TMS320F28335: Standalone system does not work properly

Hi Rajesh,

I am assigned to review your post now.  

1. The flash plugin might be initializing some modules like clock, flash etc.  Also, the gel file might be doing some configuration.  Your application might be missing those configurations that you need.  Please check.  Since you said the application is blinking after the power cycle, I think the boot mode pins are configured for flash boot correctly.  

2. Regarding the variable initialization, do you have codestartbranch.asm included in your application? This will call c_init routine to initialize the global variables.  

3. When you say hang, do you mean that the device is getting reset?  If the physical disturbance or the power fluctuation causes the device to operate out of the operating conditions listed in the datasheet, device will go through reset.  Please monitor the voltage lines to make sure that they are always with in the operating conditions.

If above does not help, I will ask our F28335 expert to help you further.

Thanks and regards,
Vamsi

Hi Vamsi,

As you mentioned about codestartbranch, it has been added in the program but I am not sure if it has to be called in some section of the program. If you look into the program, there are some variables that are not initialized globally but some are initialised in a sub program named "Init_ADC" that is called in the main program. Can it be done that way? 

Furthermore, I'm confused whether to link Headers_nonBIOS.cmd or F28335.cmd on the properties -> general

The next aspect of my original question regarding "hang", microcontroller actually doesn't even resets, but all the GPIO's go high and stay at that condition although the watchdog timer has been enabled.

I attached code as well as the screenshot of the program to let you know the files that are added to the program. However, program related to algorithm are omitted from the adc interrupt subroutine as it is irrelevant.

Regards,

Rajesh BN.

#include "DSP2833x_Device.h"

#define GLOBAL_Q 24




#include "IQmathLib.h"

#define PI 6.2831853f




_iq iq,jq,kq=0;

_iq cons,kr,ky,kb,sr,sy,sb,t,tr,ty,tb,t1,t2=0;

_iq sino,coso=0;

_iq a1,a2,a3,b2,b3,c1,c2=0;

_iq vr_a,vy_a,vb_a=0;

_iq valpha_act,vbeta_act,vd_a,vq_a=0;

_iq ir_a,iy_a,ib_a=0;

_iq vd_set,vq_set=0;

_iq ialpha_act,ibeta_act,id_a,iq_a=0;

_iq vd_ref,vq_ref,valpha_ref,vbeta_ref=0;

_iq vr_ref,vy_ref,vb_ref=0;

_iq id_ref,iq_ref=0;

_iq P1,I1,P2,I2=0;

_iq vd_e,vd_e1,vq_e,vq_e1=0;

_iq id_ref1,iq_ref1=0;

_iq vd_ref1,vq_ref1=0;

_iq id_e,iq_e,id_e1,iq_e1=0;

_iq id_af,id_af1,id_a1=0;

_iq iq_af,iq_af1,iq_a1=0;

_iq vd_af,vd_af1,vq_af,vq_af1,vd_a1,vq_a1=0;

_iq EvdL,EvqL=0;

_iq F1,F2,F3=0;

_iq VH,VL,IH,IL,EdL,EqL=0;




#define AdcBufLen 39

extern void InitPieVectTable(void);

extern void InitPieCtrl(void);

extern void InitSysCtrl(void);

extern void InitAdc(void);

extern void InitFlash(void);




// external symbols for section ramfuncs

extern unsigned int RamfuncsLoadStart;

extern unsigned int RamfuncsLoadEnd;

extern unsigned int RamfuncsRunStart;







void Gpio_Select(void);

void Init_Timer0(void);

void Init_PWM(void);

void Init_ADC(void);







interrupt void adc_eos_seq1_int(void);

interrupt void timer0_int(void);

interrupt void pwm4_ctr_0(void);







float VR,VY,VB,IR,IY,IB,VDC,IDC=0;

float VRa,VYa,VBa,IRa,IYa,IBa,Idca=0;

float vref_r,vref_y,vref_b=0;

int i=0;

float srf,syf,sbf=0;

float disp1,disp2,disp3=0;

float vdref=0;

int index=0;

int Buf1[AdcBufLen];

int Buf2[AdcBufLen];

int Buf3[AdcBufLen];




void main(void)

