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[[File:TMS570LS31x HDK Kit.jpg|right|300px]]
[[File:Rpp.jpg|right]]
== Documentation ==
== Documentation ==
* [http://www.ti.com/product/tms570ls3137 Main TI page] containing datasheets.
* [http://www.ti.com/product/tms570ls3137 Main TI page] containing datasheets.
Line 10: Line 13:


== Programming ==
== Programming ==
Tools recommended by TI for programming of this microcontroller:
Tools recommended by TI for programming of this microcontroller:
* [http://processors.wiki.ti.com/index.php/Category:Code_Composer_Studio_v5 Code Composer Studio] (runs on Win and Linux)
 
* [http://www.ti.com/tool/halcogen HalCoGen] (for WIn only, but also runs quite well in Wine)
* [http://processors.wiki.ti.com/index.php/Category:Code_Composer_Studio_v5 Code Composer Studio] (runs on Win and Linux).
* [http://www.ti.com/tool/halcogen HalCoGen] (for Windows only, but also runs quite well in Wine).
** [[TMS570LS3137 HalCoGen Bugs|TMS570LS3137 HalCoGen Bugs]]
 
=== CCS5.3.0.00090_linux in Ubuntu 12.04 64bits ===
 
After installation the application can be run with:
 
<code>
cd <install_dir>/ccsv5/eclipse/
 
./ccstudio
</code>
 
If the application fails to start is because CCS5 is a 32bits application a thus requires 32bits libraries:
 
<code>
sudo apt-get install libgtk2.0-0:i386 libxtst6:i386  gtk2-engines-pixbuf:i386 libcanberra-gtk-module:i386
</code>
 
If the application crashes with a segmentation fault do:
 
Edit <code><install_dir>/ccsv5/eclipse/plugins/com.ti.ccstudio.branding_<your version number>/plugin_customization.ini</code>
 
And change key <code>org.eclipse.ui/showIntro</code> to <code>false</code>.
 
Choose "FREE License - for use with XDS100 JTAG Emulators" on the licensing options.
 
You may create a symbolic link and a desktop entry:
 
 
<code>
sudo ln -s <install_dir>/ccsv5/eclipse/ccstudio /usr/local/bin/ccstudio
</code>
 
And put in <code>~/.local/share/applications/ccs5.desktop</code>
 
<nowiki>
[Desktop Entry]
Version=1.0
Type=Application
Terminal=false
Exec=ccstudio
Name=Code Composer Studio
Icon=/usr/local/ti/ccsv5/eclipse/icon.xpm
</nowiki>
 
=== CCS5.5.0.00077_windows on Windows 7x64 ===
 
Download ccs_setup_5.5.0.00077.exe from http://ti.com and run.
 
Choose component:
* Safety MCUs
 
Choose Compiler tools:
* TI ARM Compiler Tools
* TI Documentation
 
Coose JTAG Emulator Support
* XDS100 Class Emulator Support
 
=== NHET Assembler ===
 
http://www.ti.com/tool/nhet-assembler
 
Installer doesn't work under Wine (Debian unstable, wine-1.6.2) even after installing the following packages, which wine complained about: <tt>apt-get install p11-kit-modules:i386 gnome-keyring:i386</tt>
 
If it is installed under windows, the resulting ''hetp.exe'' runs under Wine correctly.


== FreeRTOS ==
== FreeRTOS ==
Line 22: Line 93:


All necessary files will be added into project automaticaly.
All necessary files will be added into project automaticaly.
== Matlab/Simulink Embedded Coder target ==
We have implemented support for Matlab/Simulink which allows to use
designed peripherals support libraries from Simulink model design.
For further information look at separate pages for the target
http://rtime.felk.cvut.cz/rpp-tms570/


