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LAUNCHXL2-TMS57012: Unable to perform a cold reset when flashing code using XDS debugger from a GCC toolchain

Part Number: LAUNCHXL2-TMS57012
Other Parts Discussed in Thread: UNIFLASH, HALCOGEN, TMS570LS1224, RM46L852

Hi,

I am trying to set up a GCC-based toolchain to use with a Hercules TMS570LS1224 chip on a Launchpad board, and have been able to successfully compile a big-endian GCC cross-compiler and toolchain. I have also generated the necessary HAL from Halcogen and my toolchain can compile and generate an ELF file. I have also set up the Uniflash CLI tool to connect to the onboard XDS110 debug probe and flash the binary onto the TMS570 chip. 

When I perform a "warm" run (i.e. the debugger loads the binary and then lets the CPU free-run) it appears all the firmware works perfectly. I have successfully tested GPIO, I2C and CAN demos this way and they all work. However, once I perform a cold reset (or press the RST/PORRST pins) the chip goes dead and doesn't do anything. I don't see the ERROR LED come on either, so I'm puzzled as to exactly what is going on. I also can't seem to get a GDB agent up over the XDS debugger, so I can't step into the start sequence or set breakpoints to get to the bottom of this.

My build system in general is up at  and the HAL specific to the TMS570 Launchpad is at board/hercules_tms570LS12x. The Makefile and project for a basic demo app is at linux_osx/tms570_hercules_basic_app.

I would greatly appreciate any help on this matter. If it helps, I have been able to perform cold resets using the standard TI CCS workflow, and I can even take the binary output of the CCS compiler, load it using Uniflash CLI utility and still retain cold reset capability. Thus, it seems to me that something is going on either in the GCC linker stage or the startup code Halcogen generates for GCC tools that is causing this issue.

Thanks!

- AG

  • Abhimanyu Ghosh2 said:
    The Makefile and project for a basic demo app is at linux_osx/tms570_hercules_basic_app.

    From the Makefile it looks like libnosys.a will been linked.

    However, can you check the linker .map file from the build to confirm that librdimon.a hasn't been linked. The reason is that if librdimon.a is linked, the program won't start from a cold reset since the startup-code will halt using a BKPT instruction and wait for a debugger to continue execution. i.e. when linked against librdimon.a execution is not possible unless under control of the debugger.

  • Edit: Forgot to mention, I did a CTRL-F for librdimon and it doesn't seem to be linked anywhere.

    In any case, here's the paste of the map file:

    In case that is not accessible, here it is:

    Archive member included because of file (symbol)
    
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     .text.floor    0x0000000000000000      0x118 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libm.a(lib_a-s_floor.o)
     .debug_frame   0x0000000000000000       0x44 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libm.a(lib_a-s_floor.o)
     .ARM.attributes
                    0x0000000000000000       0x2d /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libm.a(lib_a-s_floor.o)
     .text          0x0000000000000000        0x0 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libnosys.a(_exit.o)
     .data          0x0000000000000000        0x0 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libnosys.a(_exit.o)
     .bss           0x0000000000000000        0x0 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libnosys.a(_exit.o)
     .text          0x0000000000000000        0x0 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtend.o
     .data          0x0000000000000000        0x0 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtend.o
     .bss           0x0000000000000000        0x0 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtend.o
     .eh_frame      0x0000000000000000        0x4 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtend.o
     .jcr           0x0000000000000000        0x4 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtend.o
     .ARM.attributes
                    0x0000000000000000       0x2d /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtend.o
     .text          0x0000000000000000        0x0 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtn.o
     .data          0x0000000000000000        0x0 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtn.o
     .bss           0x0000000000000000        0x0 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtn.o
    
    Memory Configuration
    
    Name             Origin             Length             Attributes
    VECTORS          0x0000000000000000 0x0000000000000020 xr
    FLASH            0x0000000000000020 0x000000000013ffe0 xr
    CPU_STACK        0x0000000008000000 0x0000000000001500 rw
    RAM              0x0000000008001500 0x000000000002eb00 xrw
    MEMORY_B1        0x0000000060000000 0x0000000000000000 xr
    *default*        0x0000000000000000 0xffffffffffffffff
    
    Linker script and memory map
    
    LOAD /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crti.o
    LOAD /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtbegin.o
    LOAD /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/crt0.o
                    0x0000000008040000                _estack = 0x8040000
                    0x0000000000000400                _Min_Heap_Size = 0x400
    
    .intvecs        0x0000000000000000       0x20
                    0x0000000000000000                . = ALIGN (0x4)
     *(.intvecs)
     .intvecs       0x0000000000000000       0x20 ../Athena/board/hercules_tms570LS12x/src/sys_intvecs.o
                    0x0000000000000000                resetEntry
                    0x0000000000000020                . = ALIGN (0x4)
    
