TMS320F28027F: DRV8301

Kishor vattikuti

Part Number: TMS320F28027F
Other Parts Discussed in Thread: MOTORWARE, DRV8301, , DRV8305, CONTROLSUITE, C2000WARE

Tool/software:

I have taken example

C:\ti\motorware\motorware_1_01_00_18\sw\solutions\instaspin_foc\boards\boostxldrv8301_revB\f28x\f2802xF\projects\ccs\proj_lab5b

TMS320F28027F with DRV8301 to run BLDC Motor are not

Any changed the parameters in the user.h file:

I have taken above BLDC motor. In user.h.

I am define

#define USER_MOTOR My_Motor

#elif (USER_MOTOR == My_Motor)
#define USER_MOTOR_TYPE MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS (2)
#define USER_MOTOR_Rr (NULL)
#define USER_MOTOR_Rs (0.3918252)
#define USER_MOTOR_Ls_d (0.00023495)
#define USER_MOTOR_Ls_q (0.00023495)
#define USER_MOTOR_RATED_FLUX (0.03955824)
#define USER_MOTOR_MAGNETIZING_CURRENT (NULL)
#define USER_MOTOR_RES_EST_CURRENT (3.0)
#define USER_MOTOR_IND_EST_CURRENT (-0.5)
#define USER_MOTOR_MAX_CURRENT (20.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz (20.0)

the above all are already declared.

My BLDC motor (A2212/13T) 1000KV.

Any changes the above declare the calculation values. Please tell me calculation of my BLDC motor (A2212/13T) 1000KV.

over 1 year ago

0 Yanming Luo over 1 year ago

TI__Guru** 115420 points

Please take a look at guides in the folders below in motorWare, and follow the guides to set up the kits and run the lab. You may need to run the lab02c to identify the motor parameters first, and then run the following labs like lab05 or lab10

C:\ti\motorware\motorware_1_01_00_18\docs\labs\instaspin_labs.pdf

C:\ti\motorware\motorware_1_01_00_18\docs\boards\kits\docs\readmefirst_instaspin_launchboost.pdf

Please don't add any load on the motor for identification, and set the correct identification variables value in the file of user.h according to the specification of the motor, to make sure the motor spin smoothly during Flux measurement and Ls identification states.

#define USER_MOTOR_RES_EST_CURRENT (2.0) // A - 10-30% of rated current of the motor

#define USER_MOTOR_IND_EST_CURRENT (-1.5) // A - 10-30% of rated current of the motor, just enough to enable rotation

#define USER_MOTOR_MAX_CURRENT (20.0) // A - 30~150% of rated current of the motor

#define USER_MOTOR_FLUX_EST_FREQ_Hz (40.0) // Hz - 10~30% rated frequency of the motor

More infomration about PMSM Motor Parameters in user.h, you can take a look at the user's guide below.

InstaSPIN-FOC and InstaSPIN-MOTION User's Guide

https://www.ti.com/lit/spruhj1

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

Hi Yanming Luo

I am replace values you send it, the below values

#define USER_MOTOR_RES_EST_CURRENT (2.0) // A - 10-30% of rated current of the motor

#define USER_MOTOR_IND_EST_CURRENT (-1.5) // A - 10-30% of rated current of the motor, just enough to enable rotation

#define USER_MOTOR_MAX_CURRENT (20.0) // A - 30~150% of rated current of the motor

#define USER_MOTOR_FLUX_EST_FREQ_Hz (40.0) // Hz - 10~30% rated frequency of the motor

After that you told that lab02c to identify the motor parameters first below the fig.

Displaying the above figure, Any suggestions give me.

0 Kishor vattikuti over 1 year ago in reply to Kishor vattikuti

Intellectual 330 points

my motor maximum current are shown below

No. of Cells: 2 - 3 Li-Poly
6 - 10 NiCd/NiMH

Kv: 1000 RPM/V
Max Efficiency: 80%
Max Efficiency Current: 4 - 10A (>75%)
No Load Current: 0.5A @10V
Resistance: 0.090 ohms
Max Current: 13A for 60S
Max Watts: 150W
Weight: 52.7 g / 1.86 oz
Size: 28 mm dia x 28 mm bell length

Shaft Diameter: 3.2 mm
Poles: 14
Model Weight: 300 - 800g / 10.5 - 28.2 oz

#define USER_MOTOR_RES_EST_CURRENT (2.0) // A - 10-30% of rated current of the motor

#define USER_MOTOR_IND_EST_CURRENT (-1.5) // A - 10-30% of rated current of the motor, just enough to enable rotation

#define USER_MOTOR_MAX_CURRENT (20.0) // A - 30~150% of rated current of the motor

#define USER_MOTOR_FLUX_EST_FREQ_Hz (40.0) // Hz - 10~30% rated frequency of the motor

the above values are you send it, but my motor current 4-10A. you define #define USER_MOTOR_MAX_CURRENT (20.0)

not a problem are not. Any change the max current value are not.

max current 20.0 replace 10A are not.

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

The values marked red as below are just for your reference, you should set the values according to the specification of the motor you used, and tune these values per the test to make sure the motor run smoothly during the identification process.

#define USER_MOTOR_RES_EST_CURRENT (2.0) // A - 10-30% of rated current of the motor

#define USER_MOTOR_IND_EST_CURRENT (-1.5) // A - 10-30% of rated current of the motor, just enough to enable rotation

#define USER_MOTOR_MAX_CURRENT (20.0) // A - 30~150% of rated current of the motor

#define USER_MOTOR_FLUX_EST_FREQ_Hz (40.0) // Hz - 10~30% rated frequency of the motor

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

Hi Yanming Luo

Thank you so much your support.

0 Kishor vattikuti over 1 year ago in reply to Kishor vattikuti

Intellectual 330 points

C:\ti\motorware\motorware_1_01_00_18\sw\solutions\instaspin_foc\boards\boostxldrv8301_revB\f28x\f2802xF\projects\ccs\proj_lab5b

To run clockwise and anticlockwise. Its possible are not.

//! \defgroup PROJ_LAB05b PROJ_LAB05b
//@{

//! \defgroup PROJ_LAB05b_OVERVIEW Project Overview
//!
//! Adjusting the supplied speed controller
//!

// **************************************************************************
// the includes

// system includes
#include <math.h>
#include "main.h"

#ifdef FLASH
#pragma CODE_SECTION(mainISR,"ramfuncs");
#endif

// Include header files used in the main function

// **************************************************************************
// the defines

#define LED_BLINK_FREQ_Hz 5

// **************************************************************************
// the globals

uint_least16_t gCounter_updateGlobals = 0;

bool Flag_Latch_softwareUpdate = true;

CTRL_Handle ctrlHandle;

#ifdef CSM_ENABLE
#pragma DATA_SECTION(halHandle,"rom_accessed_data");
#endif
HAL_Handle halHandle;

#ifdef CSM_ENABLE
#pragma DATA_SECTION(gUserParams,"rom_accessed_data");
#endif
USER_Params gUserParams;

HAL_PwmData_t gPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)};

HAL_AdcData_t gAdcData;

_iq gMaxCurrentSlope = _IQ(0.0);

#ifdef FAST_ROM_V1p6
CTRL_Obj *controller_obj;
#else
#ifdef CSM_ENABLE
#pragma DATA_SECTION(ctrl,"rom_accessed_data");
#endif
CTRL_Obj ctrl; //v1p7 format
#endif

uint16_t gLEDcnt = 0;

volatile MOTOR_Vars_t gMotorVars = MOTOR_Vars_INIT;

#ifdef FLASH
// Used for running BackGround in flash, and ISR in RAM
extern uint16_t *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;

#ifdef CSM_ENABLE
extern uint16_t *econst_start, *econst_end, *econst_ram_load;
extern uint16_t *switch_start, *switch_end, *switch_ram_load;
#endif
#endif

#ifdef DRV8301_SPI
// Watch window interface to the 8301 SPI
DRV_SPI_8301_Vars_t gDrvSpi8301Vars;
#endif

#ifdef DRV8305_SPI
// Watch window interface to the 8305 SPI
DRV_SPI_8305_Vars_t gDrvSpi8305Vars;
#endif

_iq gFlux_pu_to_Wb_sf;

_iq gFlux_pu_to_VpHz_sf;

_iq gTorque_Ls_Id_Iq_pu_to_Nm_sf;

_iq gTorque_Flux_Iq_pu_to_Nm_sf;

// **************************************************************************
// the functions

void main(void)
{
uint_least8_t estNumber = 0;

#ifdef FAST_ROM_V1p6
uint_least8_t ctrlNumber = 1;
#endif

// Only used if running from FLASH
// Note that the variable FLASH is defined by the project
#ifdef FLASH
// Copy time critical code and Flash setup code to RAM
// The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker. Refer to the linker files.
memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);

#ifdef CSM_ENABLE
//copy .econst to unsecure RAM
if(*econst_end - *econst_start)
{
memCopy((uint16_t *)&econst_start,(uint16_t *)&econst_end,(uint16_t *)&econst_ram_load);
}

//copy .switch ot unsecure RAM
if(*switch_end - *switch_start)
{
memCopy((uint16_t *)&switch_start,(uint16_t *)&switch_end,(uint16_t *)&switch_ram_load);
}
#endif
#endif

// initialize the hardware abstraction layer
halHandle = HAL_init(&hal,sizeof(hal));

// check for errors in user parameters
USER_checkForErrors(&gUserParams);

// store user parameter error in global variable
gMotorVars.UserErrorCode = USER_getErrorCode(&gUserParams);

// do not allow code execution if there is a user parameter error
if(gMotorVars.UserErrorCode != USER_ErrorCode_NoError)
{
for(;;)
{
gMotorVars.Flag_enableSys = false;
}
}

// initialize the user parameters
USER_setParams(&gUserParams);

// set the hardware abstraction layer parameters
HAL_setParams(halHandle,&gUserParams);

// initialize the controller
#ifdef FAST_ROM_V1p6
ctrlHandle = CTRL_initCtrl(ctrlNumber, estNumber); //v1p6 format (06xF and 06xM devices)
controller_obj = (CTRL_Obj *)ctrlHandle;
#else
ctrlHandle = CTRL_initCtrl(estNumber,&ctrl,sizeof(ctrl)); //v1p7 format default
#endif

{
CTRL_Version version;