== Hardware ==
== Hardware ==
Developement board we are using: [http://processors.wiki.ti.com/index.php?title=TMS570LS31x_HDK_Kit TMS570LS31x_HDK_Kit]
Developement board we are using: [http://processors.wiki.ti.com/index.php?title=TMS570LS31x_HDK_Kit TMS570LS31x_HDK_Kit]
=== SDRAM setup ===
* Simple code to setup SDRAM for use from OpenOCD and others code loaders
** https://github.com/hornmich/tms570ls3137-hdk-sdram
Setup of bit 31 in GPREG1 is required ele EMIF does not work as expected.
From UM 4.3.3 Control of Special Multiplexed Options: Any application that requires the EMIF functionality
must set GPREG1[31]. This allows these 8 EMIF module outputs to be driven on to the assigned balls.
<pre>systemREG1->GPREG1 |= 0x80000000;</pre>
{| class="wikitable"
! Parameter !! Value for HDK / Conn test !! Value for RPP !! Notice
|-
| Chip || IS42S16400F-7BL || IS45S16320 ||
|-
| banks || 4 (2 bits) || 4 (2 bits) ||
|-
| rows || 4096 (12 bits) || 8192 (13 bits) ||
|-
| columns || 256 (8 bit) || 1024 (10 bits) ||
|-
| CL || 2/3 || 2/3 ||
|-
| refresh [ms] || || 64 / 16 @ 80 °C ||
|-
| self. ref. exit [ns] || || 67 ||
|-
| HCLK [MHz] || 160 / 160 || 160 ||
|-
| EMIF Clock / VCLK3 || 80 / 80?? || 80 ||
|-
! CLK2CNTL !! !! !!  Clock 2 Control Register
|-
| VCLK3R (3-0) || 2-1 / 4-1?? || 2-1 || HCKL to EMIF VCLK3 ration
|-
! SDTIMR !! !! !! SDRAM Timing Register
|-
| TRF_C (31-27) || 6-1 / 6 || 9-1 || REFR to REFR
|-
| T_RP (26-24) || 2-1 / 1 || 3-1 || PRE to ACTIV or REFR
|-
| (23) || 0 || 0 ||
|-
| T_RCD (22-20) || 2-1 / 1 || 3-1 || ACTIV to RD/WR
|-
| (19) || 0 || 0 ||
|-
| T_WR (18-16) || 2-1 / 2 || 2-1 || WRITE to PRE
|-
| T_RAS (15-12) || 4-1 / 4 || 6-1 || ACTIV to PRE
|-
| T_RC (11-8) || 6-1 / 3 || 9-1 || ACTIV to ACTIV
|-
| (7) || 0 / 0 || 0 ||
|-
| T_RRD (6-4) || 2-1 / 1 || 2-1 || ACTIV to ACTIV other bank
|-
| (3) || 0 || 0 ||
|-
! SDSRETR !! !! !! Self Refresh Exit Timing Register
|-
| T_XS (XSR) || 5 / 6 || 5+3-1 ||
|-
! SDRCR !! !! !!
|-
| RR (12-0) || 312 / 1250 || 156 || 80e6 * 16e-3 / 8192 => less or equal to 156
|-
! SDCR !! !! !!  SDRAM Configuration Register
|-
| SR (31) || 0 / 0 || 0 || self refresh mode
|-
| PD (30) || 0 / 0 || 0 || power down
|-
| PDWR (29) || 0 / 0 || 0 || refresh in PD
|-
| NM (14) || 1 / 1 || 1 || narrow mode
|-
| CL (11-9) || 2 / 3 || 3 || CAS latency
|-
| BIT11_9LOCK (8) || 1 / 1 || 1 || CAS latency lock
|-
| IBANK (6-4) || 2 / 2 || 2 (4 banks) || banks
|-
| PAGESIZE (2-0) || 0 / 0 || 2 (10 bit) || counted in elements
|}


===SCI port===
===SCI port===
Line 30: Line 196:


When you want to use SCI, you have to set few things in HalCoGen.
When you want to use SCI, you have to set few things in HalCoGen.
* Enable drive SIO (not LIN or SCI2 driver)
* Enable driver SCI (not LIN or SCI2 driver) base = <tt>0xfff7e500</tt>
* On RPP board SCILIN is is used for terminal connection base = <tt>0xfff7e400</tt>
* In tab PINMUX select SCI and check conflict with other drivers
* In tab PINMUX select SCI and check conflict with other drivers
* In tab SCI choose and set data format.
* In tab SCI choose and set data format.
When you want use interrupts in adittion, do the following:
When you want use interrupts in addition, do the following:
* In tab VIM Channel 64-95 select interrupt 64: SCI level0 interrupt for high level interrupt or 74: SCI Level1 for low level interrupt
* In tab VIM Channel 64-95 select interrupt 64: SCI level0 interrupt for high level interrupt or 74: SCI Level1 for low level interrupt
* In SCI tab enable TX and/or RX interrupt and select High or Low.
* In your code enable IRQ using _enable_IRQ() function, than enable notification using sciEnableNotification() function.
* In your code enable IRQ using _enable_IRQ() function, than enable notification using sciEnableNotification() function.
* Implement notification callback sciNotification() in notificatin.c
* Implement notification callback sciNotification() in notificatin.c


