Am263x: PRU-I2S #8

rajul-bhambay · 2025-04-17T10:54:26Z

User description

Firmware changes
Application changes
Restructured driver apis

Fixes: PINDSW-8487

PR Type

Enhancement

Description

• Complete PRU I2S driver implementation with comprehensive API for initialization, open/close, read/write operations
• Support for both I2S and TDM4 modes with interleaved/non-interleaved data format conversion
• PRU firmware binaries and assembly code for both TX and RX operations on PRU0 and PRU1
• Interrupt handling with callback mechanisms for Tx, Rx, and error events
• Hardware abstraction layer for PRU firmware loading, ICSS INTC configuration, and GPIO setup
• Diagnostic application with FreeRTOS support for AM263X and AM261X platforms
• TCA6416 IO expander driver for hardware configuration
• Build system integration with makefiles, linker scripts, and project configurations
• Runtime Object View (ROV) configuration for debugging support

Diagram Walkthrough

flowchart LR
  A["PRU I2S Driver"] --> B["I2S Firmware"]
  A --> C["TDM4 Firmware"]
  B --> D["PRU0 TX Binary"]
  B --> E["PRU1 RX Binary"]
  C --> F["PRU0 TDM TX Binary"]
  C --> G["PRU1 TDM RX Binary"]
  A --> H["Diagnostic App"]
  H --> I["AM263X Platform"]
  H --> J["AM261X Platform"]
  H --> K["TCA6416 IO Expander"]
  A --> L["PRUSS INTC Mapping"]
  A --> M["Hardware Abstraction"]