{

	

 InitSysCtrl();

 memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, &RamfuncsLoadEnd - &RamfuncsLoadStart);

 InitFlash(); // Speed up FLASH memory




 DINT; // disable all interrupts

 Gpio_Select();

 InitPieCtrl(); // basic setup of PIE table; from DSP2833x_PieCtrl.c

 InitPieVectTable(); // default ISR's in PIE

 InitAdc(); //TI provided function

 Init_ADC(); 

 Init_Timer0();

 Init_PWM();

	

 EALLOW;

 PieVectTable.TINT0 = &timer0_int;

    PieVectTable.SEQ1INT = &adc_eos_seq1_int;

    PieVectTable.EPWM4_INT = &pwm4_ctr_0;

    EDIS;

    

    PieCtrlRegs.PIEIER1.bit.INTx1 = 1;

 PieCtrlRegs.PIEIER1.bit.INTx7 = 1;

 PieCtrlRegs.PIEIER3.bit.INTx4 = 1;




 IER |= 5; //00000101

 EINT;

 ERTM;




 EALLOW;

    SysCtrlRegs.WDCR= 0x002F; // enable the watchdog

    EDIS;

	

 CpuTimer0Regs.TCR.bit.TSS = 0; // GO!!!

	

 while(1)

 {

  EALLOW; //reset watchdog

  SysCtrlRegs.WDKEY = 0x55;

  SysCtrlRegs.WDKEY = 0xAA;

  EDIS;




 }

}




void Gpio_Select(void)

{

 EALLOW;

 GpioCtrlRegs.GPAMUX1.all = 0;  

 GpioCtrlRegs.GPAMUX2.all = 0;  

 GpioCtrlRegs.GPBMUX1.all = 0;  

 GpioCtrlRegs.GPBMUX2.all = 0; 

 GpioCtrlRegs.GPCMUX1.all = 0; 

 GpioCtrlRegs.GPCMUX2.all = 0; 

 GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1; //EPWM1A DSUB PL4

 GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 1; //EPWM1B

 GpioCtrlRegs.GPAMUX1.bit.GPIO2 = 1; //EPWM2A

 GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 1; //EPWM2B

 GpioCtrlRegs.GPAMUX1.bit.GPIO4 = 1; //EPWM3A

 GpioCtrlRegs.GPAMUX1.bit.GPIO5 = 1; //EPWM3B

 GpioCtrlRegs.GPAMUX1.bit.GPIO6 = 1; //PWM4A pin as GPIO for generating SOC to ADC




 GpioCtrlRegs.GPAMUX1.bit.GPIO12= 1; //TZ1

 GpioCtrlRegs.GPAMUX1.bit.GPIO13= 1; //TZ2

 GpioCtrlRegs.GPAMUX1.bit.GPIO14= 1; //TZ3

	







 GpioCtrlRegs.GPADIR.all = 0;

 GpioCtrlRegs.GPAMUX1.bit.GPIO7 = 0; //PWM4B as GPIO

 GpioCtrlRegs.GPADIR.bit.GPIO7 = 1;










 GpioCtrlRegs.GPADIR.bit.GPIO21 = 1; //LED7 o/p




	

 GpioCtrlRegs.GPBDIR.all = 0; //(GPIO 48, GPIO 49, GPIO 50, GPIO 51)-External Contacts, GPIO 34 (Thermal trip)

 GpioCtrlRegs.GPBDIR.bit.GPIO60 = 1; //Relays (Check Relays RL 1-4)

 GpioCtrlRegs.GPBDIR.bit.GPIO61 = 1;

 GpioCtrlRegs.GPBDIR.bit.GPIO62 = 1;

 GpioCtrlRegs.GPBDIR.bit.GPIO63 = 1;

 GpioCtrlRegs.GPCDIR.all = 0; 

 EDIS;

}




void Init_Timer0(void)

{

 CpuTimer0Regs.PRD.half.LSW = 0x0008;

 CpuTimer0Regs.PRD.half.MSW = 0x0022;

 CpuTimer0Regs.TPR.bit.TDDR = 0x0010;

 CpuTimer0Regs.TCR.bit.TIE = 1;

 CpuTimer0Regs.TCR.bit.TRB = 0; //reload after counter is zero

 CpuTimer0Regs.TCR.bit.TSS = 1; //stop timer; Enable when SET GO!!!