// get the version number
CTRL_getVersion(ctrlHandle,&version);

gMotorVars.CtrlVersion = version;
}

// set the default controller parameters
CTRL_setParams(ctrlHandle,&gUserParams);

// setup faults
HAL_setupFaults(halHandle);

// initialize the interrupt vector table
HAL_initIntVectorTable(halHandle);

// enable the ADC interrupts
HAL_enableAdcInts(halHandle);

// enable global interrupts
HAL_enableGlobalInts(halHandle);

// enable debug interrupts
HAL_enableDebugInt(halHandle);

// disable the PWM
HAL_disablePwm(halHandle);

#ifdef DRV8301_SPI
// turn on the DRV8301 if present
HAL_enableDrv(halHandle);
// initialize the DRV8301 interface
HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
#endif

#ifdef DRV8305_SPI
// turn on the DRV8305 if present
HAL_enableDrv(halHandle);
// initialize the DRV8305 interface
HAL_setupDrvSpi(halHandle,&gDrvSpi8305Vars);
#endif

// enable DC bus compensation
CTRL_setFlag_enableDcBusComp(ctrlHandle, true);

// compute scaling factors for flux and torque calculations
gFlux_pu_to_Wb_sf = USER_computeFlux_pu_to_Wb_sf();
gFlux_pu_to_VpHz_sf = USER_computeFlux_pu_to_VpHz_sf();
gTorque_Ls_Id_Iq_pu_to_Nm_sf = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf();
gTorque_Flux_Iq_pu_to_Nm_sf = USER_computeTorque_Flux_Iq_pu_to_Nm_sf();

for(;;)
{
// Waiting for enable system flag to be set
while(!(gMotorVars.Flag_enableSys));

// Enable the Library internal PI. Iq is referenced by the speed PI now
CTRL_setFlag_enableSpeedCtrl(ctrlHandle, true);

// loop while the enable system flag is true
while(gMotorVars.Flag_enableSys)
{
CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle;

// increment counters
gCounter_updateGlobals++;

// enable/disable the use of motor parameters being loaded from user.h
CTRL_setFlag_enableUserMotorParams(ctrlHandle,gMotorVars.Flag_enableUserParams);

// enable/disable Rs recalibration during motor startup
EST_setFlag_enableRsRecalc(obj->estHandle,gMotorVars.Flag_enableRsRecalc);

// enable/disable automatic calculation of bias values
CTRL_setFlag_enableOffset(ctrlHandle,gMotorVars.Flag_enableOffsetcalc);

if(CTRL_isError(ctrlHandle))
{
// set the enable controller flag to false
CTRL_setFlag_enableCtrl(ctrlHandle,false);

// set the enable system flag to false
gMotorVars.Flag_enableSys = false;

// disable the PWM
HAL_disablePwm(halHandle);
}
else
{
// update the controller state
bool flag_ctrlStateChanged = CTRL_updateState(ctrlHandle);

// enable or disable the control
CTRL_setFlag_enableCtrl(ctrlHandle, gMotorVars.Flag_Run_Identify);

if(flag_ctrlStateChanged)
{
CTRL_State_e ctrlState = CTRL_getState(ctrlHandle);

if(ctrlState == CTRL_State_OffLine)
{
// enable the PWM
HAL_enablePwm(halHandle);
}
else if(ctrlState == CTRL_State_OnLine)
{
if(gMotorVars.Flag_enableOffsetcalc == true)
{
// update the ADC bias values
HAL_updateAdcBias(halHandle);
}
else
{
// set the current bias
HAL_setBias(halHandle,HAL_SensorType_Current,0,_IQ(I_A_offset));
HAL_setBias(halHandle,HAL_SensorType_Current,1,_IQ(I_B_offset));
HAL_setBias(halHandle,HAL_SensorType_Current,2,_IQ(I_C_offset));

// set the voltage bias
HAL_setBias(halHandle,HAL_SensorType_Voltage,0,_IQ(V_A_offset));
HAL_setBias(halHandle,HAL_SensorType_Voltage,1,_IQ(V_B_offset));
HAL_setBias(halHandle,HAL_SensorType_Voltage,2,_IQ(V_C_offset));
}

// Return the bias value for currents
gMotorVars.I_bias.value[0] = HAL_getBias(halHandle,HAL_SensorType_Current,0);
gMotorVars.I_bias.value[1] = HAL_getBias(halHandle,HAL_SensorType_Current,1);
gMotorVars.I_bias.value[2] = HAL_getBias(halHandle,HAL_SensorType_Current,2);

// Return the bias value for voltages
gMotorVars.V_bias.value[0] = HAL_getBias(halHandle,HAL_SensorType_Voltage,0);
gMotorVars.V_bias.value[1] = HAL_getBias(halHandle,HAL_SensorType_Voltage,1);
gMotorVars.V_bias.value[2] = HAL_getBias(halHandle,HAL_SensorType_Voltage,2);

// enable the PWM
HAL_enablePwm(halHandle);
}
else if(ctrlState == CTRL_State_Idle)
{
// disable the PWM
HAL_disablePwm(halHandle);
gMotorVars.Flag_Run_Identify = false;
}

if((CTRL_getFlag_enableUserMotorParams(ctrlHandle) == true) &&
(ctrlState > CTRL_State_Idle) &&
(gMotorVars.CtrlVersion.minor == 6))
{
// call this function to fix 1p6
USER_softwareUpdate1p6(ctrlHandle);
}

}
}

if(EST_isMotorIdentified(obj->estHandle))
{
// set the current ramp
EST_setMaxCurrentSlope_pu(obj->estHandle,gMaxCurrentSlope);
gMotorVars.Flag_MotorIdentified = true;

// set the speed reference
CTRL_setSpd_ref_krpm(ctrlHandle,gMotorVars.SpeedRef_krpm);

// set the speed acceleration
CTRL_setMaxAccel_pu(ctrlHandle,_IQmpy(MAX_ACCEL_KRPMPS_SF,gMotorVars.MaxAccel_krpmps));
if(Flag_Latch_softwareUpdate)
{
Flag_Latch_softwareUpdate = false;

USER_calcPIgains(ctrlHandle);

// initialize the watch window kp and ki current values with pre-calculated values
gMotorVars.Kp_Idq = CTRL_getKp(ctrlHandle,CTRL_Type_PID_Id);
gMotorVars.Ki_Idq = CTRL_getKi(ctrlHandle,CTRL_Type_PID_Id);

// initialize the watch window kp and ki values with pre-calculated values
gMotorVars.Kp_spd = CTRL_getKp(ctrlHandle,CTRL_Type_PID_spd);
gMotorVars.Ki_spd = CTRL_getKi(ctrlHandle,CTRL_Type_PID_spd);
}

}
else
{
Flag_Latch_softwareUpdate = true;

// the estimator sets the maximum current slope during identification
gMaxCurrentSlope = EST_getMaxCurrentSlope_pu(obj->estHandle);
}

// when appropriate, update the global variables
if(gCounter_updateGlobals >= NUM_MAIN_TICKS_FOR_GLOBAL_VARIABLE_UPDATE)
{
// reset the counter
gCounter_updateGlobals = 0;

updateGlobalVariables_motor(ctrlHandle);
}

// update Kp and Ki gains
updateKpKiGains(ctrlHandle);

// enable/disable the forced angle
EST_setFlag_enableForceAngle(obj->estHandle,gMotorVars.Flag_enableForceAngle);

// enable or disable power warp
CTRL_setFlag_enablePowerWarp(ctrlHandle,gMotorVars.Flag_enablePowerWarp);

#ifdef DRV8301_SPI
HAL_writeDrvData(halHandle,&gDrvSpi8301Vars);

HAL_readDrvData(halHandle,&gDrvSpi8301Vars);
#endif
#ifdef DRV8305_SPI
HAL_writeDrvData(halHandle,&gDrvSpi8305Vars);

HAL_readDrvData(halHandle,&gDrvSpi8305Vars);
#endif
} // end of while(gFlag_enableSys) loop

// disable the PWM
HAL_disablePwm(halHandle);

// set the default controller parameters (Reset the control to re-identify the motor)
CTRL_setParams(ctrlHandle,&gUserParams);
gMotorVars.Flag_Run_Identify = false;

} // end of for(;;) loop

} // end of main() function

interrupt void mainISR(void)
{
// toggle status LED
if(++gLEDcnt >= (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
{
HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
gLEDcnt = 0;
}

// acknowledge the ADC interrupt
HAL_acqAdcInt(halHandle,ADC_IntNumber_1);

// convert the ADC data
HAL_readAdcData(halHandle,&gAdcData);

// run the controller
CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);

// write the PWM compare values
HAL_writePwmData(halHandle,&gPwmData);

// setup the controller
CTRL_setup(ctrlHandle);

return;
} // end of mainISR() function

void updateGlobalVariables_motor(CTRL_Handle handle)
{
CTRL_Obj *obj = (CTRL_Obj *)handle;

// get the speed estimate
gMotorVars.Speed_krpm = EST_getSpeed_krpm(obj->estHandle);

// get the real time speed reference coming out of the speed trajectory generator
gMotorVars.SpeedTraj_krpm = _IQmpy(CTRL_getSpd_int_ref_pu(handle),EST_get_pu_to_krpm_sf(obj->estHandle));

// get the torque estimate
gMotorVars.Torque_Nm = USER_computeTorque_Nm(handle, gTorque_Flux_Iq_pu_to_Nm_sf, gTorque_Ls_Id_Iq_pu_to_Nm_sf);

// get the magnetizing current
gMotorVars.MagnCurr_A = EST_getIdRated(obj->estHandle);

// get the rotor resistance
gMotorVars.Rr_Ohm = EST_getRr_Ohm(obj->estHandle);

// get the stator resistance
gMotorVars.Rs_Ohm = EST_getRs_Ohm(obj->estHandle);

// get the stator inductance in the direct coordinate direction
gMotorVars.Lsd_H = EST_getLs_d_H(obj->estHandle);

// get the stator inductance in the quadrature coordinate direction
gMotorVars.Lsq_H = EST_getLs_q_H(obj->estHandle);

// get the flux in V/Hz in floating point
gMotorVars.Flux_VpHz = EST_getFlux_VpHz(obj->estHandle);