In your code don't forget to initialize sci using sciInit() function.
In your code don't forget to initialize sci using sciInit() function.
== Debug over JTAG ==
=== XDS100v2 JTAG Interface from Ti ===
The XDS100v2 is equipped with Ti specific 14-pin JTAG connector.
Next cable wires placement allows to use it with TMS570LS31x_HDK_Kit
or other device with ARM JTAG pin placement.
{| class="wikitable"
!colspan="2"| 14 pin Ti
!colspan="2"| 20 pin ARM
|-
| 1 || TMS || TMS || 7
|-
| 2 || TRST || NTRST || 3
|-
| 3 || TDI || TDI || 5
|-
| 4 || DIS || GND || 6
|-
| 5 || VD || VREF || 1 (2)
|-
| 6 || NC || || --
|-
| 7 || TDO || TDO || 13
|-
| 8 || GND || GND || (4)
|-
| 9 || RTCK || RTCK || 11
|-
| 10 || GND || GND || 8 (12)
|-
| 11 || TCK || TCK || 9
|-
| 12 || GND || GND || 10 (14)
|-
| 13 || EMU0 || ||
|-
| 14 || EMU1 || ||
|}
=== Setup XDS100v2 on Linux ===
By default the device (if nothing more connected then <code>/dev/ttyUSB0</code>) is added with permissions 664 with
<code>root</code> as user and group. You access the device we need write access for current user. To do so we need
to create a new udev rules:
sudo nano /etc/udev/rules.d/45-pes-rpp.rules
And add line:
SUBSYSTEM=="usb", ATTR{idVendor}=="0403", ATTR{idProduct}=="a6d0", MODE="0660", GROUP="plugdev"
Then reload udev rules with:
sudo udevadm control --reload-rules
You can check device properties like <code>idVendor</code> or <code>idProduct</code> with the following command:
udevadm info -a -p $(udevadm info -q path -n /dev/ttyUSB0)
=== OpenOCD setup and Flashing ===
Consult [[FTDI2232_JTAG]] page for generic OpenOCD setup for ARM targets debugging.
The OpenOCD TMS570 Flash support developed by Andrey Smirnov can be found
in OpenOCD Gerrit [http://openocd.zylin.com/#/c/2214/ http://openocd.zylin.com/#/c/2214/]
Patches with our corrections to the support have been sent to the OpenOCD
mailing-list. The complete OpenOCD sources with all required patches applied
([http://cmp.felk.cvut.cz/~pisa/tms570/ openocd-tms570-f021-wip.tar.gz]) can be found at temporal place
[http://cmp.felk.cvut.cz/~pisa/tms570/ http://cmp.felk.cvut.cz/~pisa/tms570/]
As a base for OpenOCD configuration for the TMS570 target can be used
[https://github.com/AoLaD/rtems-tms570-utils/tree/master/openocd https://github.com/AoLaD/rtems-tms570-utils/tree/master/openocd]
The example of Flash erase and write OpenOCD commands
flash banks
flash list
# probe bank/target for actual flash size
flash probe 0
# updated information about banks
flash banks
# erase one 128kB sector starting at 1MB
flash erase_address 0x00100000 0x00020000
# test Flash write using fill pattern
flash fillw 0x00100000 0xabcd1234 128
# Check memory content
mdw 0x00100000 256
Program application starting at zero address
# probe bank/target for actual flash size
flash probe 0
# Erase the first 256kB of Flash
flash erase_address 0x00000000 0x00040000
# Program application
program application.elf
Program binary image starting at 256kB boundary and maximal length 1MB
# probe bank/target for actual flash size
flash probe 0
# Erase the area after the first 256kB of Flash
flash erase_address 0x00040000 0x00100000
# Program application
program application.bin 0x00040000
== RS232 communication setup ==
Connect serial communication pins to computer's RS232 port or to USB through a FTDI adapter. If using RS232 port the
device should be <code>/dev/ttyS0</code>, if using FTDI it should be something like <code>/dev/ttyUSBx</code>
(check <code>dmesg</code> for details).
Make sure minicom or similar terminal program is installed:
sudo apt-get install minicom
Then configure minicon:
sudo minicom -s
And use the following configuration "9600 81N":
Serial Device        : /dev/ttyS0
Lockfile Location    : /var/lock
Callin Program        :
Callout Program      :
Bps/Par/Bits          : 9600 8N1
Hardware Flow Control : No
Software Flow Control : No
Start terminal session and type <code>HELP</code> command to test communication.
== GCC build for Cortex-R4 Big-Endian ==
GCC options <pre>-mbig-endian -march=armv7-r -mthumb</pre>
GCC options with hard float <pre>-mbig-endian -mthumb -march=armv7-r -mfpu=vfpv3-d16 -mfloat-abi=hard</pre>
GCC multilib options
armv7-r/thumb2/be;@mbig-endian@mthumb@march=armv7-r
armv7-r/thumb2/vfpv3/be;@mbig-endian@mthumb@mfloat-abi=hard@march=armv7-r@mfpu=vfpv3-d16
* https://answers.launchpad.net/gcc-arm-embedded/+question/189066
* Patch to enable GCC and Newlib with big-endian support for RTEMS proposal
** http://lists.rtems.org/pipermail/devel/2014-June/007232.html
** Toolchain for RTEMS port to Cortex-R4F big-endian (TMS570LS3137)
* Sebastian Huber's version to push upstream
** http://lists.rtems.org/pipermail/devel/2014-July/007244.html
** RTEMS: Add multilibs for ARM
* Newlib correction
** http://lists.rtems.org/pipermail/devel/2014-July/007251.html
** Remaining arch issue in Newlib optimized ARM ASM memchr for Cortex-R
== RTEMS Cortex-R4 TMS570 BSP Deveopment (GSoC 2014 project) ==
* https://devel.rtems.org/wiki/TBR/BSP/Tms570
* https://devel.rtems.org/wiki/GSoC/2014/PortToCortexR4
* http://github.com/AoLaD/rtems/tree/tms570-bsp
* http://github.com/AoLaD/rtems-tms570-utils
== Contacts ==
* Management: [http://dce.felk.cvut.cz/hanzalek/ Prof. Zdeněk Hanzálek]
* Technical: [http://cmp.felk.cvut.cz/~pisa/ Pavel Píša, Ph.D.]

