TDA4 RTOS SDK环境搭建和编译

1、RTOS SDK 环境搭建

1.1 下载RTOS SDK

下载链接：PROCESSOR-SDK-J721E 软件开发套件 (SDK) | TI.com.cn

下载压缩包ti-processor-sdk-rtos-j721e-evm-08_06_01_03.tar到PSDKR_PATH目录中，可以为home/user目录或者/opt目录

解压：

tar -xvf ti-processor-sdk-rtos-j721e-evm-08_06_01_03.tar

1.2 环境设置：

1.2.1 链接linux sdk中的rootfs和boot文件到：

cd ${PSDKR_PATH}
ln -s /home/zynq/tda4/ti-processor-sdk-linux-j7-evm-08_06_01_02/board-support/prebuilt-images/boot-j7-evm.tar.gz boot-j7-evm.tar.gz
ln -s /home/zynq/tda4/ti-processor-sdk-linux-j7-evm-08_06_01_02/filesystem/tisdk-edgeai-image-j7-evm.tar.xz tisdk-edgeai-image-j7-evm.tar.xz

1.2.2 如果已下载工具链，可以链接到PSDKR_PATH目录中

cd ${PSDKR_PATH}
ln -s /home/zynq/tools/gcc-arm-9.2-2019.12-x86_64-aarch64-none-elf gcc-arm-9.2-2019.12-x86_64-aarch64-none-elf
ln -s /home/zynq/tools/gcc-arm-9.2-2019.12-x86_64-aarch64-none-linux-gnu gcc-arm-9.2-2019.12-x86_64-aarch64-none-linux-gnu
ln -s /home/zynq/tools/gcc-arm-9.2-2019.12-x86_64-arm-none-linux-gnueabihf gcc-arm-9.2-2019.12-x86_64-arm-none-linux-gnueabihf

1.2.3 运行RTOS 环境setup脚本

setup脚本会安装系统所需软件包，并下载源代码包和工具链包(PSDKR_PATH目录下没有的情况下)。

cd ${PSDKR_PATH}
./psdk_rtos/scripts/setup_psdk_rtos.sh

2、RTOS SDK 组件介绍

软件包列表：

mcusw	包含用于 AutoSAR的MCU demos, MCAL(Microcontroller abstraction layer)
pdk_jacinto	The PDK( Platform Development Kit ) comes with pre-built libraries for running the demos/examples and everything you need to start writing an application (Note: This is part of the binary package and not available with source only package). However, one may want to customize and rebuild the source.
ethfw	以太网固件是基于FreeRTOS的应用，用于配置SOC内核的以太网switch，运行在Main域的Cortex R5F 0 core 0上。 以太网固件包含用于处理本地和远程API调用和演示的远程配置服务器、源管理库、交换驻留协议、代理层. 交换机软件使用PDK中的网路和其它驱动用于各自的IP配置。
tidl_j721e	用于j721e的深度学习库
glm	用于图形软件的c++数学库，全部为hpp头文件形式
dsplib_c66x	C66x DSP 通用运算库，有预编译版本，也可以用CCS v5编译或者makefile编译，工程位于packages/ti/dsplib
dsplib	C71 DSP 通用运算库，有预编译版本，也可以重新编译
mathlib_c66x	C66x DSP 浮点运算库，有预编译版本，位于ti/mathlib/lib/目录下
mathlib	C71 DSP 浮点运算库，有预编译版本，位于lib/目录下
fftlib	C7X/MMA FFT 计算库
remote_device	用于核间通讯的C/S架构的软件库，可以用于核间共享物理设备数据。
SYSFW	https://git.ti.com/git/processor-firmware/ti-linux-firmware.git。用于管理clock, power and resource 。这些服务可以通过PDK包中的 “sciclient” 进行访问
xdais	XDAIS DSP 算法接口

3、编译PDK

PDK支持两种编译方式，区别如下：

       makefile at PDK_INSTALL_DIR/packages/ti/build supports granular build targets like specific library and examples.
        makefile at PDK_INSTALL_DIR/packages supports build of all possible boards and cores based on PDK_SOC variable.
​

编译产物位于${PSDKR_PATH}/pdk_jacinto_08_06_01_03/packages/ti/binary/。

3.1 编译所有Plaform Development Kit (PDK)包，包括 libraries 和examples

cd ${PSDKR_PATH}/pdk_jacinto_08_06_01_03/packages
make all PDK_SOC=j721e

3.2 只编译Plaform Development Kit (PDK)中的 libraries

cd ${PSDKR_PATH}/pdk_jacinto_08_06_01_03/packages
make all_libs PDK_SOC=j721e

3.3 只编译Plaform Development Kit (PDK)中的 examples

cd ${PSDKR_PATH}/pdk_jacinto_08_06_01_03/packages
make all_examples PDK_SOC=j721e