// get the flux in Wb in fixed point
gMotorVars.Flux_Wb = USER_computeFlux(handle, gFlux_pu_to_Wb_sf);

// get the controller state
gMotorVars.CtrlState = CTRL_getState(handle);

// get the estimator state
gMotorVars.EstState = EST_getState(obj->estHandle);

// Get the DC buss voltage
gMotorVars.VdcBus_kV = _IQmpy(gAdcData.dcBus,_IQ(USER_IQ_FULL_SCALE_VOLTAGE_V/1000.0));

return;
} // end of updateGlobalVariables_motor() function

void updateKpKiGains(CTRL_Handle handle)
{
if((gMotorVars.CtrlState == CTRL_State_OnLine) && (gMotorVars.Flag_MotorIdentified == true) && (Flag_Latch_softwareUpdate == false))
{
// set the kp and ki speed values from the watch window
CTRL_setKp(handle,CTRL_Type_PID_spd,gMotorVars.Kp_spd);
CTRL_setKi(handle,CTRL_Type_PID_spd,gMotorVars.Ki_spd);

// set the kp and ki current values for Id and Iq from the watch window
CTRL_setKp(handle,CTRL_Type_PID_Id,gMotorVars.Kp_Idq);
CTRL_setKi(handle,CTRL_Type_PID_Id,gMotorVars.Ki_Idq);
CTRL_setKp(handle,CTRL_Type_PID_Iq,gMotorVars.Kp_Idq);
CTRL_setKi(handle,CTRL_Type_PID_Iq,gMotorVars.Ki_Idq);
}

return;
} // end of updateKpKiGains() function

//@} //defgroup
// end of file

Clockwise and anti clockwise is possible. If it possible the above code send it. Re modifies it to run clock and anti clock.

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

Are you using your own board? Or TI EVM board?

Kishor vattikuti said:
Clockwise and anti clockwise is possible. If it possible the above code send it. Re modifies it to run clock and anti clock.

What do you mean this? What's your question?

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

TI board I am using

Above figure send it. If it possible developing code without any using project lab examples.

TI LAUNCHPAD TMS320F28027F and DRV8301 with BLDC Motor (A2212/13T)

0 Kishor vattikuti over 1 year ago in reply to Kishor vattikuti

Intellectual 330 points

//#############################################################################
//
// File: Example_F2802xCpuTimer.c
//
// Title: F2802x CPU Timer Example
//
//! \addtogroup example_list
//! <h1>CPU Timer</h1>
//!
//! This example configures CPU Timer0, 1, & 2 and increments
//! a counter each time the timer asserts an interrupt.
//!
//! Watch Variables:
//! - timer0IntCount
//! - timer1IntCount
//! - timer2IntCount
//
//#############################################################################
// $TI Release: F2802x Support Library v3.02.00.00 $
// $Release Date: Sun Mar 25 13:23:09 CDT 2018 $
// $Copyright:
// Copyright (C) 2009-2018 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//
// Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the
// distribution.
//
// Neither the name of Texas Instruments Incorporated nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//#############################################################################

//
// Included Files
//
#include "DSP28x_Project.h" // Device Headerfile and Examples Include File
//#include "common/include/clk.h"
#include "f2802x_common/include/clk.h"

//#include "common/include/flash.h"
#include "f2802x_common/include/flash.h"

//#include "common/include/gpio.h"
#include "f2802x_common/include/gpio.h"

#include "f2802x_common/include/pie.h"
#include "f2802x_common/include/pll.h"
#include "f2802x_common/include/timer.h"
#include "f2802x_common/include/wdog.h"
#include "i2ca.h"
#include "user.h"
#include "uart.h"
#include "printf.h"
#include "ringBuffer.h"

//
// Function Prototypes
//
//__interrupt void cpu_timer0_isr(void);
__interrupt void cpu_timer1_isr(void);
__interrupt void cpu_timer2_isr(void);
__interrupt void cpu_timer0_isr(void);
__interrupt void adc_isr(void);
__interrupt void hall_a_isr(void);
__interrupt void hall_b_isr(void);
__interrupt void hall_c_isr(void);
__interrupt void sciaTxIsr(void);
void updatePWMState(volatile struct EPWM_REGS *pwmReg, pwm_state CSFA, pwm_state CSFB);
void setDutyCycle(uint8_t dutyCycle);
void initPWM(void);
void initGPIO(void);
void initADC(void);
void itoa(char *buf, int data);

//
// Globals
//
//unsigned long Xint1Count;
//unsigned long Xint2Count;
//unsigned long Xint3Count;
//unsigned long adcIntCount = 0;
int length = 0;
char buf[45];

CLK_Handle myClk;
ADC_Handle myAdc;
FLASH_Handle myFlash;
GPIO_Handle myGpio;
PIE_Handle myPie;
TIMER_Handle myTimer0, myTimer1;
PWM_Handle myPwm1, myPwm2, myPwm3;
SCI_Handle mySci;
CONTROL_Obj Control;
CONTROL_Obj *ControlPtr = &Control;
uint8_t dutyCycle = 0;
uint16_t CMP_GLOBAL;
//
// Main
//
void main(void)
{
CPU_Handle myCpu;
PLL_Handle myPll;
WDOG_Handle myWDog;

//
// Initialize all the handles needed for this application
//
myAdc = ADC_init((void *)ADC_BASE_ADDR, sizeof(ADC_Obj));
myClk = CLK_init((void *)CLK_BASE_ADDR, sizeof(CLK_Obj));
myCpu = CPU_init((void *)NULL, sizeof(CPU_Obj));
myFlash = FLASH_init((void *)FLASH_BASE_ADDR, sizeof(FLASH_Obj));
myGpio = GPIO_init((void *)GPIO_BASE_ADDR, sizeof(GPIO_Obj));
myPie = PIE_init((void *)PIE_BASE_ADDR, sizeof(PIE_Obj));
myPll = PLL_init((void *)PLL_BASE_ADDR, sizeof(PLL_Obj));
myTimer0 = TIMER_init((void *)TIMER0_BASE_ADDR, sizeof(TIMER_Obj));
myTimer1 = TIMER_init((void *)TIMER1_BASE_ADDR, sizeof(TIMER_Obj));
myWDog = WDOG_init((void *)WDOG_BASE_ADDR, sizeof(WDOG_Obj));
myPwm1 = PWM_init((void *)PWM_ePWM1_BASE_ADDR, sizeof(PWM_Obj));
myPwm2 = PWM_init((void *)PWM_ePWM2_BASE_ADDR, sizeof(PWM_Obj));
myPwm3 = PWM_init((void *)PWM_ePWM3_BASE_ADDR, sizeof(PWM_Obj));
mySci = SCI_init((void *)SCIA_BASE_ADDR, sizeof(SCI_Obj));

/*
* Initialize the Main Control Object.
*/
initControl(ControlPtr);

//
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the f2802x_SysCtrl.c file.
//
//InitSysCtrl();

//
// Perform basic system initialization
//
WDOG_disable(myWDog);
CLK_enableAdcClock(myClk);
(*Device_cal)();

//
// Select the internal oscillator 1 as the clock source
//
CLK_setOscSrc(myClk, CLK_OscSrc_Internal);

//
// Setup the PLL for x12 /2 which will yield 60Mhz = 10Mhz * 12 / 2
//
PLL_setup(myPll, PLL_Multiplier_12, PLL_DivideSelect_ClkIn_by_2);

//
// Disable the PIE and all interrupts
//
PIE_disable(myPie);
PIE_disableAllInts(myPie);
CPU_disableGlobalInts(myCpu);
CPU_clearIntFlags(myCpu);

//
// Step 2. Initialize GPIO:
// This example function is found in the f2802x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
//
//InitGpio(); // Skipped for this example

//
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
//
//DINT;

//
// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the f2802x_PieCtrl.c file.
//
//InitPieCtrl();

//
// Disable CPU interrupts and clear all CPU interrupt flags:
//
//IER = 0x0000;
//IFR = 0x0000;

//
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in f2802x_DefaultIsr.c.
// This function is found in f2802x_PieVect.c.
//
//InitPieVectTable();
PIE_setDebugIntVectorTable(myPie);
PIE_enable(myPie);

//
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
//
EALLOW; // This is needed to write to EALLOW protected registers
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_1, PIE_SubGroupNumber_7,
(intVec_t)&cpu_timer0_isr);
PIE_registerSystemIntHandler(myPie, PIE_SystemInterrupts_TINT1,
(intVec_t)&cpu_timer1_isr);
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_10, PIE_SubGroupNumber_1,
(intVec_t)&adc_isr);
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_1, PIE_SubGroupNumber_4,
(intVec_t)&hall_a_isr);
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_1, PIE_SubGroupNumber_5,
(intVec_t)&hall_b_isr);
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_12, PIE_SubGroupNumber_1,
(intVec_t)&hall_c_isr);
PIE_registerPieIntHandler(myPie, PIE_GroupNumber_9, PIE_SubGroupNumber_2,
(intVec_t)&sciaTxIsr);

PIE_enableInt(myPie, PIE_GroupNumber_1, PIE_InterruptSource_XINT_1);
PIE_enableInt(myPie, PIE_GroupNumber_1, PIE_InterruptSource_XINT_2);
PIE_enableInt(myPie, PIE_GroupNumber_12, PIE_InterruptSource_XINT_3);
//PIE_enableInt(myPie, PIE_GroupNumber_9, PIE_InterruptSource_SCIARX);
PIE_enableInt(myPie, PIE_GroupNumber_9, PIE_InterruptSource_SCIATX);
PIE_enableInt(myPie, PIE_GroupNumber_1, PIE_InterruptSource_TIMER_0);

EDIS; // This is needed to disable write to EALLOW protected registers

#ifdef _FLASH
//
// Copy time critical code and Flash setup code to RAM
// This includes the following ISR functions: EPwm1_timer_isr(),
// EPwm2_timer_isr() and FLASH_setup();
// The RamfuncsLoadStart, RamfuncsLoadSize, and RamfuncsRunStart
// symbols are created by the linker. Refer to the F228027.cmd file.
//
memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (size_t)&RamfuncsLoadSize);