 CpuTimer0Regs.TCR.bit.FREE = 0;

}




void Init_PWM(void)

{

	

 EPwm1Regs.TBCTL.all = 0x0000;

 EPwm1Regs.TBCTL.bit.CTRMODE = 2;

 EPwm1Regs.TBCTL.bit.PRDLD = 0;

 EPwm1Regs.TBCTL.bit.SYNCOSEL = 1; // Master

 EPwm1Regs.TBCTL.bit.HSPCLKDIV = 1;

	




 EPwm1Regs.TBPRD = 7212; //Fsw = 5.2KHz

 EPwm1Regs.AQCTLA.all = 0x0060;

 EPwm1Regs.AQCTLB.all = 0x0090;

 

 EPwm1Regs.TBPHS.all = 0;

               

           //Dead Band

 EPwm1Regs.DBCTL.bit.IN_MODE=0;

 EPwm1Regs.DBCTL.bit.POLSEL=2;

 EPwm1Regs.DBCTL.bit.OUT_MODE=3;

 EPwm1Regs.DBRED = 100;

 EPwm1Regs.DBFED = 100;




 //EPwm2Regs.TBCTL.all = 0x2086; //00 1(UP after SYNC) 000(CLK/1) 001(CLK/1) 0() 00(EPWM1 SYNCI Source) 0(Load @ CTR =0) 1(CTR = TBPHS on SYNCI Signal) 10(UP-DOWN counter)

 EPwm2Regs.TBCTL.all = 0x0000;

 EPwm2Regs.TBCTL.bit.CTRMODE = 2;

 EPwm2Regs.TBCTL.bit.PRDLD = 0;

 EPwm2Regs.TBCTL.bit.SYNCOSEL = 0; // Slave

 EPwm2Regs.TBCTL.bit.HSPCLKDIV = 1;

	

 EPwm2Regs.AQCTLA.all = 0x0060;

 EPwm2Regs.AQCTLB.all = 0x0090;

 EPwm2Regs.TBPRD = 7212;

 EPwm2Regs.TBPHS.all = 0;

	

 //Dead Band

 EPwm2Regs.DBCTL.bit.IN_MODE=0;

 EPwm2Regs.DBCTL.bit.POLSEL=2;

 EPwm2Regs.DBCTL.bit.OUT_MODE=3;

 EPwm2Regs.DBRED = 100;

 EPwm2Regs.DBFED = 100;













 //EPwm3Regs.TBCTL.all = 0x2086; //0010 0000 1000 110

 EPwm3Regs.TBCTL.all = 0x0000;

 EPwm3Regs.TBCTL.bit.CTRMODE = 2;

 EPwm3Regs.TBCTL.bit.PRDLD = 0;

 EPwm3Regs.TBCTL.bit.SYNCOSEL = 0; // Slave

 EPwm3Regs.TBCTL.bit.HSPCLKDIV = 1; // SYSCLK/(2*1) 150M/2




 EPwm3Regs.AQCTLA.all = 0x0060;

 EPwm3Regs.AQCTLB.all = 0x0090;

 EPwm3Regs.TBPRD = 7212;







 //Dead Band

 EPwm3Regs.DBCTL.bit.IN_MODE=0;

 EPwm3Regs.DBCTL.bit.POLSEL=2;

 EPwm3Regs.DBCTL.bit.OUT_MODE=3;

 EPwm3Regs.DBRED = 100;

 EPwm3Regs.DBFED = 100;




 //ADC-EPWM4A

 EPwm4Regs.TBCTL.all = 0x0000;

 EPwm4Regs.TBCTL.bit.CTRMODE = 2;

 EPwm4Regs.TBCTL.bit.PRDLD = 0;

 EPwm4Regs.TBCTL.bit.SYNCOSEL = 0; // Slave

    EPwm4Regs.TBCTL.bit.HSPCLKDIV = 1;




    EPwm4Regs.TBPRD = 2403; //=Fsw/3

 EPwm4Regs.TBPHS.all = 0;




