TMS570LC4357 support in RTEMS

Juan Solano jsm at
Mon Feb 22 19:52:48 UTC 2021

Thanks Gedare and Pavel for the useful information.

I will have a look at what is available in the projects you mention. I have also generated Halcogen scheleton projects with a minimal set of drivers (uart, clock) for TMS570LS3137 as well as TMS570LC4357 and the diffs seem manageable. If I find the time the next few weeks I will try to put everything together.


On Sun, 21 Feb 2021, at 4:41 PM, Pavel Pisa wrote:
> Hello Juan and Gedare,
> > On Sat, Feb 13, 2021 at 5:32 AM Juan Solano <jsm at> wrote:
> > > I have seen an old thread of yours where you mention a BSP that works
> > > with the TMS570LC4357. Is that available somewhere? Are there many
> > > modifications needed to the standard tms570 bsp?
> > >
> > > I am working with a launchpad TI board and I would appreciate any
> > > existing code to make it easier to use this.
> I have invested considerable effort to TMS570 BSP to happen.
> Unfortunately large amount of TMS570 HW/SW work which I have not
> rip away and reimplemented again from scratch with my studnets
> for RTEMS, rottens in the server and udder licenses claimed to
> be owened by my former head, they probably continue to sell it
> (in the fact I have found that they do not have right, because
> no agreement about license transfer has been signed with our faculty).
> But the work rottents in their new institute. 
> As for the TMS570LC4357, I have generated PINMUX headers
> and algorithms initially deigned for TMS570LS3137 are
> extended to support TMS570LC4357 dual pinmux.
> The IRI group of Johann Wolfgang Goethe-Universität Frankfurt
> used RTEMS TMS570 BSP as base for their TMS570LC4357 projects.
> Their local GitLab repo
> But I have not registered their interrest to help with mainlining
> of their work. I have analyzed diffs but only lightly.
> It would be great if they can describe what works
> and where are problems.
> Generally, modifications to get BSP to state which runs on TMS570LC4357
> is relatively small. RTEMS mainline is prepared even to use HalCoGen
> generated files to startup the chip. Problem is that chips differs
> sometimes even in the corresponding module registers between the
> chips. And I think that it is unmaintainable (at least for small
> group as RTEMS developres are) to maintain similar geerated and manually
> tuned headers mess as HalCoGen provides (sometimes same bits labelled
> different way between chips etc.). I think that for RTEMS it is necessary
> to make clear abstractions and headers which would work on whole chips
> families.
> As for the actual headers versions and XML register description files,
> they done big step forward and license is changed and (I believe)
> compatible with RTEMS.
> As for HW, I have TMDX570LC43HDK kit at home and lauchpad
> kits are available at where
> I provide consultations. But they are using smaller TMS570
> members for now and in SIL3 applications they try to keep
> whole firmware in the form of single C loop and some DMAs
> without OS.
> There is other problem with TMS570 for me. I do not
> like much CCS and my patches for OpenOCD support
> are based on old OpenOCD branch and third party
> base patches which did not found the way into mainline.
> They support flashing only on TMS570LS3137.
> Have somebody some experience with open tools
> for TMS570LC4357 debugging and flashing.
> By the way I have helped one of my students to
> prepare nice XCP over Ethernet bootloader for
> the TMS570 family. But it rottents forbidden
> to share on the server of my frmer group as well.
> Generally I have interrest to see RTEMS sunning
> on TMDX570LC43HDK, it could work well with our port
> of LwIP as well. But even its integration into RTEMS
> mainline means considerable work. I am not sure if
> I find time till summer, we have 300+ studnest in distance
> teaching class again. I would try to help with consultations
> as my time allows if there is interrest. If I do not reply
> in week, please send reminder directly to me...
> I plan to offer RTEMS GSoC to our students as each year,
> so may it be somebody will have interrest in some RTEMS
> porting, LwIP integration, etc...
> Best wishes,
>                 Pavel Pisa
>     phone:      +420 603531357
>     e-mail:     pisa at
>     Department of Control Engineering FEE CVUT
>     Karlovo namesti 13, 121 35, Prague 2
>     university:
>     personal:
>     projects:
>     CAN related:
> On Sunday 21 of February 2021 08:40:01 Gedare Bloom wrote:
> > Pavel had expressed some interest in this direction before, but I
> > don't know that anyone has pushed this board far enough to commit a
> > working BSP.
> >
> > I have this hardware available (Hercules Launchpad LAUNCHXL2-570LC43).
> > But I haven't had any time to try to work with it. Unfortunately, when
> > I looked at the halcogen stuff it was not license-compatible to RTEMS,
> > but maybe that has changed. A lot of effort was put in the TMS570 port
> > before to avoid using halcogen.
> >
> > I guess one reason this board may not be that widely used is because
> > it is a pain to work with. The dual lockstep mode is great for
> > production safety board, but quite terrible for development and
> > debugging.
> >
> > Gedare
> >

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