//
// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM
//
FLASH_setup(myFlash);
#endif
//
// Step 4. Initialize the Device Peripheral. This function can be
// found in f2802x_CpuTimers.c
//
//InitCpuTimers(); // For this example, only initialize the Cpu Timers
TIMER_stop(myTimer0);
TIMER_stop(myTimer1);

initGPIO();
//
// Configure XINT1
//
PIE_setExtIntPolarity(myPie, CPU_ExtIntNumber_1, PIE_ExtIntPolarity_RisingAndFallingEdge);
PIE_setExtIntPolarity(myPie, CPU_ExtIntNumber_2, PIE_ExtIntPolarity_RisingAndFallingEdge);
PIE_setExtIntPolarity(myPie, CPU_ExtIntNumber_3, PIE_ExtIntPolarity_RisingAndFallingEdge);

//
// Enable XINT1
//
PIE_enableExtInt(myPie, CPU_ExtIntNumber_1);
PIE_enableExtInt(myPie, CPU_ExtIntNumber_2);
PIE_enableExtInt(myPie, CPU_ExtIntNumber_3);

#if (CPU_FRQ_60MHZ)
//
// Configure CPU-Timer 0, 1, and 2 to interrupt every second:
// 60MHz CPU Freq, 1 second Period (in uSeconds)
//
//ConfigCpuTimer(&CpuTimer0, 60, 1000000);
TIMER_setPeriod(myTimer0, 60 * 1000000);
//ConfigCpuTimer(&CpuTimer1, 60, 1000000);
TIMER_setPeriod(myTimer1, 60 * 1000000);
//ConfigCpuTimer(&CpuTimer2, 60, 1000000);

#endif
#if (CPU_FRQ_40MHZ)
//
// Configure CPU-Timer 0, 1, and 2 to interrupt every second:
// 40MHz CPU Freq, 1 second Period (in uSeconds)
//
//ConfigCpuTimer(&CpuTimer0, 40, 1000000);
TIMER_setPeriod(myTimer0, 40 * 1000000);
//ConfigCpuTimer(&CpuTimer1, 40, 1000000);
TIMER_setPeriod(myTimer1, 40 * 1000000);
//ConfigCpuTimer(&CpuTimer2, 40, 1000000);
TIMER_setPeriod(myTimer2, 40 * 1000000);
#endif

TIMER_setPreScaler(myTimer0, 0); // No prescaler
TIMER_reload(myTimer0);
TIMER_setEmulationMode(myTimer0,
TIMER_EmulationMode_StopAtZero);
TIMER_enableInt(myTimer0);

TIMER_setPreScaler(myTimer1, 0);
TIMER_reload(myTimer1);
TIMER_setEmulationMode(myTimer1,
TIMER_EmulationMode_StopAtZero);
TIMER_enableInt(myTimer1);
//
// To ensure precise timing, use write-only instructions to write to the
// entire register. Therefore, if any of the configuration bits are changed
// in ConfigCpuTimer and InitCpuTimers (in f2802x_CpuTimers.h), the
// below settings must also be updated.
//

//
// Use write-only instruction to set TSS bit = 0
//
//CpuTimer0Regs.TCR.all = 0x4001;
//TIMER_start(myTimer0);

//
// Use write-only instruction to set TSS bit = 0
//
//CpuTimer1Regs.TCR.all = 0x4001;
TIMER_start(myTimer1);
TIMER_start(myTimer0);

//
// Use write-only instruction to set TSS bit = 0
//
//CpuTimer2Regs.TCR.all = 0x4001;
//TIMER_start(myTimer2);

//
// Step 5. User specific code, enable interrupts:
//

//
// Enable CPU int1 which is connected to CPU-Timer 0, CPU int13
// which is connected to CPU-Timer 1, CPU int 9 which is connected to SCITX int and CPU int 14, which is connected
// to CPU-Timer 2
//
CPU_enableInt(myCpu, CPU_IntNumber_13);
CPU_enableInt(myCpu, CPU_IntNumber_10);
CPU_enableInt(myCpu, CPU_IntNumber_1);
CPU_enableInt(myCpu, CPU_IntNumber_12);
CPU_enableInt(myCpu, CPU_IntNumber_9);
int tempIER = CPU_IntNumber_1 | CPU_IntNumber_9 | CPU_IntNumber_10 | CPU_IntNumber_12;
IER &= tempIER;

//CPU_enableInt(myCpu, CPU_IntNumber_14);

//
// Enable TINT0 in the PIE: Group 1 interrupt 7
//
PIE_enableTimer0Int(myPie);

//
// Enable global Interrupts and higher priority real-time debug events
//
CPU_enableGlobalInts(myCpu); // Enable Global interrupt INTM

CPU_enableDebugInt(myCpu); // Enable Global realtime interrupt DBGM

//
// Step 6. IDLE loop. Just sit and loop forever (optional)
//
// CLK_disableTbClockSync(myClk);
initPWM();
CLK_enableTbClockSync(myClk);
initADC();
i2ca_init();
scia_init(); // Initialize SCI
scia_msg("Hello World!\n\0");
initHallStates(myGpio, ControlPtr, GPIO_Number_12, GPIO_Number_6, GPIO_Number_7);
commutateMotor(ControlPtr);
for(;;) {
length = snprintf(buf, sizeof(buf), "{\"RPM\": %f, \"Battery\": %f}\n\r", 25.2, ControlPtr->battery.percBat);
if (RING_BUFFER_SIZE - ring_buffer_num_items(&ControlPtr->ringBuf) > length){ // Check if there's enough room in buffer for new string
ring_buffer_queue_arr(&(ControlPtr->ringBuf), buf, length);
}

if (ControlPtr->hallErr == TRUE) GPIO_setHigh(myGpio, GPIO_Number_19); // Turn ON error led
else GPIO_setLow(myGpio, GPIO_Number_19); // Turn OFF error led

if (ControlPtr->state == BRAKE){
updatePWMState(&EPwm1Regs, LOW, HIGH); // Phase A
updatePWMState(&EPwm2Regs, LOW, HIGH); // Phase B
updatePWMState(&EPwm3Regs, LOW, HIGH); // Phase C
} else if (ControlPtr->state == RUN){
if (ControlPtr->speedCalc.speedUpdateReady == TRUE){
double periodSecs, freqHz;
unsigned long periodCycles;
periodCycles = (ControlPtr->speedCalc.timerPeriod - ControlPtr->speedCalc.timerVal); // Electrical rotation period in seconds
periodSecs = (double) periodCycles/(ControlPtr->speedCalc.timerPeriod);
freqHz = 1/periodSecs;
ControlPtr->speedCalc.rpm = freqHz * 60.0/ControlPtr->motor.npp; // Update the speed value
ControlPtr->speedCalc.speedUpdateReady = FALSE;
if (ControlPtr->speedCalc.rpm > MIN_CLOSED_LOOP_RPM){
// dutyCycle = updatePI(ControlPtr);
// setDutyCycle(dutyCycle);
}
}

} else if (ControlPtr->state == COAST){
updatePWMState(&EPwm1Regs, LOW, LOW); // Phase A
updatePWMState(&EPwm2Regs, LOW, LOW); // Phase B
updatePWMState(&EPwm3Regs, LOW, LOW); // Phase C
}
}
}

void initGPIO(void){
// Set GPIO28 as RX and GPIO29 as TX for SCIA
GPIO_setPullUp(myGpio, GPIO_Number_28, GPIO_PullUp_Enable);
GPIO_setPullUp(myGpio, GPIO_Number_29, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_28, GPIO_28_Mode_SCIRXDA);
GPIO_setMode(myGpio, GPIO_Number_29, GPIO_29_Mode_SCITXDA);

// Set GPIO32 as SDA and GPIO33 as SCL for I2C communication with fuel gauge
GPIO_setMode(myGpio, GPIO_Number_32, GPIO_32_Mode_SDAA);
GPIO_setMode(myGpio, GPIO_Number_33, GPIO_33_Mode_SCLA);

GPIO_setMode(myGpio, GPIO_Number_19, GPIO_19_Mode_GeneralPurpose);
GPIO_setDirection(myGpio, GPIO_Number_19, GPIO_Direction_Output);

GPIO_setMode(myGpio, GPIO_Number_16, GPIO_16_Mode_GeneralPurpose);
GPIO_setDirection(myGpio, GPIO_Number_16, GPIO_Direction_Output);
GPIO_setHigh(myGpio, GPIO_Number_16); // Enable linear regulator for gate drivers

// Set Up GPIO12 (Hall Sensor A) as input.
GPIO_setMode(myGpio, GPIO_Number_12, GPIO_12_Mode_GeneralPurpose);
GPIO_setDirection(myGpio, GPIO_Number_12, GPIO_Direction_Input);
GPIO_setQualification(myGpio, GPIO_Number_12, GPIO_Qual_Sample_6);
GPIO_setQualificationPeriod(myGpio, GPIO_Number_12, 0xFF); // 60MHz/(2*30) = 1uS

// Set Up GPIO6 (Hall Sensor B) as input
GPIO_setMode(myGpio, GPIO_Number_6, GPIO_6_Mode_GeneralPurpose);
GPIO_setDirection(myGpio, GPIO_Number_6, GPIO_Direction_Input);
GPIO_setQualification(myGpio, GPIO_Number_6, GPIO_Qual_Sample_6);
GPIO_setQualificationPeriod(myGpio, GPIO_Number_6, 0xFF); // 60MHz/(2*30) = 1uS

// Set Up GPIO7 (Hall Sensor C) as input.
GPIO_setMode(myGpio, GPIO_Number_7, GPIO_7_Mode_GeneralPurpose);
GPIO_setDirection(myGpio, GPIO_Number_7, GPIO_Direction_Input);
GPIO_setQualification(myGpio, GPIO_Number_7, GPIO_Qual_Sample_6);
GPIO_setQualificationPeriod(myGpio, GPIO_Number_7, 0xFF); // 60MHz/(2*30) = 1uS

GPIO_setPullUp(myGpio, GPIO_Number_12, GPIO_PullUp_Enable);
GPIO_setPullUp(myGpio, GPIO_Number_6, GPIO_PullUp_Enable);
GPIO_setPullUp(myGpio, GPIO_Number_7, GPIO_PullUp_Enable);
//
// GPIO12 is XINT1 (Hall A), GPIO6 is XINT2 (Hall B), GPIO7 is XINT3 (Hall C)
//
GPIO_setExtInt(myGpio, GPIO_Number_12, CPU_ExtIntNumber_1);
GPIO_setExtInt(myGpio, GPIO_Number_6, CPU_ExtIntNumber_2);
GPIO_setExtInt(myGpio, GPIO_Number_7, CPU_ExtIntNumber_3);