    .text           0x0000000000000020     0x2578
                    0x0000000000000020                . = ALIGN (0x4)
     *(.text)
     .text          0x0000000000000020       0x6c /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtbegin.o
     .text          0x000000000000008c       0xe0 ../Athena/board/hercules_tms570LS12x/src/sys_pmu.o
                    0x000000000000008c                _pmuInit_
                    0x00000000000000d8                _pmuEnableCountersGlobal_
                    0x00000000000000e8                _pmuDisableCountersGlobal_
                    0x00000000000000f8                _pmuResetCycleCounter_
                    0x0000000000000108                _pmuResetEventCounters_
                    0x0000000000000118                _pmuResetCounters_
                    0x0000000000000128                _pmuStartCounters_
                    0x0000000000000130                _pmuStopCounters_
                    0x0000000000000138                _pmuSetCountEvent_
                    0x0000000000000144                _pmuGetCycleCount_
                    0x000000000000014c                _pmuGetEventCount_
                    0x0000000000000158                _pmuGetOverflow_
     .text          0x000000000000016c       0xe8 ../Athena/board/hercules_tms570LS12x/src/dabort.o
                    0x000000000000016c                _dabort
     .text          0x0000000000000254      0x354 ../Athena/board/hercules_tms570LS12x/src/sys_core.o
                    0x0000000000000254                _coreInitRegisters_
                    0x0000000000000360                _coreInitStackPointer_
                    0x00000000000003ac                _getCPSRValue_
                    0x00000000000003b4                _gotoCPUIdle_
                    0x00000000000003cc                _coreEnableVfp_
                    0x00000000000003e4                _coreEnableEventBusExport_
                    0x00000000000003f4                _coreDisableEventBusExport_
                    0x0000000000000404                _coreEnableRamEcc_
                    0x0000000000000414                _coreDisableRamEcc_
                    0x0000000000000424                _coreEnableFlashEcc_
                    0x0000000000000438                _coreDisableFlashEcc_
                    0x0000000000000448                _coreEnableIrqVicOffset_
                    0x0000000000000458                _coreGetDataFault_
                    0x0000000000000460                _coreClearDataFault_
                    0x000000000000046c                _coreGetInstructionFault_
                    0x0000000000000474                _coreClearInstructionFault_
                    0x0000000000000480                _coreGetDataFaultAddress_
                    0x0000000000000488                _coreClearDataFaultAddress_
                    0x0000000000000494                _coreGetInstructionFaultAddress_
                    0x000000000000049c                _coreClearInstructionFaultAddress_
                    0x00000000000004a8                _coreGetAuxiliaryDataFault_
                    0x00000000000004b0                _coreClearAuxiliaryDataFault_
                    0x00000000000004bc                _coreGetAuxiliaryInstructionFault_
                    0x00000000000004c4                _coreClearAuxiliaryInstructionFault_
                    0x00000000000004d0                _disable_interrupt_
                    0x00000000000004d8                _disable_IRQ_interrupt_
                    0x00000000000004e0                _disable_FIQ_interrupt_
                    0x00000000000004e8                _enable_interrupt_
                    0x00000000000004f0                _esmCcmErrorsClear_
                    0x0000000000000578                _errata_CORTEXR4_57_
                    0x0000000000000590                _errata_CORTEXR4_66_
     *(.text*)
     .text.exit     0x00000000000005a8       0x20 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libc.a(lib_a-exit.o)
                    0x00000000000005a8                exit
     .text.startup.register_fini
                    0x00000000000005c8       0x18 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libc.a(lib_a-__call_atexit.o)
     .text.__call_exitprocs
                    0x00000000000005e0       0xe4 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libc.a(lib_a-__call_atexit.o)
                    0x00000000000005e0                __call_exitprocs
     .text.atexit   0x00000000000006c4        0xc /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libc.a(lib_a-atexit.o)
                    0x00000000000006c4                atexit
     .text.__libc_fini_array
                    0x00000000000006d0       0x30 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libc.a(lib_a-fini.o)
                    0x00000000000006d0                __libc_fini_array
     .text.__register_exitproc
                    0x0000000000000700       0xa8 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libc.a(lib_a-__atexit.o)
                    0x0000000000000700                __register_exitproc
     .text.gioInit  0x00000000000007a8       0x48 ../Athena/board/hercules_tms570LS12x/src/gio.o
                    0x00000000000007a8                gioInit
     .text.gioSetDirection
                    0x00000000000007f0        0x4 ../Athena/board/hercules_tms570LS12x/src/gio.o
                    0x00000000000007f0                gioSetDirection
     .text.gioSetBit
                    0x00000000000007f4       0x10 ../Athena/board/hercules_tms570LS12x/src/gio.o