Latest revision as of 15:59, 20 July 2015

Documentation


Programming

Tools recommended by TI for programming of this microcontroller:

CCS5.3.0.00090_linux in Ubuntu 12.04 64bits

After installation the application can be run with:

cd <install_dir>/ccsv5/eclipse/

./ccstudio

If the application fails to start is because CCS5 is a 32bits application a thus requires 32bits libraries:

sudo apt-get install libgtk2.0-0:i386 libxtst6:i386 gtk2-engines-pixbuf:i386 libcanberra-gtk-module:i386

If the application crashes with a segmentation fault do:

Edit <install_dir>/ccsv5/eclipse/plugins/com.ti.ccstudio.branding_<your version number>/plugin_customization.ini

And change key org.eclipse.ui/showIntro to false.

Choose "FREE License - for use with XDS100 JTAG Emulators" on the licensing options.

You may create a symbolic link and a desktop entry:


sudo ln -s <install_dir>/ccsv5/eclipse/ccstudio /usr/local/bin/ccstudio

And put in ~/.local/share/applications/ccs5.desktop 

[Desktop Entry]
Version=1.0
Type=Application
Terminal=false
Exec=ccstudio
Name=Code Composer Studio
Icon=/usr/local/ti/ccsv5/eclipse/icon.xpm

CCS5.5.0.00077_windows on Windows 7x64

Download ccs_setup_5.5.0.00077.exe from http://ti.com and run.

Choose component:

  • Safety MCUs

Choose Compiler tools:

  • TI ARM Compiler Tools
  • TI Documentation

Coose JTAG Emulator Support

  • XDS100 Class Emulator Support

NHET Assembler

http://www.ti.com/tool/nhet-assembler

Installer doesn't work under Wine (Debian unstable, wine-1.6.2) even after installing the following packages, which wine complained about: apt-get install p11-kit-modules:i386 gnome-keyring:i386

If it is installed under windows, the resulting hetp.exe runs under Wine correctly.