//
// Initialize GPIO for PWM
//
GPIO_setPullUp(myGpio, GPIO_Number_0, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_1, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_0, GPIO_0_Mode_EPWM1A);
GPIO_setMode(myGpio, GPIO_Number_1, GPIO_1_Mode_EPWM1B);

GPIO_setPullUp(myGpio, GPIO_Number_2, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_3, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_2, GPIO_2_Mode_EPWM2A);
GPIO_setMode(myGpio, GPIO_Number_3, GPIO_3_Mode_EPWM2B);

GPIO_setPullUp(myGpio, GPIO_Number_4, GPIO_PullUp_Disable);
GPIO_setPullUp(myGpio, GPIO_Number_5, GPIO_PullUp_Disable);
GPIO_setMode(myGpio, GPIO_Number_4, GPIO_4_Mode_EPWM3A);
GPIO_setMode(myGpio, GPIO_Number_5, GPIO_5_Mode_EPWM3B);
}

void initADC(void){
//
// Initialize the ADC
//
ADC_enableBandGap(myAdc);
ADC_enableRefBuffers(myAdc);
ADC_powerUp(myAdc);
ADC_enable(myAdc);
ADC_setVoltRefSrc(myAdc, ADC_VoltageRefSrc_Int);

ADC_setIntPulseGenMode(myAdc, ADC_IntPulseGenMode_Prior);
ADC_enableInt(myAdc, ADC_IntNumber_1);
ADC_setIntMode(myAdc, ADC_IntNumber_1, ADC_IntMode_EOC);
ADC_setIntSrc(myAdc, ADC_IntNumber_1, ADC_IntSrc_EOC0);
ADC_setSocChanNumber (myAdc, ADC_SocNumber_0, ADC_SocChanNumber_B1);
ADC_setSocTrigSrc(myAdc, ADC_SocNumber_0, ADC_SocTrigSrc_CpuTimer_1);
ADC_setSocSampleWindow(myAdc, ADC_SocNumber_0,
ADC_SocSampleWindow_37_cycles);
PIE_enableAdcInt(myPie, ADC_IntNumber_1);
}

void initPWM(void)
{
CLK_enablePwmClock(myClk, PWM_Number_1);
CLK_enablePwmClock(myClk, PWM_Number_2);
CLK_enablePwmClock(myClk, PWM_Number_3);
EPwm1Regs.TBPRD = TBPRD_VALUE; // Period = 2*TBPRD TBCLK counts
EPwm1Regs.TBPHS.half.TBPHS = 0; // Set Phase register to zero
EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Symmetrical mode
EPwm1Regs.DBCTL.bit.OUT_MODE = DB_DISABLE; // Disable Dead-band module
EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE; // Master module
EPwm1Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO; // Sync down-stream module
EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO; // load on CTR=Zero
EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO; // load on CTR=Zero
EPwm1Regs.AQCTLA.bit.CAU = AQ_CLEAR; // set actions for EPWM1A
EPwm1Regs.AQCTLA.bit.CAD = AQ_SET;
EPwm1Regs.AQCTLB.bit.CBU = AQ_SET; // set actions for EPWM1A
EPwm1Regs.AQCTLB.bit.CBD = AQ_CLEAR;

//EPwm1Regs.AQCSFRC.bit.CSFA = 0x0; // PWM still on
//EPwm1Regs.AQCSFRC.bit.CSFA = 0x1; // Use these commands to force PWM outputs low or high
//EPwm1Regs.AQCSFRC.bit.CSFB = 0x2;

// EPWM Module 2 config
EPwm2Regs.TBPRD = TBPRD_VALUE;
EPwm2Regs.TBPHS.half.TBPHS = 0; // Set Phase register to zero
EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Symmetrical mode
EPwm2Regs.DBCTL.bit.OUT_MODE = DB_DISABLE; // Disable Dead-band module
EPwm2Regs.TBCTL.bit.PHSEN = TB_ENABLE; // Slave module
EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN; // sync flow-through
EPwm2Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
EPwm2Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO; // load on CTR=Zero
EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO; // load on CTR=Zero
EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR; // set actions for EPWM2A
EPwm2Regs.AQCTLA.bit.CAD = AQ_SET;
EPwm2Regs.AQCTLB.bit.CBU = AQ_SET; // set actions for EPWM1A
EPwm2Regs.AQCTLB.bit.CBD = AQ_CLEAR;

// EPWM Module 3 config
EPwm3Regs.TBPRD = TBPRD_VALUE;
EPwm3Regs.TBPHS.half.TBPHS = 0; // Set Phase register to zero
EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Symmetrical mode
EPwm3Regs.DBCTL.bit.OUT_MODE = DB_DISABLE; // Disable Dead-band module
EPwm3Regs.TBCTL.bit.PHSEN = TB_ENABLE; // Slave module
EPwm3Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm3Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN; // sync flow-through
EPwm3Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
EPwm3Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
EPwm3Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO; // load on CTR=Zero
EPwm3Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO; // load on CTR=Zero
EPwm3Regs.AQCTLA.bit.CAU = AQ_CLEAR; // set actions for EPWM3A
EPwm3Regs.AQCTLA.bit.CAD = AQ_SET;
EPwm3Regs.AQCTLB.bit.CBU = AQ_SET; // set actions for EPWM1A
EPwm3Regs.AQCTLB.bit.CBD = AQ_CLEAR;

EPwm1Regs.CMPA.half.CMPA = 300; // adjust duty for output EPWM1A
EPwm1Regs.CMPB = 310; // adjust duty for output EPWM3B

EPwm2Regs.CMPA.half.CMPA = 300; // adjust duty for output EPWM2A
EPwm2Regs.CMPB = 310; // adjust duty for output EPWM3B

EPwm3Regs.CMPA.half.CMPA = 300; // adjust duty for output EPWM3A
EPwm3Regs.CMPB = 310; // adjust duty for output EPWM3B

// Brake the motor to start off
updatePWMState(&EPwm1Regs, LOW, HIGH); // Phase A
updatePWMState(&EPwm2Regs, LOW, HIGH); // Phase B
updatePWMState(&EPwm3Regs, LOW, HIGH); // Phase C

}

__interrupt void
sciaTxIsr(void)
{
char buf, ch;
static parse_state parseState = BUFFER_EMPTY;

if (ring_buffer_dequeue(&(ControlPtr->ringBuf), &buf) == TRUE){
scia_xmit(buf); // Transmit just one byte if there is data in the ring buffer
}

//
// Clear SCI Interrupt flag
//
SCI_clearTxFifoInt(mySci);

//
// Issue PIE ACK
//
PIE_clearInt(myPie, PIE_GroupNumber_9);

return;
}

//
// cpu_timer1_isr -
//
__interrupt void
cpu_timer1_isr(void)
{
/*
* Use this ISR to send out one byte over UART from ring buffer, which is filled in main loop
*/

// ADC SOC should occur when this interrupt fires

}

__interrupt void
cpu_timer0_isr(void)
{
if (TIMER_getStatus(myTimer0) == TIMER_Status_CntIsZero){
ControlPtr->speedCalc.rpm = 0; // Set RPM to 0 and skip RPM calculation
ControlPtr->speedCalc.speedUpdateReady = FALSE;
}

PIE_clearInt(myPie, PIE_GroupNumber_1);
TIMER_clearFlag(myTimer0);
TIMER_stop(myTimer0);

}

//
// adc_isr -
//
__interrupt void
adc_isr(void)
{

unsigned int adc_counts = ADC_readResult(myAdc, ADC_ResultNumber_0);
double result = (double)(adc_counts*ControlPtr->speedCalc.rpmMax)/((1 << NUM_ADC_BITS) - 1);
ControlPtr->speedCalc.rpmRef = result; // Update the command value used by the PI controller
ADC_clearIntFlag(myAdc, ADC_IntNumber_1);
PIE_clearInt(myPie, PIE_GroupNumber_10);

return;
}
//
// hall_a_isr-
//
__interrupt void
hall_a_isr(void)
{
uint32_t gpioVal = GPIO_getData(myGpio, GPIO_Number_12);
updateHall_A(gpioVal, ControlPtr);
checkHallErr(ControlPtr);
commutateMotor(ControlPtr);

//GPIO_toggle(myGpio, GPIO_Number_29);
if (gpioVal == 1){ // Used to get time between rising edge to calculate speed.
//GPIO_setHigh(myGpio, GPIO_Number_29);
} else {
if (myTimer0->TCR & TIMER_TCR_TSS_BITS){ // If timer is stopped, start timer and begin count
//GPIO_setLow(myGpio, GPIO_Number_28);
TIMER_reload(myTimer0);
TIMER_start(myTimer0);
}else {
// GPIO_setHigh(myGpio, GPIO_Number_28);
TIMER_stop(myTimer0);

ControlPtr->speedCalc.timerVal = TIMER_getCount(myTimer0);
ControlPtr->speedCalc.speedUpdateReady = TRUE;

}
//GPIO_setLow(myGpio, GPIO_Number_29);
}
//
// Acknowledge this interrupt to get more from group 1
//
PIE_clearInt(myPie, PIE_GroupNumber_1);
}
//
// hall_b_isr-
//
__interrupt void
hall_b_isr(void)
{
uint32_t gpioVal = GPIO_getData(myGpio, GPIO_Number_6);
updateHall_B(gpioVal, ControlPtr);
checkHallErr(ControlPtr);
commutateMotor(ControlPtr);

//
// Acknowledge this interrupt to get more from group 1
//
PIE_clearInt(myPie, PIE_GroupNumber_1);
}
//
// hall_c_isr -
//
__interrupt void
hall_c_isr(void)
{
uint32_t gpioVal = GPIO_getData(myGpio, GPIO_Number_7);
updateHall_C(gpioVal, ControlPtr);
checkHallErr(ControlPtr);
commutateMotor(ControlPtr);

//
// Acknowledge this interrupt to get more from group 12
//
PIE_clearInt(myPie, PIE_GroupNumber_12);
}