                    0x00000000000007f4                gioSetBit
     .text.vimParityErrorHandler
                    0x0000000000000804      0x114 ../Athena/board/hercules_tms570LS12x/src/sys_vim.o
                    0x0000000000000804                vimParityErrorHandler
     .text.vimInit  0x0000000000000918       0x64 ../Athena/board/hercules_tms570LS12x/src/sys_vim.o
                    0x0000000000000918                vimInit
     .text.mapClocks
                    0x000000000000097c       0x90 ../Athena/board/hercules_tms570LS12x/src/system.o
                    0x000000000000097c                mapClocks
     .text.systemInit
                    0x0000000000000a0c      0x134 ../Athena/board/hercules_tms570LS12x/src/system.o
                    0x0000000000000a0c                systemInit
     .text.phantomInterrupt
                    0x0000000000000b40        0x4 ../Athena/board/hercules_tms570LS12x/src/sys_phantom.o
                    0x0000000000000b40                phantomInterrupt
     .text.selftestFailNotification
                    0x0000000000000b44        0x4 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000b44                selftestFailNotification
     .text.memoryInit
                    0x0000000000000b48       0x1c ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000b48                memoryInit
     .text.pbistSelfCheck
                    0x0000000000000b64      0x174 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000b64                pbistSelfCheck
     .text.pbistRun
                    0x0000000000000cd8       0x58 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000cd8                pbistRun
     .text.pbistStop
                    0x0000000000000d30       0x24 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000d30                pbistStop
     .text.pbistIsTestCompleted
                    0x0000000000000d54        0xc ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000d54                pbistIsTestCompleted
     .text.pbistIsTestPassed
                    0x0000000000000d60       0x14 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000d60                pbistIsTestPassed
     .text.efcStuckZeroTest
                    0x0000000000000d74       0x60 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000d74                efcStuckZeroTest
     .text.efcCheck
                    0x0000000000000dd4       0x54 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000dd4                efcCheck
     .text.checkefcSelfTest
                    0x0000000000000e28       0x48 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000e28                checkefcSelfTest
     .text.custom_dabort
                    0x0000000000000e70        0x4 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000e70                custom_dabort
     .text.vimParityCheck
                    0x0000000000000e74       0x70 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000e74                vimParityCheck
     .text.dmaParityCheck
                    0x0000000000000ee4       0x70 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000ee4                dmaParityCheck
     .text.het1ParityCheck
                    0x0000000000000f54       0x64 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000f54                het1ParityCheck
     .text.htu1ParityCheck
                    0x0000000000000fb8       0x6c ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000000fb8                htu1ParityCheck
     .text.het2ParityCheck
                    0x0000000000001024       0x70 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000001024                het2ParityCheck
     .text.htu2ParityCheck
                    0x0000000000001094       0x6c ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000001094                htu2ParityCheck
     .text.adc1ParityCheck
                    0x0000000000001100       0x6c ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000001100                adc1ParityCheck
     .text.adc2ParityCheck
                    0x000000000000116c       0x68 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x000000000000116c                adc2ParityCheck
     .text.can1ParityCheck
                    0x00000000000011d4       0x74 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x00000000000011d4                can1ParityCheck
     .text.can2ParityCheck
                    0x0000000000001248       0x74 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000001248                can2ParityCheck
     .text.can3ParityCheck
                    0x00000000000012bc       0x74 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x00000000000012bc                can3ParityCheck
     .text.mibspi1ParityCheck
                    0x0000000000001330       0xa0 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000001330                mibspi1ParityCheck
     .text.mibspi3ParityCheck
                    0x00000000000013d0       0xa0 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x00000000000013d0                mibspi3ParityCheck
     .text.mibspi5ParityCheck
                    0x0000000000001470       0xa0 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000001470                mibspi5ParityCheck
     .text.checkRAMECC
                    0x0000000000001510      0x158 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000001510                checkRAMECC
     .text.pbistFail
                    0x0000000000001668       0x20 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000001668                pbistFail