FreeRTOS

Installation is easy, simply create new project in HalCoGen

  • New -> Project
  • Select Family:TMS570LS31x
  • Select Device: TMS570LS3137ZWT_FREERTOS

All necessary files will be added into project automaticaly.

Matlab/Simulink Embedded Coder target

We have implemented support for Matlab/Simulink which allows to use designed peripherals support libraries from Simulink model design.

For further information look at separate pages for the target

http://rtime.felk.cvut.cz/rpp-tms570/

Hardware

Developement board we are using: TMS570LS31x_HDK_Kit

SDRAM setup

Setup of bit 31 in GPREG1 is required ele EMIF does not work as expected. From UM 4.3.3 Control of Special Multiplexed Options: Any application that requires the EMIF functionality must set GPREG1[31]. This allows these 8 EMIF module outputs to be driven on to the assigned balls. 

systemREG1->GPREG1 |= 0x80000000;
Parameter Value for HDK / Conn test Value for RPP Notice
Chip IS42S16400F-7BL IS45S16320
banks 4 (2 bits) 4 (2 bits)
rows 4096 (12 bits) 8192 (13 bits)
columns 256 (8 bit) 1024 (10 bits)
CL 2/3 2/3
refresh [ms] 64 / 16 @ 80 °C
self. ref. exit [ns] 67
HCLK [MHz] 160 / 160 160
EMIF Clock / VCLK3 80 / 80?? 80
CLK2CNTL Clock 2 Control Register
VCLK3R (3-0) 2-1 / 4-1?? 2-1 HCKL to EMIF VCLK3 ration
SDTIMR SDRAM Timing Register
TRF_C (31-27) 6-1 / 6 9-1 REFR to REFR
T_RP (26-24) 2-1 / 1 3-1 PRE to ACTIV or REFR
(23) 0 0
T_RCD (22-20) 2-1 / 1 3-1 ACTIV to RD/WR
(19) 0 0
T_WR (18-16) 2-1 / 2 2-1 WRITE to PRE
T_RAS (15-12) 4-1 / 4 6-1 ACTIV to PRE
T_RC (11-8) 6-1 / 3 9-1 ACTIV to ACTIV
(7) 0 / 0 0
T_RRD (6-4) 2-1 / 1 2-1 ACTIV to ACTIV other bank
(3) 0 0
SDSRETR Self Refresh Exit Timing Register
T_XS (XSR) 5 / 6 5+3-1
SDRCR
RR (12-0) 312 / 1250 156 80e6 * 16e-3 / 8192 => less or equal to 156
SDCR SDRAM Configuration Register
SR (31) 0 / 0 0 self refresh mode
PD (30) 0 / 0 0 power down
PDWR (29) 0 / 0 0 refresh in PD
NM (14) 1 / 1 1 narrow mode
CL (11-9) 2 / 3 3 CAS latency
BIT11_9LOCK (8) 1 / 1 1 CAS latency lock
IBANK (6-4) 2 / 2 2 (4 banks) banks
PAGESIZE (2-0) 0 / 0 2 (10 bit) counted in elements

SCI port

We have connected serial port on Expansion Connector P3 (see HDK documentation) pin W3 and N2. TX is connected to N2 pin and RX to W3 pin. This brings us consequences as both pins are mutexed.

When you want to use SCI, you have to set few things in HalCoGen.

  • Enable driver SCI (not LIN or SCI2 driver) base = 0xfff7e500
  • On RPP board SCILIN is is used for terminal connection base = 0xfff7e400
  • In tab PINMUX select SCI and check conflict with other drivers
  • In tab SCI choose and set data format.

When you want use interrupts in addition, do the following:

  • In tab VIM Channel 64-95 select interrupt 64: SCI level0 interrupt for high level interrupt or 74: SCI Level1 for low level interrupt
  • In SCI tab enable TX and/or RX interrupt and select High or Low.
  • In your code enable IRQ using _enable_IRQ() function, than enable notification using sciEnableNotification() function.
  • Implement notification callback sciNotification() in notificatin.c

In your code don't forget to initialize sci using sciInit() function.