//
// End of File
//

The above code sum errors occur. Given below

*** Build Finished ****

**** Build of configuration Debug for project motor_app ****

"D:\\Texas_instrument\\ccs\\utils\\bin\\gmake" -k -j 12 all -O

Building file: "../main.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230" --include_path="D:/Texas_instrument/controlSUITE/libs/math/IQmath/v15c/include" --include_path="D:/TI_Progrms/motor_app" --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230/f2802x_headers/include" --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230/f2802x_common/include" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --emit_warnings_as_errors --abi=coffabi --preproc_with_compile --preproc_dependency="main.d_raw" "../main.c"

>> Compilation failure
subdir_rules.mk:9: recipe for target 'main.obj' failed
"../main.c", line 220: error: function "PIE_setDebugIntVectorTable" declared implicitly
"../main.c", line 605: error: variable "ch" was declared but never referenced
"../main.c", line 606: error: variable "parseState" was declared but never referenced
"../main.c", line 688: error: pointer to incomplete class type is not allowed
4 errors detected in the compilation of "../main.c".
gmake: *** [main.obj] Error 1
Building file: "../i2ca.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230" --include_path="D:/Texas_instrument/controlSUITE/libs/math/IQmath/v15c/include" --include_path="D:/TI_Progrms/motor_app" --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230/f2802x_headers/include" --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230/f2802x_common/include" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --emit_warnings_as_errors --abi=coffabi --preproc_with_compile --preproc_dependency="i2ca.d_raw" "../i2ca.c"
Finished building: "../i2ca.c"

Building file: "../uart.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230" --include_path="D:/Texas_instrument/controlSUITE/libs/math/IQmath/v15c/include" --include_path="D:/TI_Progrms/motor_app" --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230/f2802x_headers/include" --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230/f2802x_common/include" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --emit_warnings_as_errors --abi=coffabi --preproc_with_compile --preproc_dependency="uart.d_raw" "../uart.c"
Finished building: "../uart.c"

Building file: "../ringBuffer.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230" --include_path="D:/Texas_instrument/controlSUITE/libs/math/IQmath/v15c/include" --include_path="D:/TI_Progrms/motor_app" --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230/f2802x_headers/include" --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230/f2802x_common/include" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --emit_warnings_as_errors --abi=coffabi --preproc_with_compile --preproc_dependency="ringBuffer.d_raw" "../ringBuffer.c"
Finished building: "../ringBuffer.c"

Building file: "../user.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230" --include_path="D:/Texas_instrument/controlSUITE/libs/math/IQmath/v15c/include" --include_path="D:/TI_Progrms/motor_app" --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230/f2802x_headers/include" --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230/f2802x_common/include" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --emit_warnings_as_errors --abi=coffabi --preproc_with_compile --preproc_dependency="user.d_raw" "../user.c"
Finished building: "../user.c"

Building file: "../printf.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230" --include_path="D:/Texas_instrument/controlSUITE/libs/math/IQmath/v15c/include" --include_path="D:/TI_Progrms/motor_app" --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230/f2802x_headers/include" --include_path="D:/Texas_instrument/controlSUITE/device_support/f2802x/v230/f2802x_common/include" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --emit_warnings_as_errors --abi=coffabi --preproc_with_compile --preproc_dependency="printf.d_raw" "../printf.c"
Finished building: "../printf.c"

gmake: Target 'all' not remade because of errors.

**** Build Finished ****

How to resolve it. Please tell me.

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

What's your question? What modification have you made in the example lab?

Do you take a look at the lab user's guide and follow the guide to run the lab02c for motor identification first?

Please take a look at guides in the folders below in motorWare, and follow the guides to set up the kits and run the lab.

C:\ti\motorware\motorware_1_01_00_18\docs\labs\instaspin_labs.pdf

C:\ti\motorware\motorware_1_01_00_18\docs\boards\kits\docs\readmefirst_instaspin_launchboost.pdf

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

I am developing own application for bldc motor. Not used any lab examples . The above code are developing it.

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

Did you refer to any TI example lab code in motorWare?

Yanming Luo said:
What's your question? What modification have you made in the example lab?

Can you have a detailed description of your questions, not paste all of the code?

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

**** Build of configuration Debug for project motor_app ****

"D:\\Texas_instrument\\ccs\\utils\\bin\\gmake" -k -j 12 all -O

Building file: "../i2ca.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/libraries/math/IQmath/c28/include" --include_path="D:/TI_Progrms/motor_app" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/common/include" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/headers/include" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --emit_warnings_as_errors --abi=coffabi --preproc_with_compile --preproc_dependency="i2ca.d_raw" "../i2ca.c"
Finished building: "../i2ca.c"

Building file: "../ringBuffer.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/libraries/math/IQmath/c28/include" --include_path="D:/TI_Progrms/motor_app" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/common/include" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/headers/include" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --emit_warnings_as_errors --abi=coffabi --preproc_with_compile --preproc_dependency="ringBuffer.d_raw" "../ringBuffer.c"
Finished building: "../ringBuffer.c"

Building file: "../uart.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/libraries/math/IQmath/c28/include" --include_path="D:/TI_Progrms/motor_app" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/common/include" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/headers/include" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --emit_warnings_as_errors --abi=coffabi --preproc_with_compile --preproc_dependency="uart.d_raw" "../uart.c"
Finished building: "../uart.c"

Building file: "../main.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/libraries/math/IQmath/c28/include" --include_path="D:/TI_Progrms/motor_app" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/common/include" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/headers/include" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --emit_warnings_as_errors --abi=coffabi --preproc_with_compile --preproc_dependency="main.d_raw" "../main.c"
Finished building: "../main.c"

Building file: "../user.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/libraries/math/IQmath/c28/include" --include_path="D:/TI_Progrms/motor_app" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/common/include" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/headers/include" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --emit_warnings_as_errors --abi=coffabi --preproc_with_compile --preproc_dependency="user.d_raw" "../user.c"
Finished building: "../user.c"

Building file: "../printf.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/libraries/math/IQmath/c28/include" --include_path="D:/TI_Progrms/motor_app" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/common/include" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/headers/include" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --emit_warnings_as_errors --abi=coffabi --preproc_with_compile --preproc_dependency="printf.d_raw" "../printf.c"
Finished building: "../printf.c"

Building target: "motor_app.out"
Invoking: C2000 Linker
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --advice:performance=all -g --diag_warning=225 --diag_wrap=off --emit_warnings_as_errors --abi=coffabi -z -m"motor_app.map" --stack_size=0x300 --warn_sections -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/lib" -i"D:/tms320f28027f/motor_A0_Application" -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --reread_libs --diag_wrap=off --display_error_number --xml_link_info="motor_app_linkInfo.xml" --rom_model -o "motor_app.out" "./i2ca.obj" "./main.obj" "./printf.obj" "./ringBuffer.obj" "./uart.obj" "./user.obj" "../F2802x_Headers_nonBIOS.cmd" -l"D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/common/ccs/Debug/driverlib.lib" -lrts2800_fpu64_eabi.lib
<Linking>
fatal error #16000: object files have incompatible formats ("D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/lib/rts2800_fpu64_eabi.lib<boot28.asm.obj>" = ELF, "./i2ca.obj" = TI-COFF)

>> Compilation failure
makefile:141: recipe for target 'motor_app.out' failed
gmake[1]: *** [motor_app.out] Error 1
makefile:137: recipe for target 'all' failed
gmake: *** [all] Error 2

**** Build Finished ****

I am using this library <boot28.asm.obj> facing error issue. Please give suggestion on that.

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

Kishor vattikuti said:
fatal error #16000: object files have incompatible formats ("D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/lib/rts2800_fpu64_eabi.lib<boot28.asm.obj>" = ELF, "./i2ca.obj" = TI-COFF)

Can you try to design your project based on an example project in C2000Ware or C2000 Motor Control SDK? Seems like your project includes a wrong library for F28027 that doesn't have FPU32 and FPU64.

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

which supported library used ?

Give me suggestion and any supported library was download are not.

0 Kishor vattikuti over 1 year ago in reply to Kishor vattikuti

Intellectual 330 points

I am using runtime support library using rts2800_ml_eab.lib but occur occur. How to solve it.

**** Build of configuration Debug for project BLDC_application ****

"D:\\Texas_instrument\\ccs\\utils\\bin\\gmake" -k -j 12 all -O

Building target: "BLDC_application.out"
Invoking: C2000 Linker
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi -z -m"BLDC_application.map" --stack_size=0x300 --warn_sections -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/lib" -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --reread_libs --diag_wrap=off --display_error_number --xml_link_info="BLDC_application_linkInfo.xml" --rom_model -o "BLDC_application.out" "./i2ca.obj" "./main.obj" "./printf.obj" "./ringBuffer.obj" "./uart.obj" "./user.obj" "../28027_RAM_lnk.cmd" -lrts2800_ml_eabi.lib
<Linking>
fatal error #16000: object files have incompatible formats ("D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/lib/rts2800_ml_eabi.lib<boot28.asm.obj>" = ELF, "./i2ca.obj" = TI-COFF)

>> Compilation failure
makefile:140: recipe for target 'BLDC_application.out' failed
makefile:136: recipe for target 'all' failed
gmake[1]: *** [BLDC_application.out] Error 1
gmake: *** [all] Error 2

**** Build Finished ****

How to solve it.

0 Kishor vattikuti over 1 year ago in reply to Kishor vattikuti

Intellectual 330 points

lhttps://github.com/acvilla/BLDC-Motor-Control

I am using TI board LAUNCHXL TMS320F28027F with DRV8301 to run BLDC Motor(A2212/13T) sensor-less.

The above link possible to run bldc motor or not and any changes in a code. Please check above link to run bldc motor sensor-less or not. Any changes in a code or modifies in a code.Give suggestion on that.

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

As mentioned above, please try to use the example labs in motorWare. You have made a lot of changes in the example lab that is not supported by this device.

Download and install motorware which has many example projects to support this kit, and follow the lab guide to understand these lab projects.

MotorWare: http://www.ti.com/tool/motorware

Please take a look at guides in the folders below in motorWare, and follow the guides to set up the kits and run the lab.

C:\ti\motorware\motorware_1_01_00_18\docs\labs\instaspin_labs.pdf

C:\ti\motorware\motorware_1_01_00_18\docs\boards\kits\docs\readmefirst_instaspin_launchboost.pdf

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

lhttps://github.com/acvilla/BLDC-Motor-Control

The above example does not supported to my device. Ok but how to developing own application for to run motor. Developing is possible or not. Please give me suggestion on that.

