endian and BE32 compiler flags. I enabled big-endian ARMv7-R in the SDK toolchain here, and maybe only this CPU uses it as of now: zephyrproject-rtos/sdk-ng#765

I only have (and plan to use) only this specific SoC (TMS570LC43xx), so I focus on getting this chip working, but variants should be able to utilize this code mostly as is (AFAIK).

There is some code in the soc directory (soc.c, asm_funcs.S, soc_pll_errata.c) that is adapted from "TI Halcogen" generated code. It was license BSD 3-clause, and I am checking with TI support if they could help re-licensing it, so I did not create an RFC for the board related to that yet. I did not want to add this to the HAL module, as I am exporting only very limited portions of what the Halcogen generates, but open to suggestions.

nordicjm · 2025-04-17T09:09:33Z

arch/arm/core/Kconfig

+config PLATFORM_SPECIFIC_PRE_STACK_INIT
+	bool "Platform (SOC) specific startup hook executed before the stack is initialised"
+	help
+	  The platform specific initialization code (z_arm_platform_pre_stack_init) is
+	  executed in the early startup code right after the registers are set to known
+	  values and before stack is set up. Note that this code cannot use the stack unlike
+	  z_arm_platform_init.


@nashif for review

decided to not include this commit, soc_reset_hook is sufficient with a small fix before jumping to z_prep_c.

nordicjm · 2025-04-17T09:10:00Z

dts/arm/ti/tms570.dtsi

+	clocks {
+		/*
+		* OSC_IN (16 MHZ)
+		*  -> PLL1 (300 MHz)
+		*      -> GCLK1 (300 MHz)
+		*          -> HCLK (150 MHz)
+		*              -> VCLK (75 MHz)
+		*                  -> RTICLK (75 MHz, divider is bypassed when VCLK is the source)
+		*/
+	};


why is this an empty section with no nodes?

@nordicjm thak you for the review, I have fixed the PR based on your comments. Sorry it was still in draft, I was rebasing and refactoring some code still from an older branch. I will still keep it in draft for today, while I add some description, and also try to figure out what to do with the BSD 3-clause code from TI.

nordicjm · 2025-04-17T09:10:34Z

soc/ti/hercules/Kconfig.soc

+	bool
+
+config SOC_FAMILY
+	default "ti_hercules" if SOC_FAMILY_HERCULES


names must match either: default "hercules" if SOC_FAMILY_HERCULES or default "ti_hercules" if SOC_FAMILY_TI_HERCULES, soc.yml must also match

nordicjm · 2025-04-17T09:27:08Z

soc/ti/hercules/tms570lc43x/CMakeLists.txt

+# TMS470 requires the ARM "legacy Word Invariant Addressing big-endian mode"
+zephyr_compile_options(
+  -mbe32
+  ${TOOLCHAIN_C_FLAGS}
+)
+
+zephyr_ld_options(
+  -mbe32
+  ${TOOLCHAIN_LD_FLAGS}
+)


@tejlmand for comment

nordicjm · 2025-04-17T09:27:26Z

soc/ti/hercules/tms570lc43x/Kconfig.defconfig

+
+# launchpad is 16MHz
+config SYS_CLOCK_HW_CYCLES_PER_SEC
+	default 16000000


needs to come from dts property

Fixed the comment and value, but kept it in Kconfig.defconfig as several other SoCs seem to have it too.

nordicjm · 2025-04-17T09:29:32Z

boards/ti/tms570_launchxl2/tms570_launchxl2_defconfig

+# SPDX-License-Identifier: Apache-2.0
+CONFIG_PINCTRL=y
+CONFIG_PINCTRL_TI_TMS570=y


nordicjm · 2025-04-17T09:30:00Z

drivers/interrupt_controller/Kconfig.tms570_vim

+	default y
+	depends on DT_HAS_TI_TMS570_VIM_ENABLED
+	help
+		The TI Vectored Interrupt Manager provides hardware assistance for prioritizing


help indent is 1x tab followed by 2x spaces

nordicjm · 2025-04-17T09:30:26Z

drivers/interrupt_controller/Kconfig.tms570_vim

+if CPU_CORTEX_R5
+
+config TMS570_VIM


how does this relate to cortex r5 if it's a ti specific thing?

nordicjm · 2025-04-17T09:30:39Z

dts/arm/ti/tms570.dtsi

-		
+


fix in original commit

fixed, I think

nordicjm · 2025-04-17T09:31:10Z

soc/ti/hercules/tms570lc43x/Kconfig.defconfig

 config FLASH_BASE_ADDRESS
-	default 1000000
+	default 0x00000000


fix in original commit

henrikbrixandersen · 2025-04-25T05:31:59Z

soc/ti/hercules/ti_tms570lc43x/soc.c

@@ -0,0 +1,334 @@
+/* SPDX-License-Identifier: BSD-3-Clause */


We typically cannot have BSD-3-Clause licensed code in the tree, as this needs to be approved by the governing board (see https://docs.zephyrproject.org/latest/contribute/guidelines.html#components-using-other-licenses).

I sent a message to TI support regarding this, but I am not sure. If it doesn't go anywhere in 1 week, I will create a PR for hal_ti, and re-arrange this PR a bit.

wearyzen · 2025-04-25T09:16:55Z

arch/arm/core/Kconfig

@@ -174,6 +174,14 @@ config PLATFORM_SPECIFIC_INIT

 	  This option is deprecated, use SOC_RESET_HOOK instead.