     .text.errata_PBIST_4
                    0x0000000000001688      0x220 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000001688                errata_PBIST_4
     .text.enableParity
                    0x00000000000018a8       0x8c ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x00000000000018a8                enableParity
     .text.disableParity
                    0x0000000000001934       0x8c ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
                    0x0000000000001934                disableParity
     .text.i2cInit  0x00000000000019c0       0x50 ../Athena/board/hercules_tms570LS12x/src/i2c.o
                    0x00000000000019c0                i2cInit
     .text.i2cSendByte
                    0x0000000000001a10        0xc ../Athena/board/hercules_tms570LS12x/src/i2c.o
                    0x0000000000001a10                i2cSendByte
     .text.esmInit  0x0000000000001a1c       0x54 ../Athena/board/hercules_tms570LS12x/src/esm.o
                    0x0000000000001a1c                esmInit
     .text.esmHighInterrupt
                    0x0000000000001a70       0x74 ../Athena/board/hercules_tms570LS12x/src/esm.o
                    0x0000000000001a70                esmHighInterrupt
     .text.canInit  0x0000000000001ae4      0x19c ../Athena/board/hercules_tms570LS12x/src/can.o
                    0x0000000000001ae4                canInit
     .text.canTransmit
                    0x0000000000001c80       0x54 ../Athena/board/hercules_tms570LS12x/src/can.o
                    0x0000000000001c80                canTransmit
     .text.muxInit  0x0000000000001cd4      0x2c8 ../Athena/board/hercules_tms570LS12x/src/pinmux.o
                    0x0000000000001cd4                muxInit
     .text._c_int00
                    0x0000000000001f9c      0x1e8 ../Athena/board/hercules_tms570LS12x/src/sys_startup.o
                    0x0000000000001f9c                _c_int00
     .text.startup.main
                    0x0000000000002184      0x16c tms570_launchpad_tester.o
                    0x0000000000002184                main
     .text.TEST_FOO
                    0x00000000000022f0        0xc user_source/foo.o
                    0x00000000000022f0                TEST_FOO
     .text.mpu9250_write_register
                    0x00000000000022fc       0x54 user_source/hal_interface/imu_hal.o
     .text.imu_hal_init
                    0x0000000000002350       0x3c user_source/hal_interface/imu_hal.o
                    0x0000000000002350                imu_hal_init
     .text.initialize_imu
                    0x000000000000238c       0x54 user_source/hal_interface/imu_hal.o
                    0x000000000000238c                initialize_imu
     .text.get_raw_imu_data
                    0x00000000000023e0       0xec user_source/hal_interface/imu_hal.o
                    0x00000000000023e0                get_raw_imu_data
     .text.board_led_init
                    0x00000000000024cc       0x24 user_source/hal_interface/board_led.o
                    0x00000000000024cc                board_led_init
     .text.board_led_on
                    0x00000000000024f0       0x28 user_source/hal_interface/board_led.o
                    0x00000000000024f0                board_led_on
     .text.board_led_off
                    0x0000000000002518       0x28 user_source/hal_interface/board_led.o
                    0x0000000000002518                board_led_off
     .text.esmGroup1Notification
                    0x0000000000002540        0x4 user_source/hal_interface/notification.o
                    0x0000000000002540                esmGroup1Notification
     .text.esmGroup2Notification
                    0x0000000000002544        0x4 user_source/hal_interface/notification.o
                    0x0000000000002544                esmGroup2Notification
     .text.memoryPort0TestFailNotification
                    0x0000000000002548        0x4 user_source/hal_interface/notification.o
                    0x0000000000002548                memoryPort0TestFailNotification
     .text.cpu_init
                    0x000000000000254c       0x14 user_source/hal_interface/cpu_hal_interface.o
                    0x000000000000254c                cpu_init
     .text.cpu_sw_delay
                    0x0000000000002560       0x1c user_source/hal_interface/cpu_hal_interface.o
                    0x0000000000002560                cpu_sw_delay
     .text._exit    0x000000000000257c        0x4 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libnosys.a(_exit.o)
                    0x000000000000257c                _exit
     *(.glue_7)
     .glue_7        0x0000000000000000        0x0 linker stubs
     *(.glue_7t)
     .glue_7t       0x0000000000000000        0x0 linker stubs
     *(.eh_frame)
     .eh_frame      0x0000000000002580        0x0 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtbegin.o
     *(.init)
     .init          0x0000000000002580        0x4 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crti.o
                    0x0000000000002580                _init
     .init          0x0000000000002584        0x8 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtn.o
     *(.fini)
     .fini          0x000000000000258c        0x4 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crti.o
                    0x000000000000258c                _fini
     .fini          0x0000000000002590        0x8 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtn.o
                    0x0000000000002598                . = ALIGN (0x4)
                    0x0000000000002598                _etext = .
    