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

As mentioned above, take a look at the lab user's guide, and use the example labs in motorWare to run your motor since you are using a supported kit in the motorWare.

C:\ti\motorware\motorware_1_01_00_18\sw\solutions\instaspin_foc\boards\boostxldrv8301_revB\f28x\f2802xF

Run the lab02c to identify the motor parameters, and then run the lab05a, lab05b or lab10a per your system's requirements.

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

Using lab2c and lab5b both integrate to run my motor clockwise and anticlockwise. To possible or not. Give me suggestion on that. And also Set UART commands to run motor. For example I send command R, to run motor and send command S to stop motor. If it is possible or not.

0 Kishor vattikuti over 1 year ago in reply to Kishor vattikuti

Intellectual 330 points

Please give me any suggestion on that.

0 Kishor vattikuti over 1 year ago in reply to Kishor vattikuti

Intellectual 330 points

I am using lab2c to build the project. Some errors occurs. show below

**** Build of configuration Debug for project motor_8301 ****

"D:\\Texas_instrument\\ccs\\utils\\bin\\gmake" -k -j 12 all -O

Building file: "../CodeStartBranch.asm"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="CodeStartBranch.d_raw" "../CodeStartBranch.asm"
Finished building: "../CodeStartBranch.asm"

Building file: "../clarke.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="clarke.d_raw" "../clarke.c"
Finished building: "../clarke.c"

Building file: "../cpu.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="cpu.d_raw" "../cpu.c"
Finished building: "../cpu.c"

Building file: "../adc.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="adc.d_raw" "../adc.c"
Finished building: "../adc.c"

Building file: "../clk.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="clk.d_raw" "../clk.c"
Finished building: "../clk.c"

Building file: "../filter_fo.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="filter_fo.d_raw" "../filter_fo.c"
Finished building: "../filter_fo.c"

Building file: "../flash.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="flash.d_raw" "../flash.c"
Finished building: "../flash.c"

Building file: "../gpio.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="gpio.d_raw" "../gpio.c"
Finished building: "../gpio.c"

Building file: "../ipark.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="ipark.d_raw" "../ipark.c"
Finished building: "../ipark.c"

Building file: "../memCopy.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="memCopy.d_raw" "../memCopy.c"
Finished building: "../memCopy.c"

Building file: "../offset.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="offset.d_raw" "../offset.c"
Finished building: "../offset.c"

Building file: "../osc.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="osc.d_raw" "../osc.c"
Finished building: "../osc.c"

Building file: "../park.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="park.d_raw" "../park.c"
Finished building: "../park.c"

Building file: "../pll.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="pll.d_raw" "../pll.c"
Finished building: "../pll.c"

Building file: "../pie.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="pie.d_raw" "../pie.c"
Finished building: "../pie.c"

Building file: "../main.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="main.d_raw" "../main.c"
Finished building: "../main.c"

Building file: "../pwr.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="pwr.d_raw" "../pwr.c"
Finished building: "../pwr.c"

Building file: "../hal.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="hal.d_raw" "../hal.c"
Finished building: "../hal.c"

Building file: "../ctrl.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="ctrl.d_raw" "../ctrl.c"
Finished building: "../ctrl.c"

Building file: "../svgen.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="svgen.d_raw" "../svgen.c"
Finished building: "../svgen.c"

Building file: "../spi.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="spi.d_raw" "../spi.c"
Finished building: "../spi.c"

Building file: "../timer.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="timer.d_raw" "../timer.c"
Finished building: "../timer.c"

Building file: "../traj.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="traj.d_raw" "../traj.c"
Finished building: "../traj.c"

Building file: "../pwm.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="pwm.d_raw" "../pwm.c"
Finished building: "../pwm.c"

Building file: "../usDelay.asm"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="usDelay.d_raw" "../usDelay.asm"
Finished building: "../usDelay.asm"

Building file: "../wdog.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="wdog.d_raw" "../wdog.c"
Finished building: "../wdog.c"

Building file: "../user.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/types/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="user.d_raw" "../user.c"
Finished building: "../user.c"

Building target: "motor_8301.out"
Invoking: C2000 Linker
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi -z -m"motor_8301.map" --stack_size=0x300 --warn_sections -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/lib" -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --reread_libs --diag_wrap=off --display_error_number --xml_link_info="motor_8301_linkInfo.xml" --rom_model -o "motor_8301.out" "./CodeStartBranch.obj" "./adc.obj" "./clarke.obj" "./clk.obj" "./cpu.obj" "./ctrl.obj" "./filter_fo.obj" "./flash.obj" "./gpio.obj" "./hal.obj" "./ipark.obj" "./main.obj" "./memCopy.obj" "./offset.obj" "./osc.obj" "./park.obj" "./pie.obj" "./pll.obj" "./pwm.obj" "./pwr.obj" "./spi.obj" "./svgen.obj" "./timer.obj" "./traj.obj" "./usDelay.obj" "./user.obj" "./wdog.obj" "../F28027.cmd" -lrts2800_ml_eabi.lib
<Linking>
fatal error #16000: object files have incompatible formats ("D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/lib/rts2800_ml_eabi.lib<boot28.asm.obj>" = ELF, "./CodeStartBranch.obj" = TI-COFF)

>> Compilation failure
makefile:161: recipe for target 'motor_8301.out' failed
gmake[1]: *** [motor_8301.out] Error 1
makefile:157: recipe for target 'all' failed
gmake: *** [all] Error 2

**** Build Finished ****

how to solve it ? Give me any suggestion on that.

c2000_22.6.1.LTS/lib/rts2800_ml_eabi.lib<boot28.asm.obj>" = ELF, "./CodeStartBranch.obj" = TI-COFF)

does not supported run time library and obj file.

0 Kishor vattikuti over 1 year ago in reply to Kishor vattikuti

Intellectual 330 points

TI Launch Pad tms320f28027f) with drv8301 to run bldc motor. If it possible in different applications using this TI board possible are not. Give me suggestion on that.

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

Please refer to the example labs as mentioned above. The board and example can run the BLDC motor you used, just need to follow the guide to set the related parameters. It could be easy to use and better than the code you downloaded. Please use the example labs first without ange changes, and just change the motor parameters in the "user.h" file before you are familiar with the labs.

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

ok, but lab2c is taken, create a new project, start copying lab2c in a new project but errors occur. Error is run time library and object file does not supported show below.

**** Build of configuration Debug for project motor_8301 ****

"D:\\Texas_instrument\\ccs\\utils\\bin\\gmake" -k -j 12 all -O

Building target: "motor_8301.out"
Invoking: C2000 Linker
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi -z -m"motor_8301.map" --stack_size=0x300 --warn_sections -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/lib" -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --reread_libs --diag_wrap=off --display_error_number --xml_link_info="motor_8301_linkInfo.xml" --rom_model -o "motor_8301.out" "./CodeStartBranch.obj" "./adc.obj" "./clarke.obj" "./clk.obj" "./cpu.obj" "./ctrl.obj" "./filter_fo.obj" "./flash.obj" "./gpio.obj" "./hal.obj" "./ipark.obj" "./main.obj" "./memCopy.obj" "./offset.obj" "./osc.obj" "./park.obj" "./pie.obj" "./pll.obj" "./pwm.obj" "./pwr.obj" "./spi.obj" "./svgen.obj" "./timer.obj" "./traj.obj" "./usDelay.obj" "./user.obj" "./wdog.obj" "../F28027.cmd" -lrts2800_ml_eabi.lib
<Linking>
fatal error #16000: object files have incompatible formats ("D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/lib/rts2800_ml_eabi.lib<boot28.asm.obj>" = ELF, "./CodeStartBranch.obj" = TI-COFF)

>> Compilation failure
makefile:161: recipe for target 'motor_8301.out' failed
gmake[1]: *** [motor_8301.out] Error 1
makefile:157: recipe for target 'all' failed
gmake: *** [all] Error 2

**** Build Finished ****

how to resolve it.

Give me suggestion on that.

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

How do you create the new project? What changes do you make compare to the example lab?

Is it possible to use the example lab and only add the new codes according to your project?

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

**** Clean-only build of configuration Debug for project motor_8301 ****

"D:\\Texas_instrument\\ccs\\utils\\bin\\gmake" -k -j 12 clean -O

DEL /F "motor_8301.out"
DEL /F "CodeStartBranch.obj" "adc.obj" "clarke.obj" "clk.obj" "cpu.obj" "ctrl.obj" "filter_fo.obj" "flash.obj" "gpio.obj" "hal.obj" "ipark.obj" "main.obj" "memCopy.obj" "offset.obj" "osc.obj" "park.obj" "pie.obj" "pll.obj" "pwm.obj" "pwr.obj" "spi.obj" "svgen.obj" "timer.obj" "traj.obj" "usDelay.obj" "user.obj" "wdog.obj"
DEL /F "adc.d" "clarke.d" "clk.d" "cpu.d" "ctrl.d" "filter_fo.d" "flash.d" "gpio.d" "hal.d" "ipark.d" "main.d" "memCopy.d" "offset.d" "osc.d" "park.d" "pie.d" "pll.d" "pwm.d" "pwr.d" "spi.d" "svgen.d" "timer.d" "traj.d" "user.d" "wdog.d"
DEL /F "CodeStartBranch.d" "usDelay.d"
Could Not Find D:\TI_Progrms\motor_8301\Debug\motor_8301.out
Could Not Find D:\TI_Progrms\motor_8301\Debug\CodeStartBranch.d
Finished clean

**** Build Finished ****

**** Build of configuration Debug for project motor_8301 ****

"D:\\Texas_instrument\\ccs\\utils\\bin\\gmake" -k -j 12 all -O

Building file: "../CodeStartBranch.asm"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="CodeStartBranch.d_raw" "../CodeStartBranch.asm"
Finished building: "../CodeStartBranch.asm"

Building file: "../clarke.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="clarke.d_raw" "../clarke.c"
Finished building: "../clarke.c"

Building file: "../adc.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="adc.d_raw" "../adc.c"
Finished building: "../adc.c"

Building file: "../clk.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="clk.d_raw" "../clk.c"
Finished building: "../clk.c"

Building file: "../cpu.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="cpu.d_raw" "../cpu.c"
Finished building: "../cpu.c"