 EPwm4Regs.ETSEL.bit.INTSEL = 1; //Interrupt @ CTR = 0

 EPwm4Regs.ETSEL.bit.INTEN = 1; // Interrupt Enable

 EPwm4Regs.ETSEL.bit.SOCAEN = 1;

 EPwm4Regs.ETSEL.bit.SOCASEL = 1; //SOCA @ CTR = 0

 EPwm4Regs.ETPS.bit.SOCAPRD = 1;

 EPwm4Regs.ETPS.bit.INTPRD = 1;

}







void Init_ADC(void)

{

 AdcRegs.ADCTRL1.all = 0;

 AdcRegs.ADCTRL1.bit.SEQ_CASC =1; // 1=cascaded sequencer

 AdcRegs.ADCTRL1.bit.CPS = 0; // divide by 1    

 AdcRegs.ADCTRL1.bit.ACQ_PS = 6; // 6 ADC clock cycles HOLD

	

 AdcRegs.ADCTRL2.all = 0;  

 AdcRegs.ADCTRL2.bit.EPWM_SOCA_SEQ1 =1; // 1=SEQ1 start from ePWM_SOCA trigger 

 AdcRegs.ADCTRL2.bit.INT_ENA_SEQ1 = 1; // 1=enable SEQ1 interrupt 

 AdcRegs.ADCTRL2.bit.INT_MOD_SEQ1 = 0; // 0= interrupt after every end of sequence

	

 AdcRegs.ADCTRL3.bit.SMODE_SEL = 1;

	

 AdcRegs.ADCTRL3.bit.ADCCLKPS = 6; //In the InitiSystem function, HISPCP is initialized as "0". which means the clk to the ADC peripheral is 150MHz.

 AdcRegs.ADCREFSEL.bit.REF_SEL = 0x0;

	

 AdcRegs.ADCMAXCONV.all = 5; // (no. of conversions + 1) as simultaneous sampling is 2*2

 AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0; //A0 - 0, B0 -1

 AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 1; //A1 - 2, B1 -3

 AdcRegs.ADCCHSELSEQ1.bit.CONV02 = 2; //A2 - 4, B2 -5

 AdcRegs.ADCCHSELSEQ1.bit.CONV03 = 3; //A3 - 6, B3 -7

 AdcRegs.ADCCHSELSEQ2.bit.CONV04 = 7; //A4 - 8, B4 -9

 AdcRegs.ADCCHSELSEQ2.bit.CONV05 = 5; //A5 - 10,B5-11

 AdcRegs.ADCCHSELSEQ2.bit.CONV06 = 6; //A6 -12, B6- 13

 AdcRegs.ADCCHSELSEQ2.bit.CONV07 = 4; //A7 -14, B7 -15 //pot on A7




 cons = _IQ(39); // 39 sets the fundamental frequency 400




    a1 = _IQ(0.66666667);

    a2 = _IQ(0.33333333);

    a3 = _IQ(0.33333333);




    b2 = _IQ(0.5773503);

    b3 = _IQ(0.5773503);




    c1 = _IQ(-0.500000);

    c2 = _IQ(0.8660254);




    //PI voltages constants

    P2 = _IQ(0.1000);

    I2 = _IQ(0.09998);




    //PI current constants

    P1 = _IQ(0.1002);

    I1 = _IQ(0.09985);




    vd_set = _IQ(18.00);

    vq_set = _IQ(0.00);

    // low pass filter (Tustin method)

    F1 = _IQ(0.00745);

    F2 = _IQ(0.985);

    F3 = _IQ(0.007495);




    VH = _IQ(40.0000); //limit to the voltage references at the end

    VL = _IQ(-20.0000);

    IH = _IQ(30.0000); //limit for current reference

    IL = _IQ(-25.0000);







}

#pragma CODE_SECTION(adc_eos_seq1_int, "ramfuncs");

void adc_eos_seq1_int(void)

{

algorithm 

  EALLOW;

  SysCtrlRegs.WDKEY = 0x55;

  SysCtrlRegs.WDKEY = 0xAA;

  EDIS;




