TMS320F28388D: Problem of pointer located in CPUTOCMRAM and pointing elements in CPUTOCMRAM

Jerome Manhes

Hello,

I have a structure with pointers initialized to point on some elements of this structure.

Here *p_in (0x0000B0A8) is pointing id (0x0000B084) and *p_set (0x0000B0AA) is pointing idRef (0x0000B0A4).

The structure is running on CPU1 and has to be shared with CM core.

For the moment the structure is located in LS6 RAM and when necessary, I copy the content of the structure into CPUTOCMRAM. Everything works well but it takes time to transfer the structure.

To improve this, I locate the structure directly into CPUTOCMRAM using #pragma DATA_SECTION macro as the memory is READ/WRITE accessible from CPU1.

When I debug, the main structure is well located in CPUTOCMRAM memory (0x39000) however the pointers are still pointing on LS6 zone instead of pointing elements in CPUTOCMRAM.

Now *p_in (0x000390A8) is pointing id@0x0000B084 instead of (0x00038084) and *p_set (0x000390AA) is pointing idRef@0x000B0A4 instead of (0x000390A4).

How can I correct this issue?

Sincerely.

Jérôme

over 4 years ago

0 Ashwini Athalye over 4 years ago

TI__Expert 7715 points

Hi Jérôme,

You will need to place the members pointed to by the pointer inside the structure to CPUTOCMRAM, For example the p_in points to a member of 'motor_foc', in this case motor_foc will also need to be placed in the CPUTOCMRAM RAM.

Thanks,

Ashwini

0 Jerome Manhes over 4 years ago in reply to Ashwini Athalye

Prodigy 90 points

Hi Ashwini,

Thanks you for your reply. For information, motor_foc is placed in CPUTOCMRAM. As you can see in the second picture all the elements are in CPUTOCMRAM. *p_in@0x000390A8, id@0x00038084, *p_set@0x000390AA and idRef@0x000390A4.

Sincerely.

Jérôme

0 Ashwini Athalye over 4 years ago in reply to Jerome Manhes

TI__Expert 7715 points

Hi Jerome,

I accidentally clicked on "TI thinks resolved", please ignore it.

In the snapshot I see "motor_enc" but not "motor_foc".Can you confirm that "motor_foc" which is what is mapped to the struct is also placed on the CPU-CM shared RAM.

Thanks,

Ashwini

0 Jerome Manhes over 4 years ago

Prodigy 90 points

Hi Ashwini,

Yes indeed, motor_foc is in CPUTOCMRAM starting @0x00039000.

0 Ashwini Athalye over 4 years ago in reply to Jerome Manhes

TI__Expert 7715 points

Hi Jerome,

Please could you look up the addresses 0xB084 and 0xB0A4 in the memory browser and check if it maps to another datastructure instacne. Maybe that instance is being linked to the datastructure?

Thanks,

Ashwini

0 Jerome Manhes over 4 years ago in reply to Ashwini Athalye

Prodigy 90 points

Hi Ashwini,

I don't know how to interpret the results when disassembling

Here is what I have @0x0000B084.

00b084:   0000        ITRAP0
00b085:   3F00        MOV          @0x0, P
00b086:   0000        ITRAP0
00b087:   0000        ITRAP0
00b088:   0000        ITRAP0
00b089:   0000        ITRAP0
00b08a:   0000        ITRAP0
00b08b:   0000        ITRAP0
00b08c:   0000        ITRAP0

Here is what I have @0x0000B0A4

00b0a4:   0343        SUBL         ACC, *-SP[3]
00b0a5:   037A        SUBL         ACC, *-SP[58]
00b0a6:   0243        MOVB         ACC, #67
00b0a7:   0001        ABORTI
00b0a8:   0000        ITRAP0
00b0a9:   0000        ITRAP0
00b0aa:   00800343    LC           0x000343
00b0ac:   0343        SUBL         ACC, *-SP[3]
00b0ad:   037A        SUBL         ACC, *-SP[58]
00b0ae:   0243        MOVB         ACC, #67
00b0af:   0001        ABORTI
00b0b0:   0000        ITRAP0
00b0b1:   0000        ITRAP0
00b0b2:   00800343    LC           0x000343
00b0b4:   0343        SUBL         ACC, *-SP[3]
00b0b5:   037A        SUBL         ACC, *-SP[58]
00b0b6:   0243        MOVB         ACC, #67
00b0b7:   0001        ABORTI
00b0b8:   0000        ITRAP0
00b0b9:   0000        ITRAP0
00b0ba:   00800343    LC           0x000343
00b0bc:   0343        SUBL         ACC, *-SP[3]
00b0bd:   037A        SUBL         ACC, *-SP[58]
00b0be:   0243        MOVB         ACC, #67
00b0bf:   0001        ABORTI
00b0c0:   0000        ITRAP0
00b0c1:   0000        ITRAP0
00b0c2:   0000        ITRAP0
00b0c3:   3F80        MOV          *XAR0++, P
00b0c4:   0000        ITRAP0
00b0c5:   4080        TBIT         *XAR0++, #0x0
00b0c6:   0001        ABORTI