    .vfp11_veneer   0x0000000000002598        0x0
     .vfp11_veneer  0x0000000000000000        0x0 linker stubs
    
    .v4_bx          0x0000000000002598        0x0
     .v4_bx         0x0000000000000000        0x0 linker stubs
    
    .iplt           0x0000000000002598        0x0
     .iplt          0x0000000000000000        0x0 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtbegin.o
    
    .rodata         0x0000000000002598      0x230
                    0x0000000000002598                . = ALIGN (0x4)
     *(.rodata)
     .rodata        0x0000000000002598      0x200 ../Athena/board/hercules_tms570LS12x/src/sys_vim.o
     .rodata        0x0000000000002798       0x20 ../Athena/board/hercules_tms570LS12x/src/can.o
     .rodata        0x00000000000027b8        0x8 user_source/hal_interface/imu_hal.o
     *(.rodata*)
     .rodata.str1.4
                    0x00000000000027c0        0x4 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libc.a(lib_a-impure.o)
     .rodata._global_impure_ptr
                    0x00000000000027c4        0x4 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libc.a(lib_a-impure.o)
                    0x00000000000027c4                _global_impure_ptr
                    0x00000000000027c8                . = ALIGN (0x4)
    
    .rel.dyn        0x00000000000027c8        0x0
     .rel.iplt      0x0000000000000000        0x0 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtbegin.o
    
    .ARM.extab
     *(.ARM.extab* .gnu.linkonce.armextab.*)
    
    .ARM            0x00000000000027c8        0x0
                    0x00000000000027c8                __exidx_start = .
     *(.ARM.exidx*)
                    0x00000000000027c8                __exidx_end = .
    
    .preinit_array  0x00000000000027c8        0x0
                    0x00000000000027c8                PROVIDE (__preinit_array_start, .)
     *(.preinit_array*)
                    0x00000000000027c8                PROVIDE (__preinit_array_end, .)
    
    .init_array     0x00000000000027c8        0x8
                    0x00000000000027c8                PROVIDE (__init_array_start, .)
     *(SORT(.init_array.*))
     .init_array.00000
                    0x00000000000027c8        0x4 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libc.a(lib_a-__call_atexit.o)
     *(.init_array*)
     .init_array    0x00000000000027cc        0x4 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtbegin.o
                    0x00000000000027d0                PROVIDE (__init_array_end, .)
    
    .fini_array     0x00000000000027d0        0x4
                    0x00000000000027d0                PROVIDE (__fini_array_start, .)
     *(SORT(.fini_array.*))
     *(.fini_array*)
     .fini_array    0x00000000000027d0        0x4 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtbegin.o
                    0x00000000000027d4                PROVIDE (__fini_array_end, .)
                    0x00000000000027d4                _sidata = LOADADDR (.data)
    
    .data           0x0000000008001500      0x428 load address 0x00000000000027d4
                    0x0000000008001500                . = ALIGN (0x4)
                    0x0000000008001500                _sdata = .
     *(.data)
     *(.data*)
     .data.impure_data
                    0x0000000008001500      0x428 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libc.a(lib_a-impure.o)
                    0x0000000008001928                . = ALIGN (0x4)
                    0x0000000008001928                _edata = .
    
    .jcr            0x0000000008001928        0x0 load address 0x0000000000002bfc
     .jcr           0x0000000008001928        0x0 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtbegin.o
    
    .igot.plt       0x0000000008001928        0x0 load address 0x0000000000002bfc
     .igot.plt      0x0000000000000000        0x0 /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtbegin.o
                    0x0000000008001928                . = ALIGN (0x4)
    
    .bss            0x0000000008001928       0x3c load address 0x0000000000002bfc
                    0x0000000008001928                _sbss = .
                    0x0000000008001928                __bss_start__ = _sbss
     *(.bss)
     .bss           0x0000000008001928       0x1c /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtbegin.o
     .bss           0x0000000008001944        0xc ../Athena/board/hercules_tms570LS12x/src/i2c.o
     .bss           0x0000000008001950       0x14 tms570_launchpad_tester.o
     *(.bss*)
     *(COMMON)
                    0x0000000008001964                . = ALIGN (0x4)
                    0x0000000008001964                _ebss = .
                    0x0000000008001964                __bss_end__ = _ebss
                    0x0000000008001964                PROVIDE (end, _ebss)
                    0x0000000008001964                PROVIDE (_end, _ebss)
    
    .memory_b1_text
     *(.mb1text)
     *(.mb1text*)
     *(.mb1rodata)
     *(.mb1rodata*)
    
    /DISCARD/
     libc.a(*)
     libm.a(*)
     libgcc.a(*)
    
