I have a strange bug in CLA code. I initialize values of a global array in CLA memory as follows:
interrupt void InitVars(void) {
// TODO: Calculate these during initialization from Fourier coefficients specified in MotorControl.h
float32 BackEmfProfInit[PROF_SIZE] =
{0.9778235f, 0.9403109f, 0.8992523f, 0.8542375f, 0.8049480f, 0.7511688f, 0.6927969f, 0.6298467f,
0.5624517f, 0.4908623f, 0.4154409f, 0.3366528f, 0.2550543f, 0.1712778f, 0.0860155f, 0.0000000f,
-0.0860155f, -0.1712778f, -0.2550543f, -0.3366528f, -0.4154409f, -0.4908623f, -0.5624517f, -0.6298467f,
-0.6927969f, -0.7511688f, -0.8049480f, -0.8542375f, -0.8992523f, -0.9403109f, -0.9778235f, -1.0122777f,
-1.0442214f, -1.0742445f, -1.1029587f, -1.1309776f, -1.1588958f, -1.1872691f, -1.2165963f, -1.2473018f,
-1.2797216f, -1.3140913f, -1.3505375f, -1.3890725f, -1.4295926f, -1.4718800f, -1.5156081f, -1.5603503f,
-1.6055917f, -1.6507441f, -1.6951625f, -1.7381641f, -1.7790479f, -1.8171158f, -1.8516927f, -1.8821464f,
-1.9079068f, -1.9284820f, -1.9434737f, -1.9525886f, -1.9556470f, -1.9525886f, -1.9434737f, -1.9284820f,
-1.9079068f, -1.8821464f, -1.8516927f, -1.8171158f, -1.7790479f, -1.7381641f, -1.6951625f, -1.6507441f,
-1.6055917f, -1.5603503f, -1.5156081f, -1.4718800f, -1.4295926f, -1.3890725f, -1.3505375f, -1.3140913f,
-1.2797216f, -1.2473018f, -1.2165963f, -1.1872691f, -1.1588958f, -1.1309776f, -1.1029587f, -1.0742445f,
-1.0442214f, -1.0122777f, -0.9778235f, -0.9403109f, -0.8992523f, -0.8542375f, -0.8049480f, -0.7511688f,
-0.6927969f, -0.6298467f, -0.5624517f, -0.4908623f, -0.4154409f, -0.3366528f, -0.2550543f, -0.1712778f,
-0.0860155f, 0.0000000f, 0.0860155f, 0.1712778f, 0.2550543f, 0.3366528f, 0.4154409f, 0.4908623f,
0.5624517f, 0.6298467f, 0.6927969f, 0.7511688f, 0.8049480f, 0.8542375f, 0.8992523f, 0.9403109f,
0.9778235f, 1.0122777f, 1.0442214f, 1.0742445f, 1.1029587f, 1.1309776f, 1.1588958f, 1.1872691f,
1.2165963f, 1.2473018f, 1.2797216f, 1.3140913f, 1.3505375f, 1.3890725f, 1.4295926f, 1.4718800f,
1.5156081f, 1.5603503f, 1.6055917f, 1.6507441f, 1.6951625f, 1.7381641f, 1.7790479f, 1.8171158f,
1.8516927f, 1.8821464f, 1.9079068f, 1.9284820f, 1.9434737f, 1.9525886f, 1.9556470f, 1.9525886f,
1.9434737f, 1.9284820f, 1.9079068f, 1.8821464f, 1.8516927f, 1.8171158f, 1.7790479f, 1.7381641f,
1.6951625f, 1.6507441f, 1.6055917f, 1.5603503f, 1.5156081f, 1.4718800f, 1.4295926f, 1.3890725f,
1.3505375f, 1.3140913f, 1.2797216f, 1.2473018f, 1.2165963f, 1.1872691f, 1.1588958f, 1.1309776f,
1.1029587f, 1.0742445f, 1.0442214f, 1.0122777f, 0.9778235f};
for (Uint16 iProf = 0; iProf < PROF_SIZE; iProf++) {
BackEmfProf[iProf] = IntMotorParameters.PolePairs*IntMotorParameters.MotorTorqueConstant*BackEmfProfInit[iProf]/3.f;
}
}
The values of BackEmfProfInit get shifted by three positions, i.e. 2->5, 3->6 etc. The first two values are rubbish. I am at a loss as to how this could happen. I configure CLA memory as follows:
// Set memory available to CLA.
Cla1Regs.MMEMCFG.all = 0;
Cla1Regs.MMEMCFG.bit.PROGE = 1;
Cla1Regs.MMEMCFG.bit.RAM0E = 1;
Cla1Regs.MMEMCFG.bit.RAM1E = 1;
Cla1Regs.MMEMCFG.bit.RAM2E = 1;
Cla1Regs.MMEMCFG.bit.RAM0CPUE = 0;
Cla1Regs.MMEMCFG.bit.RAM1CPUE = 0;
Cla1Regs.MMEMCFG.bit.RAM2CPUE = 0;
And in the CMD linker file:
CLARAM : origin = 0x008000, length = 0x001000 /* on-chip RAM block L0/L1/L2 */ ... .scratchpad : > CLARAM, PAGE = 1 .bss_cla : > CLARAM, PAGE = 1 .const_cla : > CLARAM, PAGE = 1
I checked, the memory is not double-booked. Anybody any idea?