Starting @0xB0A0, I know that I have a structure (DRV registers structure) but there are no links with motor_FOC.

Sincerely.

Jérôme

0 Ashwini Athalye over 4 years ago in reply to Jerome Manhes

TI__Expert 7715 points

Hi Jerome,

Please look at address "0x0000B084" in the memory browser and not in the disassembly window.

One other way to check if the debugger is showing incorrect value or if the structure element is indeed mapped to the 0xB084 address you can do this: in your application create a variable that saves the value (not address) of the structure elements p_in and p_set. As these are pointers, their value should be the address the pointers point to. If the values of these pointers is 0xB084 then then the application is assigning the p_set and p_in to data structure stored at 0xB084. If not, then looks like we have a debugger issues.

Thanks,

Ashwini

0 Jerome Manhes over 4 years ago in reply to Ashwini Athalye

Prodigy 90 points

Hello Ashwini,

After some investigations I have identified the main issue. In fact when the structure (motor_FOC) is located at 0xB000 there are no problems, the structure is well initialized at startup.

0x0000B000   motor_foc
0x0000B000   3333   3F33   825A   390C   CCF7   3912   0000   4396   D289   3ADE   CCCD   3DCC   000C   0000   7400   0000   7480   0000   7580   0000   7500
0x0000B015   0000   0000   0000   0B00   0000   0B20   0000   0B60   0000   0B40   0000   0000   0000   0B10   0000   0B30   0000   0B70   0000   0B50   0000
0x0000B02A   0B14   0000   0B34   0000   0B74   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   22EB
0x0000B03F   3D95   5BA3   3F6D   0000   0000   0D82   0001   5100   0000   000C   0000   4000   469C   0000   0000   0000   0000   0000   0000   0000   0000
0x0000B054   0000   0000   0000   0000   0000   0000   597C   45C4   0000   0000   6FDA   44F5   0000   0000   0000   0000   0000   4348   8536   3CF9   33D6
0x0000B069   3F78   4000   471C   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   22EB   3D95   5BA3   3F6D   0000   0000
0x0000B07E   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x0000B093   0000   0000   0000   0000   0000   0000   41A0   6666   3F66   CCCD   3DCC   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x0000B0A8   0000   0000   0000   0000   0000   0000   89D4   3ED7   307A   3D61   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x0000B0BD   0000   0000   0000   307A   3EE1   307A   3D61   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x0000B0D2   0000   0000   0000   0000   0000   0000   0000   3F80   D70A   3CA3   0000   0000   0000   0000   0000   0000   0000   4080   0000   0000   0000
0x0000B0E7   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   3333   3F33   825A   390C   CCF7   3912   0000   4396   D289   3ADE
0x0000B0FC   CCCD   3DCC   000C   0000   7400   0000   7480   0000   7580   0000   7500   0000   0000   0000   0B00   0000   0B20   0000   0B60   0000   0B40
0x0000B111   0000   0000   0000   0B12   0000   0B32   0000   0B72   0000   0B50   0000   0B16   0000   0B36   0000   0B76   0000   0000   0000   0000   0000
0x0000B126   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   22EB   3D95   5BA3   3F6D   0000   0000   0D8A   0001   5140   0000   000C
0x0000B13B   0000   4000   469C   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   597C   45C4   0000   0000
0x0000B150   6FDA   44F5   0000   0000   0000   0000   0000   4348   8536   3CF9   33D6   3F78   4000   471C   0000   0000   0000   0000   0000   0000   0000
0x0000B165   0000   0000   0000   0000   0000   22EB   3D95   5BA3   3F6D   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x0000B17A   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   41A0   6666   3F66   CCCD
0x0000B18F   3DCC   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   89D4   3ED7   307A   3D61
0x0000B1A4   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   307A   3EE1   307A   3D61   0000   0000   0000
0x0000B1B9   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   3F80   D70A   3CA3
0x0000B1CE   0000   0000   0000   0000   0000   0000   0000   4080   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x0000B1E3   0000

But when I declare it in MSG CPU to CM memory (0x39000) using pragma (#pragma DATA_SECTION(motor_foc, "MSGRAM_CPU_TO_CM");), the structure is not initialized at all.