    .ARM.attributes
                    0x0000000000000000       0x2d
     *(.ARM.attributes)
     .ARM.attributes
                    0x0000000000000000       0x1b /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crti.o
     .ARM.attributes
                    0x000000000000001b       0x2d /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtbegin.o
     .ARM.attributes
                    0x0000000000000048       0x3a ../Athena/board/hercules_tms570LS12x/src/gio.o
     .ARM.attributes
                    0x0000000000000082       0x3a ../Athena/board/hercules_tms570LS12x/src/sys_vim.o
     .ARM.attributes
                    0x00000000000000bc       0x3a ../Athena/board/hercules_tms570LS12x/src/system.o
     .ARM.attributes
                    0x00000000000000f6       0x3a ../Athena/board/hercules_tms570LS12x/src/sys_phantom.o
     .ARM.attributes
                    0x0000000000000130       0x3a ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
     .ARM.attributes
                    0x000000000000016a       0x3a ../Athena/board/hercules_tms570LS12x/src/i2c.o
     .ARM.attributes
                    0x00000000000001a4       0x3a ../Athena/board/hercules_tms570LS12x/src/esm.o
     .ARM.attributes
                    0x00000000000001de       0x3a ../Athena/board/hercules_tms570LS12x/src/can.o
     .ARM.attributes
                    0x0000000000000218       0x3a ../Athena/board/hercules_tms570LS12x/src/pinmux.o
     .ARM.attributes
                    0x0000000000000252       0x3a ../Athena/board/hercules_tms570LS12x/src/sys_startup.o
     .ARM.attributes
                    0x000000000000028c       0x25 ../Athena/board/hercules_tms570LS12x/src/sys_pmu.o
     .ARM.attributes
                    0x00000000000002b1       0x25 ../Athena/board/hercules_tms570LS12x/src/dabort.o
     .ARM.attributes
                    0x00000000000002d6       0x25 ../Athena/board/hercules_tms570LS12x/src/sys_core.o
     .ARM.attributes
                    0x00000000000002fb       0x25 ../Athena/board/hercules_tms570LS12x/src/sys_intvecs.o
     .ARM.attributes
                    0x0000000000000320       0x3a tms570_launchpad_tester.o
     .ARM.attributes
                    0x000000000000035a       0x3a user_source/foo.o
     .ARM.attributes
                    0x0000000000000394       0x3a user_source/hal_interface/imu_hal.o
     .ARM.attributes
                    0x00000000000003ce       0x3a user_source/hal_interface/board_led.o
     .ARM.attributes
                    0x0000000000000408       0x3a user_source/hal_interface/notification.o
     .ARM.attributes
                    0x0000000000000442       0x3a user_source/hal_interface/cpu_hal_interface.o
     .ARM.attributes
                    0x000000000000047c       0x2d /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libnosys.a(_exit.o)
     .ARM.attributes
                    0x00000000000004a9       0x1b /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtn.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/sys_pmm.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/gio.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/sci.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/sys_vim.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/system.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/sys_phantom.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/rti.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/i2c.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/sys_pcr.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/esm.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/can.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/pinmux.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/sys_dma.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/sys_startup.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/sys_pmu.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/dabort.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/sys_core.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/sys_intvecs.o
    LOAD ../Athena/board/hercules_tms570LS12x/src/sys_mpu.o
    LOAD tms570_launchpad_tester.o
    LOAD user_source/imu.o
    LOAD user_source/foo.o
    LOAD user_source/hal_interface/imu_hal.o
    LOAD user_source/hal_interface/board_led.o
    LOAD user_source/hal_interface/notification.o
    LOAD user_source/hal_interface/cpu_hal_interface.o
    LOAD /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libm.a
    LOAD /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libc.a
    START GROUP
    LOAD /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/libgcc.a
    LOAD /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libc.a
    END GROUP
    START GROUP
    LOAD /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/libgcc.a
    LOAD /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libc.a
    LOAD /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/../../../../arm-none-eabi/lib/armv7-ar/thumb/fpu/eb/libnosys.a
    END GROUP
    LOAD /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtend.o
    LOAD /home/aghosh01/NYU_Cubesat_Repos/FlightSoftware/Athena/arm-none-eabi-gcc_4_9_BE/gcc-arm-none-eabi-4_9-2017q2_BE_LINUX/bin/../lib/gcc/arm-none-eabi/4.9.3/armv7-ar/thumb/fpu/eb/crtn.o
    OUTPUT(tms570_launchpad_tester.elf elf32-bigarm)
    