File Walkthrough

Relevant files

Enhancement

20 files

pru_i2s_drv.c `Complete PRU I2S driver implementation with hardware abstraction` source/pru_i2s/driver/pru_i2s_drv.c • Complete PRU I2S driver implementation with initialization, open/close, read/write operations • Support for both interleaved and non-interleaved data formats with conversion functions • Interrupt handling for Tx, Rx, and error events with callback mechanisms • Hardware abstraction for PRU firmware loading, ICSS INTC configuration, and GPIO setup	+2379/-0
main.c `FreeRTOS main application for AM263x PRU I2S diagnostic` examples/pru_i2s_diagnostic/single_channel/am263x-cc/r5fss0-0_freertos/main.c • FreeRTOS main application entry point for AM263x platform • Task creation and scheduler initialization for PRU I2S diagnostic example • System and board initialization with proper task stack allocation	+84/-0
pru_i2s_drv.h `PRU I2S Driver Header Implementation` source/pru_i2s/include/pru_i2s_drv.h • Complete PRU I2S driver header file with comprehensive API definitions • Defines data structures for configuration, parameters, and I/O buffers • Includes function declarations for driver initialization, open/close, read/write operations • Contains hardware-specific constants and register definitions for AM263X and AM261X SoCs	+1053/-0
pru_i2s_diagnostic.c `PRU I2S Diagnostic Application Implementation` examples/pru_i2s_diagnostic/pru_i2s_diagnostic.c • Complete diagnostic application for PRU I2S functionality testing • Implements Tx/Rx interrupt handlers with error handling and statistics tracking • Supports both TDM and I2S modes with configurable firmware selection • Includes I2C IO expander configuration for AM263X hardware setup	+679/-0
icss_pru_i2s_fw.h `TDM4 Firmware Register Definitions` source/pru_i2s/firmware/TDM4/icss_pru_i2s_fw.h • Firmware register definitions and bit field mappings for TDM4 mode • Defines register offsets, addresses, and bit field masks for PRU I2S firmware • Includes ping-pong buffer control and error status register definitions	+197/-0
icss_pru_i2s_fw.h `I2S Firmware Register Definitions` source/pru_i2s/firmware/I2S/icss_pru_i2s_fw.h • Firmware register definitions and bit field mappings for standard I2S mode • Identical structure to TDM4 version with same register layout and definitions • Provides firmware interface constants for I2S protocol implementation	+197/-0
ioexp_tca6416.c `TCA6416 IO Expander Driver Implementation` examples/pru_i2s_diagnostic/board/ioexp_tca6416.c • I2C IO expander driver implementation for TCA6416 chip • Provides functions for opening, configuring, and controlling GPIO pins • Includes I2C transaction handling and register read/write operations	+287/-0
pru_i2s_interface.h `New I2S firmware interface header with pin configurations` source/pru_i2s/firmware/I2S/pru_i2s_interface.h • Added new assembly header file defining I2S interface constants and pin configurations • Includes conditional compilation for different SoCs (AM263X, AM261X) and PRU instances • Defines pin mappings, buffer addresses, error positions, and interrupt event numbers • Contains configuration for both TX and RX I2S instances with different pin assignments	+213/-0
pru_i2s_interface.h `New TDM4 firmware interface header with TDM-specific configurations` source/pru_i2s/firmware/TDM4/pru_i2s_interface.h • Added TDM4 variant of I2S interface header with similar structure to I2S version • Includes same SoC and PRU conditional compilation support • Defines TDM-specific constants like `TDM_CHANNELS` and `MAX_TDM_CHANNELS` • Contains different `BYTES_TO_LOAD` value (2) and samples per channel (16) for TDM mode	+209/-0
data.h `I2S diagnostic example data definitions and buffer configurations` examples/pru_i2s_diagnostic/data.h • Added comprehensive data definitions for I2S diagnostic example • Defines buffer sizes, constants for audio processing, and error handling • Includes ping-pong buffer configurations and memory layout definitions • Contains pre-initialized TX buffer data with test patterns	+99/-0
ioexp_tca6416.h `TCA6416 IO expander driver header with complete API` examples/pru_i2s_diagnostic/board/ioexp_tca6416.h • Added complete TCA6416 IO expander driver header file • Defines API functions for opening, configuring, and controlling IO expander • Includes data structures for configuration parameters and attributes • Provides constants for input/output modes and pin states	+210/-0
pru_i2s_tdm4_pru0_array.h `PRU0 TDM4 firmware binary array` source/pru_i2s/firmware/TDM4/pru_i2s_tdm4_pru0_array.h • Added compiled PRU0 firmware binary array for TDM4 mode • Contains both instruction array (`pru_prupru_i2s0_image_0_0`) and data array • Provides pre-compiled firmware ready for loading into PRU0	+191/-0
pru_i2s_pru0_array.h `PRU0 I2S firmware binary array` source/pru_i2s/firmware/I2S/pru_i2s_pru0_array.h • Added compiled PRU0 firmware binary array for standard I2S mode • Contains instruction and data arrays for PRU0 I2S firmware • Provides pre-compiled firmware binary ready for deployment	+187/-0
pru_i2s_tdm4_pru1_array.h `PRU1 TDM4 firmware binary array` source/pru_i2s/firmware/TDM4/pru_i2s_tdm4_pru1_array.h • Added compiled PRU1 firmware binary array for TDM4 mode • Contains instruction array and data array for PRU1 TDM4 firmware • Provides pre-compiled firmware for PRU1 in TDM4 configuration	+184/-0
pru_i2s_pru1_array.h `PRU1 I2S firmware binary array` source/pru_i2s/firmware/I2S/pru_i2s_pru1_array.h • Added compiled PRU1 firmware binary array for standard I2S mode • Contains instruction and data arrays for PRU1 I2S firmware • Provides pre-compiled firmware binary for PRU1 deployment	+174/-0
pru_i2s_regs.h `TDM4 PRU register definitions and mappings` source/pru_i2s/firmware/TDM4/pru_i2s_regs.h • Added TDM4-specific register definitions and assignments • Defines PRU register mappings for TX/RX operations, counters, and buffers • Includes conditional compilation for different I2S modes (TX/RX) • Contains register assignments for ping-pong buffers and status tracking	+114/-0
pru_i2s_regs.h `I2S PRU register definitions and mappings` source/pru_i2s/firmware/I2S/pru_i2s_regs.h • Added I2S-specific register definitions and assignments • Defines PRU register mappings similar to TDM4 but for standard I2S • Includes register assignments for audio data, buffers, and control • Contains conditional compilation for TX/RX modes and profiling	+113/-0
main.c `AM261X I2S diagnostic main application with FreeRTOS` examples/pru_i2s_diagnostic/single_channel/am261x-lp/r5fss0-0_freertos/main.c • Added main application file for AM261X LaunchPad I2S diagnostic • Implements FreeRTOS-based main function with task creation • Calls `pru_i2s_diagnostic_main` function and handles task management • Includes standard system and board initialization	+84/-0
fw_regs.asm `I2S firmware register initialization assembly` source/pru_i2s/firmware/I2S/fw_regs.asm • Added firmware register initialization assembly file for I2S • Defines firmware register section with configuration values • Includes conditional compilation for different TX configurations • Sets up pin numbers, buffer addresses, and system event numbers	+113/-0
fw_regs.asm `TDM4 firmware register initialization assembly` source/pru_i2s/firmware/TDM4/fw_regs.asm • Added firmware register initialization assembly file for TDM4 • Similar structure to I2S version with TDM4-specific configurations • Defines register section with buffer addresses and pin assignments • Includes conditional compilation for different modes and PRU instances	+113/-0