0x00039000   motor_foc
0x00039000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x00039015   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x0003902A   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x0003903F   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x00039054   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x00039069   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x0003907E   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x00039093   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x000390A8   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x000390BD   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x000390D2   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x000390E7   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x000390FC   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x00039111   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x00039126   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x0003913B   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x00039150   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x00039165   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x0003917A   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x0003918F   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x000391A4   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x000391B9   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x000391CE   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x000391E3   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000   0000
0x000391F8   0000   0000   0000   0000   0000   0000   0000   0000

Here is how I create and initialize my structure :

#pragma DATA_SECTION(motor_foc, "MSGRAM_CPU_TO_CM");
static FOC_STRUCT motor_foc[] =
{
{
//--- MOTOR_1 ---------------------------------------------------------------
//--- MOTOR PARAMS STRUCTURE ------------------------------------------------
.motor_cfg.Rs                         = (float32_t)MOTOR1_RS,
.motor_cfg.Ld                         = (float32_t)MOTOR1_LD,
.motor_cfg.Lq                         = (float32_t)MOTOR1_LQ,
.motor_cfg.kv                         = (float32_t)MOTOR1_KV,
.motor_cfg.ke                         = (float32_t)MOTOR1_KE,
.motor_cfg.ki                         = (float32_t)MOTOR1_KI,
.motor_cfg.polePairs                  = (float32_t)MOTOR1_POLES_PAIRS,
//--- MOTOR ACQUISITION STRUCTURE -------------------------------------------
.motor_acq.p_adcRegs[0]               = MOTOR12_IVA_ADC_REGS,
.motor_acq.p_adcRegs[1]               = MOTOR12_IVB_ADC_REGS,
.motor_acq.p_adcRegs[2]               = MOTOR12_IVC_ADC_REGS,
.motor_acq.p_adcRegs[3]               = MOTOR12_VBUS_ADC_REGS,
.motor_acq.p_adcResultRegs[0]         = MOTOR12_IVA_ADC_RESULT_REGS,
.motor_acq.p_adcResultRegs[1]         = MOTOR12_IVB_ADC_RESULT_REGS,
.motor_acq.p_adcResultRegs[2]         = MOTOR12_IVC_ADC_RESULT_REGS,
.motor_acq.p_adcResultRegs[3]         = MOTOR12_VBUS_ADC_RESULT_REGS,
.motor_acq.p_vaMeasReg                = (volatile uint16_t *)(MOTOR1_VA_ADC_PPB_RESULT_ADDR),
.motor_acq.p_vbMeasReg                = (volatile uint16_t *)(MOTOR1_VB_ADC_PPB_RESULT_ADDR),
.motor_acq.p_vcMeasReg                = (volatile uint16_t *)(MOTOR1_VC_ADC_PPB_RESULT_ADDR),
.motor_acq.p_vBusMeasReg              = (volatile uint16_t *)(MOTOR12_VBUS_ADC_PPB_RESULT_ADDR),
.motor_acq.p_iaMeasReg                = (volatile int16_t *)(MOTOR1_IA_ADC_PPB_RESULT_ADDR),
.motor_acq.p_ibMeasReg                = (volatile int16_t *)(MOTOR1_IB_ADC_PPB_RESULT_ADDR),
.motor_acq.p_icMeasReg                = (volatile int16_t *)(MOTOR1_IC_ADC_PPB_RESULT_ADDR),

....

0 Jerome Manhes over 4 years ago in reply to Jerome Manhes

Prodigy 90 points

Finally I found the issue.

It is indeed a problem of startup initialization.

In my "2838x_RAM_lnk_cpu1.cmd" I have at the end of the file "MSGRAM_CPU_TO_CM > CPUTOCMRAM, type=NOINIT"

Removing "type=NOINIT" solved my issue. The structure is now well initialized and the pointers too.

Jérôme

C2000™︎ microcontrollers

C2000 microcontrollers forum

TMS320F28388D: Problem of pointer located in CPUTOCMRAM and pointing elements in CPUTOCMRAM