+config PLATFORM_SPECIFIC_PRE_STACK_INIT


z_arm_platform_init was deprecated so a new config shouldn't be created taking it as a reference. You could add SOC_PRE_STACK_RESET_HOOK or something here but I would request to add an explanation why a pre stack soc init is needed in commit message and help section.

I removed this commit and made use of soc_reset_hook after adding a small fix.

Functions called prior to z_prep_c might not preserve r4 which was loaded earlier on before setting up the stacks. This commit explicitly loads the address of z_prep_c to r4 before using it for a branch. Signed-off-by: Tavish Naruka <[email protected]>

Adds new SoC. The vendor provides a tool (halcogen) to generate code including SoC init and errata handling code, which is also included here after adapting it to coding style and reducing dependencies. As for erratas, the applicable one at this stage is PLL startup errata. We also have CORTEX-R5#7 (ARM ID-780125), but we did not implement it due to several reasons: 1. did not implement it in the past codebase 2. Halcogen code does not implement it 3. This is Cortex R5 errata, Xilinx R5 implementation has this note https://adaptivesupport.amd.com/s/article/65878 Signed-off-by: Tavish Naruka <[email protected]>

Adds driver for TI TMS570 SoC. Signed-off-by: Tavish Naruka <[email protected]>

Adds SCI peripheral UART driver for TMS570. Signed-off-by: Tavish Naruka <[email protected]>

Add TI VIM driver specific to the TMS570 chips. This driver/peripheral is not compatible with the existing intc_vim.c for some other TI chips. Signed-off-by: Tavish Naruka <[email protected]>

Adds the RTI timer for TI TMS570 SoC and enables it as the system timer for enabling multithreading. Signed-off-by: Tavish Naruka <[email protected]>

Adds TI TMS570 SoC GPIO driver. Signed-off-by: Tavish Naruka <[email protected]>

Adds minimal config for TI TMS570 launchpad which has the TMS570LC43 SoC. Signed-off-by: Tavish Naruka <[email protected]>

sonarqubecloud · 2025-06-03T06:13:23Z

Quality Gate passed

Issues
6 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

nordicjm requested changes Apr 17, 2025

View reviewed changes

ntavish force-pushed the feature/add-tms570lc43 branch from 6fb7d8e to 338a715 Compare April 24, 2025 04:45

ntavish changed the title ~~Feature/add tms570lc43~~ Add support for TI TMS570LC43 SoC Apr 24, 2025

ntavish force-pushed the feature/add-tms570lc43 branch 6 times, most recently from c5325f3 to cc4599b Compare April 24, 2025 12:23

ntavish marked this pull request as ready for review April 25, 2025 04:02

github-actions bot added area: Testsuite Testsuite area: Pinctrl area: UART Universal Asynchronous Receiver-Transmitter area: GPIO platform: TI SimpleLink Texas Instruments SimpleLink MCU area: Interrupt Controller area: Timer Timer area: ARM ARM (32-bit) Architecture labels Apr 25, 2025

github-actions bot requested review from andyross, carlocaione, dcpleung, galak, gmarull, henrikbrixandersen, MaureenHelm, microbuilder, mnkp, teburd, vaishnavachath and vanti April 25, 2025 04:03

github-actions bot requested a review from wearyzen April 25, 2025 04:03

github-actions bot assigned dcpleung Apr 25, 2025

ntavish force-pushed the feature/add-tms570lc43 branch from d5d6978 to f058209 Compare April 25, 2025 04:03

henrikbrixandersen requested changes Apr 25, 2025

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henrikbrixandersen added the Licensing The PR has licensing issues => licensing expert to review label Apr 25, 2025

wearyzen reviewed Apr 25, 2025

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Tavish Naruka added 8 commits June 2, 2025 16:02

drivers: pinctrl: add tms570 driver

afac4ed

Adds driver for TI TMS570 SoC. Signed-off-by: Tavish Naruka <[email protected]>

drivers: serial: add tms570 uart driver

4e30a68

Adds SCI peripheral UART driver for TMS570. Signed-off-by: Tavish Naruka <[email protected]>

drivers: intc: add vim_tms570 interrupt controller

3053165

Add TI VIM driver specific to the TMS570 chips. This driver/peripheral is not compatible with the existing intc_vim.c for some other TI chips. Signed-off-by: Tavish Naruka <[email protected]>

drivers: timer: add TMS570 RTI timer as system timer

d6fa36e

Adds the RTI timer for TI TMS570 SoC and enables it as the system timer for enabling multithreading. Signed-off-by: Tavish Naruka <[email protected]>

drivers: gpio: add TMS570 gpio driver

0b4ba81

Adds TI TMS570 SoC GPIO driver. Signed-off-by: Tavish Naruka <[email protected]>

boards: ti: tms570_launchxl2: add new board

bf845a8

Adds minimal config for TI TMS570 launchpad which has the TMS570LC43 SoC. Signed-off-by: Tavish Naruka <[email protected]>

ntavish force-pushed the feature/add-tms570lc43 branch from f058209 to bf845a8 Compare June 3, 2025 05:55

		@@ -0,0 +1,334 @@
		/* SPDX-License-Identifier: BSD-3-Clause */

		@@ -174,6 +174,14 @@ config PLATFORM_SPECIFIC_INIT

		This option is deprecated, use SOC_RESET_HOOK instead.

		config PLATFORM_SPECIFIC_PRE_STACK_INIT

Add support for TI TMS570LC43 SoC #88741

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Add support for TI TMS570LC43 SoC #88741

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ntavish commented Apr 17, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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sonarqubecloud bot commented Jun 3, 2025

Quality Gate passed

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ntavish commented Apr 17, 2025 •

edited

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