    .debug_info     0x0000000000000000     0x8e2d
     .debug_info    0x0000000000000000      0x4a5 ../Athena/board/hercules_tms570LS12x/src/gio.o
     .debug_info    0x00000000000004a5      0x6d7 ../Athena/board/hercules_tms570LS12x/src/sys_vim.o
     .debug_info    0x0000000000000b7c      0xffc ../Athena/board/hercules_tms570LS12x/src/system.o
     .debug_info    0x0000000000001b78       0x99 ../Athena/board/hercules_tms570LS12x/src/sys_phantom.o
     .debug_info    0x0000000000001c11     0x2b65 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
     .debug_info    0x0000000000004776      0xa3c ../Athena/board/hercules_tms570LS12x/src/i2c.o
     .debug_info    0x00000000000051b2      0x648 ../Athena/board/hercules_tms570LS12x/src/esm.o
     .debug_info    0x00000000000057fa      0xb7e ../Athena/board/hercules_tms570LS12x/src/can.o
     .debug_info    0x0000000000006378      0x62c ../Athena/board/hercules_tms570LS12x/src/pinmux.o
     .debug_info    0x00000000000069a4      0x9a1 ../Athena/board/hercules_tms570LS12x/src/sys_startup.o
     .debug_info    0x0000000000007345       0xa3 ../Athena/board/hercules_tms570LS12x/src/sys_pmu.o
     .debug_info    0x00000000000073e8       0xa2 ../Athena/board/hercules_tms570LS12x/src/dabort.o
     .debug_info    0x000000000000748a       0xa4 ../Athena/board/hercules_tms570LS12x/src/sys_core.o
     .debug_info    0x000000000000752e       0xa7 ../Athena/board/hercules_tms570LS12x/src/sys_intvecs.o
     .debug_info    0x00000000000075d5      0x81c tms570_launchpad_tester.o
     .debug_info    0x0000000000007df1       0xaf user_source/foo.o
     .debug_info    0x0000000000007ea0      0x74c user_source/hal_interface/imu_hal.o
     .debug_info    0x00000000000085ec      0x2c3 user_source/hal_interface/board_led.o
     .debug_info    0x00000000000088af      0x454 user_source/hal_interface/notification.o
     .debug_info    0x0000000000008d03      0x12a user_source/hal_interface/cpu_hal_interface.o
    
    .debug_abbrev   0x0000000000000000     0x1856
     .debug_abbrev  0x0000000000000000      0x116 ../Athena/board/hercules_tms570LS12x/src/gio.o
     .debug_abbrev  0x0000000000000116      0x1c9 ../Athena/board/hercules_tms570LS12x/src/sys_vim.o
     .debug_abbrev  0x00000000000002df      0x22f ../Athena/board/hercules_tms570LS12x/src/system.o
     .debug_abbrev  0x000000000000050e       0x42 ../Athena/board/hercules_tms570LS12x/src/sys_phantom.o
     .debug_abbrev  0x0000000000000550      0x377 ../Athena/board/hercules_tms570LS12x/src/sys_selftest.o
     .debug_abbrev  0x00000000000008c7      0x1c6 ../Athena/board/hercules_tms570LS12x/src/i2c.o
     .debug_abbrev  0x0000000000000a8d      0x1cc ../Athena/board/hercules_tms570LS12x/src/esm.o
     .debug_abbrev  0x0000000000000c59      0x196 ../Athena/board/hercules_tms570LS12x/src/can.o
     .debug_abbrev  0x0000000000000def       0xe9 ../Athena/board/hercules_tms570LS12x/src/pinmux.o
     .debug_abbrev  0x0000000000000ed8      0x19d ../Athena/board/hercules_tms570LS12x/src/sys_startup.o
     .debug_abbrev  0x0000000000001075       0x14 ../Athena/board/hercules_tms570LS12x/src/sys_pmu.o
     .debug_abbrev  0x0000000000001089       0x14 ../Athena/board/hercules_tms570LS12x/src/dabort.o
     .debug_abbrev  0x000000000000109d       0x14 ../Athena/board/hercules_tms570LS12x/src/sys_core.o
     .debug_abbrev  0x00000000000010b1       0x14 ../Athena/board/hercules_tms570LS12x/src/sys_intvecs.o
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  • OK, the linker command map confirms that libnosys.a, rather than librdimon.a, has been linked. That means semi-hosting isn't the cause of the failure to start from a cold reset. From the map file I can't see any other obvious problem which would prevent a failure to start from a cold reset.

    Some ideas on how you can investigate:

    1) Start a debug session from CCS which loads the binary. From the menu select Run -> Reset -> System Reset. That should cause CCS to generate the equivalent of a cold reset and leave the program counter at the reset vector. You can then try single stepping through the start code one instruction at a time to see at what point the start-up gets stuck.

    2) With the debugger not connected generate a cold reset by pressing the RST/PORRS pins. Then start a CCS debug session to attach to the running target without reseting it, to try and determine the state of the target. See MSP430 - Connecting to a running target. The referenced Wiki page was for MSP430 devices, but should be applicable to Hercules devices.

  • For suggestion 1, this is what I am getting now when I perform a system reset and halt execution:

     

  • So, further update. I tried getting the disassembly of the code after pausing wherever it's stuck, and this is what I get: 

  • Abhimanyu Ghosh2 said:
    So, further update. I tried getting the disassembly of the code after pausing wherever it's stuck, and this is what I get:

    Address 4 is the Undefined Instruction exception handler, which spins in an infinite loop.

    Abhimanyu Ghosh2 said:
    For suggestion 1, this is what I am getting now when I perform a system reset and halt execution:

    After performing the System Reset did it either:

    a) Immediately change to address 0x4?

    b) Start at address 0 (the reset vector) and then halt at address 0x4 after attempted to step one or more instructions?