Debug over JTAG

XDS100v2 JTAG Interface from Ti

The XDS100v2 is equipped with Ti specific 14-pin JTAG connector. Next cable wires placement allows to use it with TMS570LS31x_HDK_Kit or other device with ARM JTAG pin placement.

14 pin Ti 20 pin ARM
1 TMS TMS 7
2 TRST NTRST 3
3 TDI TDI 5
4 DIS GND 6
5 VD VREF 1 (2)
6 NC --
7 TDO TDO 13
8 GND GND (4)
9 RTCK RTCK 11
10 GND GND 8 (12)
11 TCK TCK 9
12 GND GND 10 (14)
13 EMU0
14 EMU1

Setup XDS100v2 on Linux

By default the device (if nothing more connected then /dev/ttyUSB0) is added with permissions 664 with root as user and group. You access the device we need write access for current user. To do so we need to create a new udev rules: 

sudo nano /etc/udev/rules.d/45-pes-rpp.rules

And add line: 

SUBSYSTEM=="usb", ATTR{idVendor}=="0403", ATTR{idProduct}=="a6d0", MODE="0660", GROUP="plugdev"

Then reload udev rules with: 

sudo udevadm control --reload-rules

You can check device properties like idVendor or idProduct with the following command: 

udevadm info -a -p $(udevadm info -q path -n /dev/ttyUSB0)

OpenOCD setup and Flashing

Consult FTDI2232_JTAG page for generic OpenOCD setup for ARM targets debugging.

The OpenOCD TMS570 Flash support developed by Andrey Smirnov can be found in OpenOCD Gerrit http://openocd.zylin.com/#/c/2214/

Patches with our corrections to the support have been sent to the OpenOCD mailing-list. The complete OpenOCD sources with all required patches applied (openocd-tms570-f021-wip.tar.gz) can be found at temporal place

http://cmp.felk.cvut.cz/~pisa/tms570/

As a base for OpenOCD configuration for the TMS570 target can be used

https://github.com/AoLaD/rtems-tms570-utils/tree/master/openocd

The example of Flash erase and write OpenOCD commands 

flash banks
flash list
# probe bank/target for actual flash size
flash probe 0
# updated information about banks
flash banks

# erase one 128kB sector starting at 1MB
flash erase_address 0x00100000 0x00020000

# test Flash write using fill pattern
flash fillw 0x00100000 0xabcd1234 128

# Check memory content 
mdw 0x00100000 256

Program application starting at zero address 

# probe bank/target for actual flash size
flash probe 0

# Erase the first 256kB of Flash 
flash erase_address 0x00000000 0x00040000

# Program application
program application.elf

Program binary image starting at 256kB boundary and maximal length 1MB 

# probe bank/target for actual flash size
flash probe 0

# Erase the area after the first 256kB of Flash 
flash erase_address 0x00040000 0x00100000

# Program application
program application.bin 0x00040000

RS232 communication setup

Connect serial communication pins to computer's RS232 port or to USB through a FTDI adapter. If using RS232 port the device should be /dev/ttyS0, if using FTDI it should be something like /dev/ttyUSBx (check dmesg for details).

Make sure minicom or similar terminal program is installed: 

sudo apt-get install minicom

Then configure minicon: 

sudo minicom -s

And use the following configuration "9600 81N": 

Serial Device         : /dev/ttyS0
Lockfile Location     : /var/lock
Callin Program        :
Callout Program       :
Bps/Par/Bits          : 9600 8N1
Hardware Flow Control : No
Software Flow Control : No

Start terminal session and type HELP command to test communication.

GCC build for Cortex-R4 Big-Endian

GCC options 

-mbig-endian -march=armv7-r -mthumb

GCC options with hard float 

-mbig-endian -mthumb -march=armv7-r -mfpu=vfpv3-d16 -mfloat-abi=hard

GCC multilib options 

armv7-r/thumb2/be;@mbig-endian@mthumb@march=armv7-r
armv7-r/thumb2/vfpv3/be;@mbig-endian@mthumb@mfloat-abi=hard@march=armv7-r@mfpu=vfpv3-d16

RTEMS Cortex-R4 TMS570 BSP Deveopment (GSoC 2014 project)

Contacts

Retrieved from "https://rtime.felk.cvut.cz/hw/index.php?title=TMS570LS3137&oldid=4219"