3.4 分core编译

下面是支持的board和core列表

Jacinto Family of Devices
        BOARD = j721e_evm
                CORE = < mpu1_0, mcu1_0, mcu1_1, mcu2_0, mcu2_1, mcu3_0, mcu3_1, c66xdsp_1, c66xdsp_2, c7x_1 >

    cd PDK_INSTALL_DIR/packages/ti/build
​
    Build all PDK libraries for all cores:
​
        make -s pdk_libs_allcores BOARD=<board>
​
    Build all PDK applications and libraries for all cores:
​
        make -s allcores BOARD=<board>
​
    Build all PDK libraries for a given cores:
​
        make -s pdk_libs BOARD=<board> CORE=<core>
​
    Build all PDK applications and libraries for a given cores:
​
        make -s all BOARD=<board> CORE=<core>
​
    Build individual targets (use help menu to see all targets):
​
        make -s <target> BOARD=<board> CORE=<core>
​
    Clean everything (all cores and all platforms/boards):
​
        make -s allclean
​
    Clean all targets for a given board:
​
        make -s allcores_clean BOARD=<board>
​
    Clean individual targets:
​
        make -s <target>_clean BOARD=<board> CORE=<core>
​
    To know more build options:
​
        make -s help BOARD=<board>
​
        e.g. make help BOARD = j721e_evm
​
        The above command could be used to list the application supported for a given platform/SoC
​

3.5、编译产物

3.5.1 编译lib产物后缀

The full library name consists of its name and extension shown as <LIBNAME>.<LIBEXT> where LIBEXT is constructed as a<FORMAT_EXT><ISA_EXT><ENDIAN_EXT> as described at the following table

Variable	Description
<LIBMAME>	Library name will be the module name or the <mod name>_LIBNAME if it is specified at the makefile. Examples: csl_LIBNAME = ti.csl ==> ti.csl.ae66, MODULE_NAME = esm ==> esm.aer5f
<FORMAT_EXT>	Format extension. For example, ELF file is indicated as “e”
<ISA_EXT>	ISA extension. For example, a8, a9, a15, a53, a72, m4, r5f, 66, 71
<ENDIAN_EXT>	ENDIAN extension which is core-specific. For example, “e” is usually used to indicate big endianness and “fg” indicates little endianness for MPU A8, A9, A15, A53 and A72

下面是一些示例，文件位于目录 “PDK_INSTALL_DIR/packages”:

ti/drv/udma/lib/j721e/mcu1_0/release/udma.aer5f
ti/osal/lib/freertos/j721e/r5f/release/ti.osal.aer5f
ti/drv/i2c/ib/j721e/a72/debug/ti.drv.i2c.aa53fg
ti/board/lib/j721e_evm/c66/release/ti.board.ae66

4、编译ethfw

4.1 编译所有包

总体编译规则如下：

make <target> PSDK_PATH=<Processor SDK installation path> ETHFW_PATH=<EthFw installation path>

可以使用make help查看支持的编译选项

For J721E:

make ethfw_all BUILD_SOC_LIST=J721E

可以使用SHOW_COMMANDS 设置输出编译过程信息:

make ethfw_all BUILD_SOC_LIST=<SOC> SHOW_COMMANDS=1

清除编译结果

make ethfw_all_clean BUILD_SOC_LIST=<SOC>

4.2 编译 SafeRTOS

The location of the SafeRTOS package can be changed through the SAFERTOS_KERNEL_INSTALL_r5f_<SOC> variable in ethfw_tools_path.mak. The SafeRTOS version validated for each SoC can also be found in ethfw_tools_path.mak.

只编译基于SafeRTOS，不编译基于FreeRTOS的包:

make ethfw_all BUILD_SOC_LIST=<SOC> BUILD_APP_FREERTOS=no BUILD_APP_SAFERTOS=yes

编译基于SafeRTOS和FreeRTOS的包:

make ethfw_all BUILD_SOC_LIST=<SOC> BUILD_APP_FREERTOS=yes BUILD_APP_SAFERTOS=yes

4.3 Profiles选项

debug版本

make ethfw_all BUILD_SOC_LIST=<SOC> PROFILE=debug

release版本

make ethfw_all BUILD_SOC_LIST=<SOC> PROFILE=release

4.4 编译产物

cp <SDK_INSTALL_PATH>/ethfw/out/J721E/R5Ft/FREERTOS/debug/app_remoteswitchcfg_server_strip.xer5f <MOUNT>/rootfs/lib/firmware/ethfw/

If needed, update the soft-link j7-main-r5f0_0-fw or j7200-main-r5f0_0-fw to point to the demo application copied to SD card in the previous step.

cd <MOUNT>/rootfs/lib/firmware/
ln -sf ethfw/app_remoteswitchcfg_server_strip.xer5f j7-main-r5f0_0-fw

4、编译错误

4.1 mono: command not found

出现

/bin/sh: mono: command not found

解决方法：

sudo apt install mono-complete