 }







  IR = AdcMirror.ADCRESULT0; //A0

  IY = AdcMirror.ADCRESULT2; //A1

  IB = AdcMirror.ADCRESULT4; //A2

  IDC= AdcMirror.ADCRESULT6; //A3




  VR = AdcMirror.ADCRESULT1;//B1

  VY = AdcMirror.ADCRESULT3;//B2

  VB = AdcMirror.ADCRESULT5;//B3

  




  Idca= IDC*79/4095;

 EALLOW; //reset watchdog

 SysCtrlRegs.WDKEY = 0x55;

 SysCtrlRegs.WDKEY = 0xAA;

 EDIS;

//reset the gpio7 for latency check

  GpioDataRegs.GPACLEAR.bit.GPIO7 = 1;

}




#pragma CODE_SECTION(timer0_int, "ramfuncs");

void timer0_int(void)

{ 




  GpioDataRegs.GPATOGGLE.bit.GPIO21 = 1;

  CpuTimer0Regs.TCR.bit.TIF = 1;

  




  PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;




  EALLOW; //reset watchdog

  SysCtrlRegs.WDKEY = 0x55;

  SysCtrlRegs.WDKEY = 0xAA;

  EDIS;

}




#pragma CODE_SECTION(pwm4_ctr_0, "ramfuncs");

void pwm4_ctr_0(void)

{




 GpioDataRegs.GPASET.bit.GPIO7 = 1;







  EPwm4Regs.ETCLR.bit.INT = 1;

  PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;




  EALLOW; //reset watchdog

  SysCtrlRegs.WDKEY = 0x55;

  SysCtrlRegs.WDKEY = 0xAA;

  EDIS;

}

Hi Rajesh,

If the codestartbranch.asm is included, and if your linker command file has codestart mapped to the flash entry point (BEGIN), then you should be good in terms of calling the c_init routine.

You said that the watchdog is enabled -> Is your application servicing it or not?  If not, the watchdog can cause reset.  

Sorry, I may not be able to review your code.  As long as the variables are initialized before using them, it should be good I think.

See if this helps you: https://www.ti.com/lit/pdf/spra958  

Thanks and regards,
Vamsi

The watch dog is being serviced. But I don't understand why the micro-controller gets hanged and to make normal I have to switch it OFF and ON. Besides, I am not able to look into any variables during running as emulator gets disconnected.

Regards,

Rajesh BN.

Hi Rajesh,

You said you have to do a power cycle (OFF/ON) to bring the device out of hang scenario.  What happens once you power cycle?  Does the application work as intended after the power cycle?

Thanks and regards,
Vamsi

Yes! it does

Hi Rajesh,

Just to confirm: Application works fine immediately after the program operation with debugger connected.  It does not work when you issue a reset with debugger connected (what reset did you give? - debugger reset?).  However, it works if you do a power cycle without debugger connected.

Is the summary correct?

Thanks and regards,
Vamsi

Hi Vamsi,

I've made an observed that this condition(hanging) occurs when the emulator is connected to the board. Coming to the standalone issue, I assume at this point that it has been sorted out. Actually, it has worked after F28335.cmd file is linked in the properties page replacing the Headers_nonBIOS.cmd file.

Hi Rajesh,

Thank you for the detail.

I will ask our F28335 expert to help you further.

Thanks and regards,
Vamsi

Looking forward!

Thank you,

Rajesh BN.

Rajesh,

I'm wondering if we are running into the code security module, you mention that the JTAG disconnects when you run, if the CSM is activated and we attempt to step through a secure memory(all flash and L0-L3 memories) it will break the JTAG connection.  Even if you have not programmed a password, you will still need to do a dummy read of the CSM password locations to de-activate security.

I code in an unsecure region attempts to directly read into a secure region it will return all 0x0000s, which could cause some issues in the code.  

Can you confirm there is a read of addresses 0x33 FFF8 -0x33 FFFF near the beginning of your code to disable the CSM?  Even if we want to use CSM in the final product I'd like to remove that from the potential list of issues.

The other option is that when the emulator is connected we are going to use the GEL file that does some pre-work that the BROM would normally do.  If you perform a reset with the debugger connected, can you see how far you get when single stepping before we either lose connection or get stuck before jumping to "main"?

Best,

Matthew