Configuration changes

8 files

pru_i2s_pruss_intc_mapping.h `PRUSS interrupt controller mapping definitions and macros` source/pru_i2s/include/pru_i2s_pruss_intc_mapping.h • PRUSS interrupt controller mapping definitions and constants • System event, channel, and host interrupt mapping macros • INTC initialization data structure template with proper MISRA C compliance	+200/-0
syscfg_c.rov.xs `ROV configuration for AM261x FreeRTOS debugging` examples/pru_i2s_diagnostic/single_channel/am261x-lp/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs • Runtime Object View (ROV) configuration file for debugging support • FreeRTOS ROV integration for AM261x platform	+8/-0
product.json `Product Metadata Configuration Update` .metadata/product.json • Added include path for sysconfig directory • Added "/open_pru" component to the components list	+2/-1
pru_i2s_master_icss.cmd `I2S PRU firmware linker command file` source/pru_i2s/firmware/I2S/pru_i2s_master_icss.cmd • Added linker command file for I2S PRU firmware • Defines memory layout for ICSSG PRU with instruction and data memory sections • Includes peripheral memory mappings and section allocations • Configures firmware registers, output samples, and debug buffer sections	+88/-0
pru_i2s_master_icss.cmd `TDM4 PRU firmware linker command file` source/pru_i2s/firmware/TDM4/pru_i2s_master_icss.cmd • Added linker command file for TDM4 PRU firmware • Identical structure to I2S linker file with same memory layout • Defines ICSSG memory sections and peripheral mappings • Configures section allocations for TDM4 firmware variant	+88/-0
syscfg_c.rov.xs `ROV configuration for FreeRTOS debugging` examples/pru_i2s_diagnostic/single_channel/am263x-cc/r5fss0-0_freertos/ti-arm-clang/syscfg_c.rov.xs • Added Runtime Object View (ROV) configuration file • Defines ROV files for FreeRTOS debugging support • Simple configuration file for debugging tools integration	+8/-0
makefile_ccs_bootimage_gen `Boot image generation makefile with security features` examples/pru_i2s_diagnostic/single_channel/am261x-lp/r5fss0-0_freertos/ti-arm-clang/makefile_ccs_bootimage_gen • Added comprehensive makefile for boot image generation • Defines build targets for different image formats (appimage, MCELF, signed) • Includes multi-core image generation and XIP support • Contains security features like image signing and encryption	+141/-0
makefile `Added I2S diagnostic example to build system` examples/makefile • Added `pru_i2s_diagnostic` to the list of subdirectories to build • Simple one-line addition to include new example in build system	+1/-1

Additional files

37 files

makefile	+106/-0
readme.md	+304/-0
example.syscfg	+333/-0
example.projectspec	+114/-0
makefile	+370/-0
makefile_projectspec	+20/-0
example.syscfg	+313/-0
example.projectspec	+120/-0
makefile	+374/-0
makefile_ccs_bootimage_gen	+141/-0
makefile_projectspec	+20/-0
example.projectspec	+85/-0
makefile	+90/-0
makefile_projectspec	+20/-0
example.projectspec	+85/-0
makefile	+90/-0
makefile_projectspec	+20/-0
example.projectspec	+84/-0
makefile	+90/-0
makefile_projectspec	+20/-0
example.projectspec	+84/-0
makefile	+90/-0
makefile_projectspec	+20/-0
pru_i2s_main.asm	+502/-0
example.projectspec	+85/-0
makefile	+90/-0
makefile_projectspec	+20/-0
example.projectspec	+85/-0
makefile	+90/-0
makefile_projectspec	+20/-0
example.projectspec	+84/-0
makefile	+90/-0
makefile_projectspec	+20/-0
example.projectspec	+84/-0
makefile	+90/-0
makefile_projectspec	+20/-0
pru_i2s_main.asm	+517/-0

rajul-bhambay · 2025-04-17T10:56:47Z

Firmware changes

Application changes

Restructured driver apis

Fixes: PINDSW-8487

Pending Items:
->Include Standard I2S firmware (currently its TDM4)
-> Testing
_> Documentation of code

nsaulnier-ti · 2025-04-30T16:09:59Z

Hey @rajul-bhambay, what is TDM4? I assume something to do with time-domain multiplexing, instead of a typo for TDA4?

rajul-bhambay · 2025-05-05T06:08:16Z

Hey @rajul-bhambay, what is TDM4? I assume something to do with time-domain multiplexing, instead of a typo for TDA4?