    I don't have the big-endian TMS570LS1224, but will try and check that get can the little-endian RM46L852 to operate from a cold-reset using the pre-compiled GCC run time libraries which are part of the GCC ARM compiler installed by CCS.

  • After investigating further, here is the sequence of events that appears to happen:

    1) After a full system reset, we end up at address 0 (Reset handler).

    2) This then jumps to the address of _c_int00 as expected (as that is the entry point), address 0x1f9c

    3) When I then step over in the disassembler one more time, I wind up at address 0x4 (i.e. the undefined instruction handler). For reference, the below is the last line I get to before I step over and get the undefined exception:

  • Abhimanyu Ghosh2 said:
    Thus, it seems to me that something is going on either in the GCC linker stage or the startup code Halcogen generates for GCC tools that is causing this issue.

    On investigating it seems that the _c_int00 startup C function must be compiled for ARM mode, otherwise an Undefined Instruction exception occurs during a cold-reset.

    The sys_startup.c source file which is created by HALCoGen for the TI ARM compiler contains an explicit #prama to force the _c_int00 function to be compiled for ARM (32-bit) mode:

    /* Startup Routine */
    void _c_int00(void);
    /* USER CODE BEGIN (4) */
    /* USER CODE END */
    
    #pragma CODE_STATE(_c_int00, 32)
    #pragma INTERRUPT(_c_int00, RESET)
    #pragma WEAK(_c_int00)
    
    /* SourceId : STARTUP_SourceId_001 */
    /* DesignId : STARTUP_DesignId_001 */
    /* Requirements : HL_SR508 */
    void _c_int00(void)
    {
    

    Whereas as the sys_startup.c source file generated by HALCoGen for the GCC ARM compiler doesn't force the _c_int00 function to be compiled for ARM mode. If the sys_startup.c source file gets compiled for thumb mode, via the -mthumb option, then the resulting _c_int00 function will suffer an Undefined Instruction exception during a cold-reset. Your linux_osx/tms570_hercules_basic_app/Makefile appears to compile all source files for thumb mode. If the Makefile is changed to compile the sys_startup.c source file for ARM mode I think that might solve the cold-reset problem.

    https://gcc.gnu.org/onlinedocs/gcc/ARM-Options.html suggests that function pragma or attributes can be used to select arm / thumb mode on specific functions, but they were not supported in the GCC ARM compiler v4.9.3 I was using.

  • You are a life-saver... turned out that was the issue! I simply removed the -mthumb option from my Makefile, and now am able to cold-reset (and PORRST/RST) with no issues! I'll update my build system and push that to my upstream Athena repo.

    Thanks a lot!!
    - AG
  • Good catch guys -- yes we wired the R4 to enter ARM mode on exceptions. 
    There's a tie-off on the CPU for that option.   Did it for consistency w. TMS470 series.

  • Anthony, is this behavior also the case on the RM48L9x line of MCUs? I have worked with that line before using GCC, which is why I was surprised when the toolchain I used for that chip didn't quite carry over to the TMS570 without this modification (obviously, I also had to deal with the big-endian compiler issues but that was expected).
  • Yes but maybe I should backtrack a tiny bit...

    The "TEINIT" tie-off what we configured --- it makes SCTRL 'TE' default to '0' ARM Exception Generation mode. You can see this in CP15 SCTLR bit 30 right after a reset.

    You can read / write this bit so you can change it... but I'm not really sure its a good idea because
    after reset it will go back to the original mode. You might be able to change all of the exceptions to Thumb2 mode *except* for the reset vector if you modify this bit in your startup code but I'd want to make sure there's a good reason to do this before trying it ;)

    -Anthony
  • Anthony F. Seely said:
    You can read / write this bit so you can change it... but I'm not really sure its a good idea because
    after reset it will go back to the original mode. You might be able to change all of the exceptions to Thumb2 mode *except* for the reset vector if you modify this bit in your startup code but I'd want to make sure there's a good reason to do this before trying it ;)

    The HALCoGen generated sys_startup.c file for the TI ARM compiler uses the TI ARM compiler pragma to force the _c_init00 function called from the reset exception to be compiled for ARM mode:

    #pragma CODE_STATE(_c_int00, 32)

    Whereas the HALCoGen generated sys_startup.c file for the GCC ARM compiler doesn't force the _c_init00 function to be compiled for ARM mode, and if the GCC ARM compiler options used for the sys_startup.c file compile that file for THUMB mode then an Undefined Instruction exception occurs during a cold-reset.

    Would be possible for HALCoGen to issue a GCC ARM compiler specific pragma to force _c_init00 to be compiled for ARM mode, as I think that would then allow the rest of the user's code to be compiled for THUMB mode if they wanted?

    I can't remember at the moment the benefit of compiling ARM .vs. THUMB mode code on a Cortex-R device.

  • is this something you can comment on / evaluate as a possible enhancement?