TI-RTOS on motorware project F28069

Hi Grant,
I've looked around and haven't seen any examples of Motorware with TI-RTOS. I believe it's possible too. You can always reply to one of those posts you saw to get in touch with someone who has done it before. If you want to try it yourself, I'd suggest creating an empty F28069 TI-RTOS project and slowly migrating the motorware stuff (compiler, linker options and other settings) in.

Let me know if this helped

Moses

That's what I'm actually working on at the moment. The problem is that the motorware stuff uses a completely different set of drivers/register headers, so I have to replace quite a bit of stuff before I can get back to just a blinking LED.  The two put together also result in a massive code size, so I've had to temporarily disable large chunks of motorware (all of the user settings, filter code, and control code) so that I can run it out of memory while getting it to work initially.

At the moment, it builds, but it jumps to interrupt void PIE_illegalIsr(void) shortly after starting. My three tasks do not appear to be exceeding their stack size (141/256, 141/256, 123/256.) The only unusual think I see in the ROV is the following error about the timer:

"Timer device period value: 89999999 does not match instance period: 90000."

Could that be causing the jump to PIE_illegalisr()? Mind also taking a look at my linker command file to see if it looks correct? (see below.) It's based off of f28069F_ram_lnk.cmd, but modified a bit to fit huge .cinit.

Thanks,

Grant

MEMORY
{
PAGE 0 :
   BEGIN       : origin = 0x000000, length = 0x000002
   RAMM0_M1       : origin = 0x000050, length = 0x0007B0
   RESET       : origin = 0x3FFFC0, length = 0x000002
   FPUTABLES   : origin = 0x3FD590, length = 0x0006A0	 /* FPU Tables in Boot ROM */
   IQTABLES    : origin = 0x3FDC30, length = 0x000B50    /* IQ Math Tables in Boot ROM */
   IQTABLES2   : origin = 0x3FE780, length = 0x00008C    /* IQ Math Tables in Boot ROM */
   IQTABLES3   : origin = 0x3FE80C, length = 0x0000AA	 /* IQ Math Tables in Boot ROM */
   BOOTROM    : origin = 0x3FF3B0, length = 0x000C10

PAGE 1 :
   BOOT_RSVD   : origin = 0x000002, length = 0x00004E    /* Part of M0, BOOT rom will use this for stack */
   RAML0_L6    : origin = 0x008000, length = 0x008000
   USB_RAM     : origin = 0x040000, length = 0x000800    /* USB RAM */
}

SECTIONS
{
   /* Setup for "boot to SARAM" mode:
      The codestart section (found in DSP28_CodeStartBranch.asm)
      re-directs execution to the start of user code.  */
   codestart        : > BEGIN,      PAGE = 0
   ramfuncs  		: > RAMM0_M1,
                         LOAD_START(_RamfuncsLoadStart),
                         LOAD_END(_RamfuncsLoadEnd),
                         RUN_START(_RamfuncsRunStart),
						 LOAD_SIZE(_RamfuncsLoadSize),
                         PAGE = 0
   .text            : > RAML0_L6,   PAGE = 1
   .cinit           : > RAML0_L6,      PAGE = 1
   .pinit           : > RAMM0_M1,      PAGE = 0
   .switch          : > RAMM0_M1,      PAGE = 0
   .reset           : > RESET,      PAGE = 0, TYPE = DSECT /* not used, */
   .stack           : > RAMM0_M1,   PAGE = 0
   .ebss            : > RAML0_L6,   PAGE = 1
   .econst          : > RAML0_L6,   PAGE = 1
   .esysmem         : > RAML0_L6,   PAGE = 1
   .cio        	    : > RAML0_L6,   PAGE = 1

   IQmath           : > RAML0_L6,   PAGE = 1
   IQmathTables     : > IQTABLES,   PAGE = 0, TYPE = NOLOAD
   
   /* Allocate FPU math areas: */
   FPUmathTables    : > FPUTABLES,  PAGE = 0, TYPE = NOLOAD
}