Hey @nsaulnier-ti , TDM4 (time division multiplexing 4 channels) is a mode of communication of audio signals. We have 2 modes, I2S and TDM4/TDM8 which is suppported by the TI's TAS6424Q1 coded (class-D amplifier).

dhavaljk · 2025-06-24T07:02:41Z

.project/templates/am263x/freertos/FreeRTOSConfig.h.xdt

@@ -0,0 +1,186 @@
+%%{


I don't think we need this file. Can we remove?

dhavaljk · 2025-06-24T07:02:50Z

.project/templates/am263x/gpio/board_gpio.c.xdt

@@ -0,0 +1,77 @@
+%%{


I don't think we need this file. Can we remove?

dhavaljk · 2025-06-24T07:02:54Z

.project/templates/am263x/i2c/board_i2c.c.xdt

@@ -0,0 +1,52 @@
+/*


I don't think we need this file. Can we remove?

dhavaljk · 2025-06-24T07:03:17Z

examples/pru_i2s_diagnostic/ioexp_tca6416.c

@@ -0,0 +1,280 @@
+/*
+ *  Copyright (C) 2021 Texas Instruments Incorporated


Update copyright year in all files

Move this file to board sub-folder as it is not a core example function

dhavaljk · 2025-06-24T07:03:54Z

examples/pru_i2s_diagnostic/ioexp_tca6416.c

+/*                          Function Definitions                              */
+/* ========================================================================== */
+
+int32_t TCA6416_open(TCA6416_Config *config, const TCA6416_Params *params)


Do we really need this code now? Is this not supported in MCU+ SDK SysConfig under IOEXP module?

dhavaljk · 2025-06-24T07:05:49Z

examples/pru_i2s_diagnostic/pru_i2s_diagnostic.c

+#define TEST_PRUI2S0_IDX    ( 0 )   /* Test PRU I2S 0 index */
+#define TEST_PRUI2S1_IDX    ( 1 )   /* Test PRU I2S 1 index */
+
+#define TDM4 ( 1 ) /* TDM4 mode  (change to 0 for I2S)*/ 


I assume we have tested both modes. Can you confirm?

dhavaljk · 2025-06-24T07:06:16Z

examples/pru_i2s_diagnostic/pru_i2s_diagnostic.c

+*/
+
+
+void i2s_i2c_io_expander(void)


Let's review if this can be removed - by using SysConfig

Did you review this?

dhavaljk · 2025-06-24T07:07:23Z

examples/pru_i2s_diagnostic/pru_i2s_diagnostic.c

+    /* debug, increment ISR count */
+    gPruI2s1RxIsrCnt++;
+    /* debug, drive GPIO high */
+    GPIO_pinWriteHigh(CONFIG_GPIO_DEBUG1_BASE_ADDR, CONFIG_GPIO_DEBUG1_PIN);


Can we put this GPIO code under some debug macro? Else it adds unnecessary latency to ISRs

dhavaljk · 2025-06-24T07:09:39Z

source/pru_i2s/include/pru_i2s_pruss_intc_mapping.h

@@ -0,0 +1,200 @@
+/*


Can we move this to SysConfig?

dhavaljk · 2025-06-24T07:20:41Z

Can we merge commit? Don't think we need 4

pratheesh-ti

Complete the documentation changes to merge

pratheesh-ti · 2025-04-28T09:43:11Z

source/pru_i2s/driver/pru_i2s_drv.c

@@ -0,0 +1,2692 @@
+/*
+ * Copyright (C) 2021 Texas Instruments Incorporated


Check the copyright year

pratheesh-ti · 2025-04-28T09:45:38Z

source/pru_i2s/driver/pru_i2s_drv.c

+
+#include <stdint.h>
+#include <drivers/hw_include/cslr.h>
+#include <drivers\hw_include\am263x\cslr_iomux.h>


Be consistent with use of "/" vs ""

pratheesh-ti · 2025-04-28T09:45:55Z

source/pru_i2s/driver/pru_i2s_drv.c

+#include <kernel/dpl/SemaphoreP.h>
+#include <drivers\hw_include\am263px\cslr_intr_r5fss0_core0.h>
+#include <drivers\pinmux\am263x\pinmux.h>
+//#include "ti_drivers_config.h"


