Hardware floating point lib with tms320f28069

Hi AartiG

Thank you for your message.

I've already changed but it seem no effect.

Is it compiler issue?

Regards,

Fitz

Hi AartiG (80029) ,

This is my linker option and the reported error during linking:

"C:/ti/ccsv6/tools/compiler/ti-cgt-c2000_16.6.0.STS/bin/cl2000" -v28 --float_support=fpu32 --opt_for_speed=0 --advice:performance=all --define=MOT_22_POLES --define=USE_IQ_MATH --define=BYPASS_WIFI --define=LINEAR_QEP --define=ENABLE_LOG --define=SPI_IRQ_MODE --define=FAST_QEP_ACCESS -g --diag_warning=225 --diag_wrap=off --display_error_number -z -m"Mofoc2016.map" --heap_size=0x8000 --stack_size=0x400 --warn_sections -i"C:/ti/ccsv6/tools/compiler/ti-cgt-c2000_16.6.0.STS/lib" -i"C:/ti/ccsv6/tools/compiler/ti-cgt-c2000_16.6.0.STS/include" --priority --diag_wrap=off --display_error_number --xml_link_info="Mofoc2016_linkInfo.xml" --rom_model -o "Mofoc2016.out" "./midlewares/mot_ctrl/source/filter.obj" "./midlewares/mot_ctrl/source/linear_qep.obj" "./midlewares/mot_ctrl/source/mot_config.obj" "./midlewares/mot_ctrl/source/mot_ctrl.obj" "./midlewares/mot_ctrl/source/pid.obj" "./midlewares/mot_ctrl/source/spi_qep.obj" "./midlewares/mem_mnt/mem_ctrl/mem_ctrl.obj" "./midlewares/mem_mnt/flash/flash.obj" "./midlewares/mem_mnt/eeprom/source/eeprom.obj" "./midlewares/mem_mnt/crc/crc.obj" "./midlewares/log_srv/source/log.obj" "./midlewares/com_srv/source/com_srv.obj" "./midlewares/com_srv/source/com_srv_can.obj" "./midlewares/com_srv/source/com_srv_common.obj" "./midlewares/com_srv/source/com_srv_wifi.obj" "./kernel/system/source/mot_mac.obj" "./kernel/system/source/system.obj" "./kernel/libs/gui/src/Commros_user.obj" "./kernel/libs/graph/src/Graph_Data.obj" "./kernel/drivers/ti/startup/F2806x_CodeStartBranch.obj" "./kernel/drivers/ti/source/F2806x_GlobalVariableDefs.obj" "./kernel/drivers/ti/common/source/F2806x_DefaultIsr.obj" "./kernel/drivers/ti/common/source/F2806x_OscComp.obj" "./kernel/drivers/ti/common/source/F2806x_PieCtrl.obj" "./kernel/drivers/ti/common/source/F2806x_PieVect.obj" "./kernel/drivers/ti/common/source/F2806x_SysCtrl.obj" "./kernel/drivers/ti/asm/F2806x_usDelay.obj" "./kernel/drivers/swapper/timer/source/timer.obj" "./kernel/drivers/swapper/spi/source/spi.obj" "./kernel/drivers/swapper/sci/source/sci.obj" "./kernel/drivers/swapper/qep/source/qep.obj" "./kernel/drivers/swapper/pwm/source/pwm.obj" "./kernel/drivers/swapper/pie/source/pie.obj" "./kernel/drivers/swapper/i2c/source/i2c.obj" "./kernel/drivers/swapper/hspwm/source/hspwm.obj" "./kernel/drivers/swapper/gpio/source/gpio.obj" "./kernel/drivers/swapper/flash/source/flash.obj" "./kernel/drivers/swapper/comp/source/comp.obj" "./kernel/drivers/swapper/can/source/can.obj" "./kernel/drivers/swapper/adc/source/adc.obj" "./kernel/config/hal.obj" "./kernel/FreeRTOS/port/os.obj" "./kernel/FreeRTOS/port/port.obj" "./kernel/FreeRTOS/core/source/croutine.obj" "./kernel/FreeRTOS/core/source/event_groups.obj" "./kernel/FreeRTOS/core/source/list.obj" "./kernel/FreeRTOS/core/source/queue.obj" "./kernel/FreeRTOS/core/source/tasks.obj" "./kernel/FreeRTOS/core/source/timers.obj" "./kernel/FreeRTOS/MemMang/heap_5.obj" "./framework/src/data_logger.obj" "./framework/src/fw_task.obj" "./framework/src/led.obj" "./framework/src/mailbox.obj" "./framework/src/mem_ctrl.obj" "./framework/src/message.obj" "./framework/src/mot_controller.obj" "./framework/src/msg_proc.obj" "./framework/src/pt_ctrl.obj" "./framework/src/semaphore.obj" "./framework/src/storage.obj" "./framework/src/sys_ctrl.obj" "./apps/cine_bldc/source/cine_bldc.obj" "../F28069_Mofoc.cmd" "../F2806x_Headers_nonBIOS.cmd" "R:/01_dev/kernel/libs/runtime/rts2800_fpu32.lib" "R:/01_dev/kernel/libs/runtime/rts2800_ml.lib" "R:/01_dev/kernel/libs/iqmath/IQmath_fpu32.lib" "R:/01_dev/kernel/libs/gui/lib/commros_28xx_c_full.lib" "R:/01_dev/kernel/libs/bootloader/2806x_BootROM_API_TABLE_Symbols.lib" "R:/01_dev/kernel/libs/bldc/lib/C28x_InstaSPIN_BLDC_Lib.lib" -l"R:\01_dev\kernel\libs\runtime\rts2800_fpu32.lib" -l"C:\ti\ccsv6\tools\compiler\ti-cgt-c2000_16.6.0.STS\lib\rts2800_ml.lib" -l"R:\01_dev\kernel\libs\bldc\lib\C28x_InstaSPIN_BLDC_Lib.lib" -l"R:\01_dev\kernel\libs\gui\lib\commros_28xx_c_full.lib" -l"R:\01_dev\kernel\libs\iqmath\IQmath_fpu32.lib" -l"R:/01_dev/kernel/libs/runtime/rts2800_fpu32.lib" -v28 --float_support=fpu32
<Linking>
warning: illegal COFF version specified; version 2 assumed
error #16008-D: file "R:/01_dev/kernel/libs/gui/lib/commros_28xx_c_full.lib<commros.obj>" specifies ISA revision "C2800", which is not compatible with ISA revision "C28FPU32" specified in a previous file or on the command line
error #16008-D: file "R:/01_dev/kernel/libs/runtime/rts2800_fpu32.lib<ll_aox.obj>" specifies ISA revision "C28FPU32", which is not compatible with ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file "R:/01_dev/kernel/libs/gui/lib/commros_28xx_c_full.lib<ByteProtocol.obj>" specifies ISA revision "C2800", which is not compatible with ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file "R:/01_dev/kernel/libs/gui/lib/commros_28xx_c_full.lib<Datalogger.obj>" specifies ISA revision "C2800", which is not compatible with ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file "R:/01_dev/kernel/libs/runtime/rts2800_fpu32.lib<ll_cmp.obj>" specifies ISA revision "C28FPU32", which is not compatible with ISA revision "C2700" specified in a previous file or on the command line
warning #16002-D: build attribute vendor section TI missing in "R:/01_dev/kernel/libs/iqmath/IQmath_fpu32.lib<IQ14div.obj>": compatibility cannot be determined
error #16008-D: file "R:/01_dev/kernel/libs/iqmath/IQmath_fpu32.lib<IQ14div.obj>" specifies ISA revision "C28FPU32", which is not compatible with ISA revision "C2700" specified in a previous file or on the command line

Regards,

Fitz

Truong Nguyen Xuan78 said:

error #16008-D: file "R:/01_dev/kernel/libs/gui/lib/commros_28xx_c_full.lib<commros.obj>" specifies ISA revision "C2800", which is not compatible with ISA revision "C28FPU32" specified in a previous file or on the command line

This message means that commros_28xx_c_full.lib was built with only the -v28 option and not --float_support=fpu32, so it is not compatible with other files which are compiled with both options.

Most of the other messages refer to similar incompatibilities. Basically all the object files (.obj) and libraries (.lib) passed to the linker must be built with the same options. In your case, it looks like there is a mix of files/libraries with ISA revision C2700 , C2800  and C28FPU32. 

ISA revision C2700 means it was built without -v28 option, C2800 means it was built with -v28 but without --float_support=fpu32 option, and C28FPU32 means it was built with both options. You need to ensure that all the object files and libraries are compiled with the same set of options before getting passed to the linker. If the goal is to use fpu32, then you would need to rebuild commros_28xx_c_full.lib with that option. If not, then you would need to remove the fpu32 option from the project and use non-fpu32 versions of the IQmath and rts libs.

Hope this helps!