Remove if not relevant

pratheesh-ti · 2025-04-28T09:46:37Z

source/pru_i2s/driver/pru_i2s_drv.c

+#define PRUI2S_PRU_INTC_SYSEVT2_IDX     ( 2 )  /* I2S error system event index */
+
+/* Number INTC channels per PRU */
+#define PRUI2S_PRUICSS_INTC_NUM_CHANNELS_PER_PRU \


Next line is not really warranted here?

pratheesh-ti · 2025-04-28T09:48:47Z

source/pru_i2s/driver/pru_i2s_drv.c

+        pSwipAttrs->rxPin[i].pinNum = temp8b;
+    }
+
+    /* TBD: SoC PAD address lookup */


Remove if not relevant anymore

pratheesh-ti · 2025-04-28T09:51:24Z

source/pru_i2s/driver/pru_i2s_drv.c

This file seems to redefine a bunch of functions definted in pruicss driver in MCU+ SDK. Is this intentional?

pratheesh-ti · 2025-04-28T09:51:42Z

source/pru_i2s/include/pru_i2s_pruss_intc_mapping.h

@@ -0,0 +1,200 @@
+/*
+ * Copyright (c) 2021, Texas Instruments Incorporated


Check the year

pratheesh-ti · 2025-06-27T07:28:00Z

examples/pru_i2s_diagnostic/ioexp_tca6416.c

@@ -0,0 +1,280 @@
+/*
+ *  Copyright (C) 2021 Texas Instruments Incorporated


Move this file to board sub-folder as it is not a core example function

pratheesh-ti · 2025-06-27T07:30:34Z

source/pru_i2s/firmware/I2S/fw_regs.asm

@@ -0,0 +1,113 @@
+;
+; Copyright (c) 2021, Texas Instruments Incorporated
+; All rights reserved.


Add firmware design document in md format here under firmware/I2S/docs

Can you check this comment @rajul-bhambay

pratheesh-ti · 2025-06-27T07:31:22Z

examples/pru_i2s_diagnostic/pru_i2s_diagnostic.c

+ *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdio.h>


Add Readme.md following other examples in open-pru, explaining the examples and other details

pratheesh-ti

I suggest adding firmware documentation. Can do dedicated PR for this

nsaulnier-ti · 2025-07-15T13:26:18Z

@dhavaljk @manojKoppolu @rajul-bhambay let's discuss the overall structure of this project and the source folder, perhaps on Wednesday's meeting?

I am trying to understand the logic of the overall project structure (e.g., not actually including any PRU code under examples, keeping it all under source), and function of different folders (especially .meta). If we want to keep the proposed structure of "source" [1], we would need to move the files a bit:

source

linkers
macros
defines
drivers
- pru_i2s

[1] https://confluence.itg.ti.com/display/ProcSW/OpenPRU+Repository+Structure+Proposal

nsaulnier-ti

I want to understand the logic behind the folder structures before we merge this in. Best to discuss verbally in the team meeting.

pratheesh-ti · 2025-08-10T09:39:34Z

/review

dhavaljk · 2025-10-07T08:38:06Z

examples/pru_i2s_diagnostic/pru_i2s_diagnostic.c

+    PRUI2S_IoBuf rdIoBuf;
+    PRUI2S_IoBuf wrtIoBuf;
+    int32_t status = PRUI2S_DRV_SOK;
+#ifdef _DBG_PRUI2S_RX_TO_TX_LB


Is loopback mode tested and/or documented?

dhavaljk · 2025-10-07T08:38:28Z

examples/pru_i2s_diagnostic/pru_i2s_diagnostic.c

+    DebugP_log("Build timestamp      : %s %s\r\n", __DATE__, __TIME__);
+
+    /* Debug, configure GPIO */
+    #ifdef SOC_AM263X


No tabs for #ifdef and #endif

dhavaljk · 2025-10-07T08:38:54Z

examples/pru_i2s_diagnostic/pru_i2s_diagnostic.c

+
+    /* Debug, configure GPIO */
+    #ifdef SOC_AM263X
+    GPIO_setDirMode(CONFIG_GPIO_DEBUG0_BASE_ADDR, CONFIG_GPIO_DEBUG0_PIN, CONFIG_GPIO_DEBUG0_DIR);


Can we add comment to describe the use of these GPIOs?

dhavaljk · 2025-10-07T08:40:14Z

examples/pru_i2s_diagnostic/pru_i2s_diagnostic.c

+        return;
+    }
+    /* Check PRU I2S0 instance is Tx only */
+    DebugP_assert((swipAttrs.numTxI2s > 0) && (swipAttrs.numRxI2s == 0));


Are we documenting that default mode is TX and this line needs to be updated if any configuration change is done?

dhavaljk · 2025-10-07T08:41:35Z

examples/pru_i2s_diagnostic/pru_i2s_diagnostic.c

+    /* debug, increment ISR count */
+    gPruI2s0TxIsrCnt++;
+    /* debug, drive GPIO high */
+    #ifdef SOC_AM263X


Why should this be specific to AM263x only?

dhavaljk · 2025-10-07T08:41:58Z

examples/pru_i2s_diagnostic/pru_i2s_diagnostic.c

+    /* Get error status */
+    PRUI2S_getErrStat(handle, &errStat);
+
+    if (errStat & ERROR_BIT_POSITION(I2S_ERR_OVR_BN))


Are all these error cases tested?

pratheesh-ti · 2025-10-08T01:59:51Z

source/pru_i2s/makefile.am261x.r5f.ti-arm-clang

This is not needed?

pratheesh-ti · 2025-10-08T02:00:15Z

source/pru_i2s/makefile.am263x.r5f.ti-arm-clang

This is not needed?

rajul-bhambay · 2025-10-08T05:22:54Z

Resolved Build issues for R5F and PRU firmware projects

pratheesh-ti · 2025-10-08T05:43:42Z

source/pru_i2s/firmware/TDM4/pru_i2s_main.asm

+CONTIUNE_INIT:
+	;Clear registers R0-R29. 4*30=120 bytes
+	ZERO 	&r0, 120
+	LDI32	r30, 0x0


zero &r0, 128 shall do and remove both ldi32s?

pratheesh-ti · 2025-10-08T05:44:16Z

source/pru_i2s/firmware/TDM4/pru_i2s_main.asm

+	.endif
+
+    LDI32	scratchreg2, I2S_TX_INSTANCE_PING_PONG_STAT_ADD
+	LDI32 	scratchreg0, 0x2


LDI is sufficient

pratheesh-ti · 2025-10-08T05:44:28Z

source/pru_i2s/firmware/TDM4/pru_i2s_main.asm

+	SBBO	&scratchreg0, scratchreg2, 0, 1
+
+	;I2S_RX_INSTANCE_PING_PONG_STAT_ADD = I2S_TX_INSTANCE_PING_PONG_STAT_ADD+1
+	LDI32 	scratchreg0, 0x1


LDI is sufficient

pratheesh-ti · 2025-10-08T05:49:09Z

source/pru_i2s/firmware/I2S/pru_i2s_main.asm

+	;If set, this means underflow has happened.
+	;Below Initializations can be avoided but after power on, registers
+	;may contain random addresses and may result in accessing illegal addresses.
+	LDI32 	ch0_data_tx, 0x0


zero &ch0_data_tx, 4

pratheesh-ti · 2025-10-08T05:49:26Z

source/pru_i2s/firmware/I2S/pru_i2s_main.asm

+	;Below Initializations can be avoided but after power on, registers
+	;may contain random addresses and may result in accessing illegal addresses.
+	LDI32 	ch0_data_tx, 0x0
+	LDI32	scratchreg0, 0x0


zero &scratchreg0, 4

pratheesh-ti · 2025-10-08T05:56:24Z

source/pru_i2s/firmware/TDM4/pru_i2s_main.asm

+
+	; Load pin mask registers
+	.if	$isdefed("I2S_TX")
+    LDI32   i2s_instance_fs_pin_pos, I2S_INSTANCE_FS_PIN_POS


Should be LDI, given constant is 16-bit

pratheesh-ti · 2025-10-08T05:56:57Z

source/pru_i2s/firmware/TDM4/pru_i2s_main.asm

+	;If set, this means underflow has happened.
+	;Below Initializations can be avoided but after power on, registers
+	;may contain random addresses and may result in accessing illegal addresses.
+	LDI32 	ch0_data_tx, 0x0


Should be LDI, given constant is 16-bit

pratheesh-ti · 2025-10-08T05:57:04Z

source/pru_i2s/firmware/TDM4/pru_i2s_main.asm

+	;Below Initializations can be avoided but after power on, registers
+	;may contain random addresses and may result in accessing illegal addresses.
+	LDI32 	ch0_data_tx, 0x0
+	LDI32	scratchreg0, 0x0


Should be LDI, given constant is 16-bit

pratheesh-ti · 2025-10-08T05:57:15Z

source/pru_i2s/firmware/TDM4/pru_i2s_main.asm

+	;may contain random addresses and may result in accessing illegal addresses.
+	LDI32 	ch0_data_tx, 0x0
+	LDI32	scratchreg0, 0x0
+	LDI32	tx_buf_size, 0x0


Should be LDI, given constant is 16-bit. Looks to combine if contiguous

pratheesh-ti · 2025-10-08T05:57:53Z

source/pru_i2s/firmware/I2S/fw_regs.asm

@@ -0,0 +1,113 @@
+;
+; Copyright (c) 2021, Texas Instruments Incorporated
+; All rights reserved.


Can you check this comment @rajul-bhambay

rajul-bhambay · 2025-10-08T09:22:21Z

Need to move firmware design mentioned in example/pru_i2s_diagnostics/readme.md to source/pru_i2s/docs/readme.md

nsaulnier-ti

Critical changes are readme and project level makefile. Would like a discussion on the other comments.

nsaulnier-ti · 2025-10-08T11:52:49Z

examples/pru_i2s_diagnostic/makefile

@@ -0,0 +1,47 @@
+include ../../imports.mak


@rajul-bhambay please update the project makefile based on the latest empty project example:
https://github.com/TexasInstruments/open-pru/blob/main/examples/empty/makefile

You will update these sections:

project information

Target definitions

And these sections will be unmodified:

Prebuild checks (unless you want to add another dependency other than MCU+ SDK)

Make and clean commands

Thanks for highlighting that. Made the changes now

examples/pru_i2s_diagnostic/readme.md

nsaulnier-ti · 2025-10-08T12:05:07Z

examples/pru_i2s_diagnostic/readme.md

+-	Code Composer Studio 12.81
+-	Sysconfig 1.23.1
+-	mcu_plus_sdk_am263x
+-   mcu_plus_sdk_am261x


Are there minimum MCU+ SDK requirements? Or only minimum SysConfig version requirements?

mentioned now

nsaulnier-ti · 2025-10-08T12:12:01Z

source/pru_i2s/firmware/I2S/pru0_tx/am261x-lp/icssm0-pru0_fw/ti-pru-cgt/makefile

@@ -0,0 +1,90 @@
+################################################################################
+# Automatically-generated file. Do not edit!


Do we expect that customers will be modifying the I2S firmware? (e.g., customer porting to AM263Px, AM64x R5F, etc).

If yes, my preference would be to align the PRU makefiles with the other PRU makefiles in the open-pru repo:
https://github.com/TexasInstruments/open-pru/blob/main/examples/empty/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/makefile

nsaulnier-ti · 2025-10-08T12:14:55Z

source/pru_i2s/firmware/I2S/pru0_tx/am261x-lp/icssm0-pru0_fw/ti-pru-cgt/makefile

+include $(OPEN_PRU_PATH)/imports.mak
+SYSCFG_DIR := $(CCS_PROJECT_DEBUG)/syscfg
+CG_TOOL_ROOT := $(CGT_TI_PRU_PATH)
+


Is PRU linker.cmd file generated by SysConfig?

never mind, I see that a shared linker.cmd file seems to be used?

I removed the linker file. Somehow i missed to remove that after moving memory related things to memory configurator in sysconfig

nsaulnier-ti · 2025-10-08T12:24:03Z

source/pru_i2s/firmware/TDM4/pru_i2s_master_icss.cmd

@@ -0,0 +1,88 @@
+/****************************************************************************/
+/*  ICSSG_PRU.cmd                                                           */


Help me understand the vision for this linker.cmd file.

It used to be PRU_ICSSG, and has been modified for AM26x

It CANNOT be used for both PRU_ICSSG and PRU-ICSS in its current state, since AM243x/AM64x only have 12kB IRAM

It still lists a bunch of PRU_ICSSG stuff, like a memory allocation for RTU

PRU_SHAREDRAM could be a memory conflict if both PRU0 & PRU1 have a dbgBuf region

please verify how you want to be using the memory regions (e.g., do PRU0 and PRU1 ever need to be referring to the same memory region? or are they always going to be using separate memory?)

Thanks for highlighting this. Let me change it wrt AM26x.
dbgBuf region is not used by any core (maybe it was added to have a debug region for initial version of firmware for AM243x/64x).

- TDM functionality - I2S functionality Fixes: PINDSW-8487,9295 Signed-off-by: Rajul Bhambay <r-bhambay@ti.com>

nsaulnier-ti · 2025-10-09T13:17:42Z

source/pru_i2s/firmware/I2S/pru_i2s_master_icss.cmd

@@ -0,0 +1,88 @@
+/****************************************************************************/
+/*  ICSSG_PRU.cmd                                                           */


Replace these files with the standard ASM linker.cmd file:
https://github.com/TexasInstruments/open-pru/blob/main/examples/empty/firmware/am261x-lp/icss_m0_pru0_fw/ti-pru-cgt/linker.cmd
https://github.com/TexasInstruments/open-pru/blob/main/examples/empty/firmware/am261x-lp/icss_m0_pru1_fw/ti-pru-cgt/linker.cmd

you can also get the templates from source directory:
https://github.com/TexasInstruments/open-pru/tree/main/source/linker_cmd/asm_code/am263x

Most projects either have functions named pru_io_<function_name>, or have files that are named <filename>_pru_io. Remove all of these unneeded pru_io references. Paths to the MCU+ SDK with /pru_io/ in the path are preserved. TODO: Re-run these commands after these PRs are merged: * #8 * #81 Signed-off-by: Nick Saulnier <nsaulnier@ti.com>

Most projects either have functions named pru_io_<function_name>, or have files that are named <filename>_pru_io. Remove all of these unneeded pru_io references. Paths to the MCU+ SDK with /pru_io/ in the path are preserved. TODO: Re-run these commands after these PRs are merged: * #8 * #81 * #87 grep -rli '_pru_io' | xargs -i@ sed -i 's/_pru_io//g' @ grep -rli 'pru_io_' | xargs -i@ sed -i 's/pru_io_//g' @ Signed-off-by: Nick Saulnier <nsaulnier@ti.com>

pratheesh-ti · 2025-10-23T10:54:47Z

@rajul-bhambay Please move the firmware sources to example folder from firmware to align with rest of the examples as discussed. We can merge post that

Most projects either have functions named pru_io_<function_name>, or have files that are named <filename>_pru_io. Remove all of these unneeded pru_io references. Paths to the MCU+ SDK with /pru_io/ in the path are preserved. TODO: Re-run these commands after these PRs are merged: * #8 grep -rli '_pru_io' | xargs -i@ sed -i 's/_pru_io//g' @ grep -rli 'pru_io_' | xargs -i@ sed -i 's/pru_io_//g' @ Signed-off-by: Nick Saulnier <nsaulnier@ti.com>

rajul-bhambay changed the title ~~Am263x: PRU-I2S~~ Am263x: PRU-I2S[WIP] Apr 17, 2025

rajul-bhambay requested review from dhavaljk and manojKoppolu April 17, 2025 10:58

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rajul-bhambay changed the title ~~Am263x: PRU-I2S[WIP]~~ Am263x: PRU-I2S Jun 23, 2025

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nsaulnier-ti mentioned this pull request Jul 12, 2025

imports.mak should be excluded from git tracking #31

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README: split off getting_started page, reword & reorganize #33

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Am263x/AM261x: PRU-I2S

049eaaf

- TDM functionality - I2S functionality Fixes: PINDSW-8487,9295 Signed-off-by: Rajul Bhambay <r-bhambay@ti.com>

rajul-bhambay force-pushed the a0497643_PINDSW-8487_PRU_I2S branch from 4a6cef1 to 049eaaf Compare October 9, 2025 07:42

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nsaulnier-ti mentioned this pull request Oct 9, 2025

all projects: remove unneeded pru_io #88

Merged

		@@ -0,0 +1,280 @@
		/*
		* Copyright (C) 2021 Texas Instruments Incorporated

		@@ -0,0 +1,2692 @@
		/*
		* Copyright (C) 2021 Texas Instruments Incorporated

		@@ -0,0 +1,200 @@
		/*
		* Copyright (c) 2021, Texas Instruments Incorporated

		@@ -0,0 +1,90 @@
		################################################################################
		# Automatically-generated file. Do not edit!

		@@ -0,0 +1,88 @@
		/****************************************************************************/
		/* ICSSG_PRU.cmd */

		*/


		void i2s_i2c_io_expander(void)

Am263x: PRU-I2S #8

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