Building file: "../ctrl.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="ctrl.d_raw" "../ctrl.c"
Finished building: "../ctrl.c"

Building file: "../filter_fo.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="filter_fo.d_raw" "../filter_fo.c"
Finished building: "../filter_fo.c"

Building file: "../flash.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="flash.d_raw" "../flash.c"
Finished building: "../flash.c"

Building file: "../gpio.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="gpio.d_raw" "../gpio.c"
Finished building: "../gpio.c"

Building file: "../hal.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="hal.d_raw" "../hal.c"
Finished building: "../hal.c"

Building file: "../ipark.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="ipark.d_raw" "../ipark.c"
Finished building: "../ipark.c"

Building file: "../memCopy.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="memCopy.d_raw" "../memCopy.c"
Finished building: "../memCopy.c"

Building file: "../offset.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="offset.d_raw" "../offset.c"
Finished building: "../offset.c"

Building file: "../osc.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="osc.d_raw" "../osc.c"
Finished building: "../osc.c"

Building file: "../main.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="main.d_raw" "../main.c"
Finished building: "../main.c"

Building file: "../park.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="park.d_raw" "../park.c"
Finished building: "../park.c"

Building file: "../pll.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="pll.d_raw" "../pll.c"
Finished building: "../pll.c"

Building file: "../pie.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="pie.d_raw" "../pie.c"
Finished building: "../pie.c"

Building file: "../pwm.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="pwm.d_raw" "../pwm.c"
Finished building: "../pwm.c"

Building file: "../pwr.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="pwr.d_raw" "../pwr.c"
Finished building: "../pwr.c"

Building file: "../spi.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="spi.d_raw" "../spi.c"
Finished building: "../spi.c"

Building file: "../svgen.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="svgen.d_raw" "../svgen.c"
Finished building: "../svgen.c"

Building file: "../timer.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="timer.d_raw" "../timer.c"
Finished building: "../timer.c"

Building file: "../usDelay.asm"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="usDelay.d_raw" "../usDelay.asm"
Finished building: "../usDelay.asm"

Building file: "../traj.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="traj.d_raw" "../traj.c"
Finished building: "../traj.c"

Building file: "../wdog.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="wdog.d_raw" "../wdog.c"
Finished building: "../wdog.c"

Building file: "../user.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="user.d_raw" "../user.c"
Finished building: "../user.c"

Building target: "motor_8301.out"
Invoking: C2000 Linker
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi -z -m"motor_8301.map" --warn_sections -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/lib" -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -o "motor_8301.out" "./CodeStartBranch.obj" "./adc.obj" "./clarke.obj" "./clk.obj" "./cpu.obj" "./ctrl.obj" "./filter_fo.obj" "./flash.obj" "./gpio.obj" "./hal.obj" "./ipark.obj" "./main.obj" "./memCopy.obj" "./offset.obj" "./osc.obj" "./park.obj" "./pie.obj" "./pll.obj" "./pwm.obj" "./pwr.obj" "./spi.obj" "./svgen.obj" "./timer.obj" "./traj.obj" "./usDelay.obj" "./user.obj" "./wdog.obj" "../F28027.cmd"
<Linking>
warning #10247-D: creating output section "ramfuncs" without a SECTIONS specification
warning #10247-D: creating output section "rom_accessed_data" without a SECTIONS specification
"../F28027.cmd", line 117: error #10099-D: program will not fit into available memory, or the section contains a call site that requires a trampoline that can't be generated for this section. placement with alignment/blocking fails for section ".text" size 0x4195 page 0. Available memory ranges:
FLASHA size: 0x1f80 unused: 0x1ea6 max hole: 0x1ea6

undefined first referenced
symbol in file
--------- ----------------
FD$$MPY ./ctrl.obj
FD$$TOL ./ctrl.obj
FS$$DIV ./ctrl.obj
FS$$MPY ./ctrl.obj
FS$$NEG ./user.obj
FS$$TOFD ./ctrl.obj
FS$$TOI ./main.obj
FS$$TOU ./hal.obj
FS$$TOUL ./hal.obj
I$$TOFS ./user.obj
U$$TOFS ./hal.obj
UL$$TOFS ./ctrl.obj
_CTRL_getVersion ./main.obj
_CTRL_initCtrl ./main.obj
_CTRL_runTraj ./ctrl.obj
_CTRL_setEstParams ./ctrl.obj
_CTRL_setUserMotorParams ./ctrl.obj
_CTRL_setupCtrl ./ctrl.obj
_CTRL_setupEstIdleState ./ctrl.obj
_CTRL_setupEstOnLineState ./ctrl.obj
_CTRL_setupTraj ./ctrl.obj
_DRV8301_enable ./hal.obj
_DRV8301_init ./hal.obj
_DRV8301_readData ./hal.obj
_DRV8301_setGpioHandle ./hal.obj
_DRV8301_setGpioNumber ./hal.obj
_DRV8301_setSpiHandle ./hal.obj
_DRV8301_setupSpi ./hal.obj
_DRV8301_writeData ./hal.obj
_EST_computeDirection_qFmt ./main.obj
_EST_doCurrentCtrl ./ctrl.obj
_EST_doSpeedCtrl ./ctrl.obj
_EST_getAngle_pu ./ctrl.obj
_EST_getFlux_VpHz ./main.obj
_EST_getFlux_pu ./user.obj
_EST_getFm_pu ./ctrl.obj
_EST_getIdRated ./main.obj
_EST_getLs_coarse_max_pu ./main.obj
_EST_getLs_d_H ./main.obj
_EST_getLs_d_pu ./main.obj
_EST_getLs_qFmt ./main.obj
_EST_getLs_q_H ./main.obj
_EST_getLs_q_pu ./user.obj
_EST_getMaxCurrentSlope_pu ./main.obj
_EST_getOneOverDcBus_pu ./ctrl.obj
_EST_getRr_Ohm ./main.obj
_EST_getRs_Ohm ./main.obj
_EST_getSpeed_krpm ./main.obj
_EST_getState ./ctrl.obj
_EST_get_krpm_to_pu_sf ./ctrl.obj
_EST_get_pu_to_krpm_sf ./main.obj
_EST_isError ./ctrl.obj
_EST_isIdle ./ctrl.obj
_EST_isLockRotor ./ctrl.obj
_EST_isMotorIdentified ./ctrl.obj
_EST_isOnLine ./ctrl.obj
_EST_run ./ctrl.obj
_EST_setDir_qFmt ./main.obj
_EST_setFe_neg_max_pu ./main.obj
_EST_setFe_pos_min_pu ./main.obj
_EST_setFlag_enableForceAngle ./main.obj
_EST_setId_ref_pu ./ctrl.obj
_EST_setIdle ./ctrl.obj
_EST_setIdle_all ./ctrl.obj
_EST_setIq_ref_pu ./ctrl.obj
_EST_setLs_d_pu ./user.obj
_EST_setLs_qFmt ./main.obj
_EST_setLs_q_pu ./user.obj
_EST_setMaxCurrentSlope_pu ./main.obj
_EST_setRs_pu ./ctrl.obj
_EST_updateId_ref_pu ./ctrl.obj
_EST_updateState ./ctrl.obj
_EST_useZeroIq_ref ./ctrl.obj
__IQ24cosPU ./ctrl.obj
__IQ24sinPU ./ctrl.obj
__IQ24sqrt ./ctrl.obj
__IQ30toF ./main.obj
_c_int00 ./CodeStartBranch.obj
_ceil ./main.obj
_log ./main.obj
_pow ./user.obj

error #10234-D: unresolved symbols remain
error #10010: errors encountered during linking; "motor_8301.out" not built

>> Compilation failure
makefile:160: recipe for target 'motor_8301.out' failed
makefile:156: recipe for target 'all' failed
gmake[1]: *** [motor_8301.out] Error 1
gmake: *** [all] Error 2

**** Build Finished ****

The above error displayed. How to solve it.

0 Kishor vattikuti over 1 year ago in reply to Kishor vattikuti

Intellectual 330 points

I am using the TI LaunchPad with a TMS320F28027F microcontroller and a DRV8301 gate driver to control a BLDC motor (A2212/13T). I've installed the MotorWare software version 1.01.00.18 and successfully tested the motor using the project labs examples provided, such as Lab2c and Lab5c.

My question is whether this setup (TMS320F28027F and DRV8301) supports the development of custom applications for controlling a BLDC motor, or if it's limited to the provided example projects. Specifically, I'm interested in creating my own application to run the BLDC motor and would like to know if it's feasible and what steps or considerations are involved.

Could you provide guidance or suggestions on how to proceed with developing a custom application for this setup?

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

Kishor vattikuti said:
Could you provide guidance or suggestions on how to proceed with developing a custom application for this setup?

Yes. It can be migrated to your own board and support your motor for a customer application. You may take a look at the below training and guides.

The essential guide for developing with C2000 real-time microcontrollers

Please follow the steps to change the example labs and verify the current and voltage signals of the hardware board before run the lab02a/b/c since you are using your own board. Make sure that the current and voltage sampling works well.

1. Please refer to the guide, motorware_hal_tutorial.pdf below, to change the peripherals configuration like PWM and ADC in hal.c and hal.h according to your hardware board.

C:\ti\motorware\motorware_1_01_00_18\docs\tutorials

2. Set correct parameters based on the hardware board in user.h. You can refer to the Chapter 5 Managing Motor Signals of InstaSPIN-FOC and InstaSPIN-MOTION User's Guide to calculate and define the value of these variables.

#define USER_IQ_FULL_SCALE_VOLTAGE_V (xx)

#define USER_VOLTAGE_FILTER_POLE_Hz (xx)

#define USER_ADC_FULL_SCALE_VOLTAGE_V (xx)

#define USER_IQ_FULL_SCALE_CURRENT_A (xx)

#define USER_ADC_FULL_SCALE_CURRENT_A (xx)

3. Make sure that the sign of the current coefficient in HAL_readAdcData() in hal.h matches the current sensing circuit. Refer to chapter 5.2.2 Current Feedback Polarity in InstaSPIN user's guide (SPRUHJ1, https://www.ti.com/lit/spruhj1) to set the sign of the current scale factor.

static inline void HAL_readAdcData(HAL_Handle handle,HAL_AdcData_t *pAdcData)

{

_iq current_sf = (+/-)HAL_getCurrentScaleFactor(handle);

}

4. Follow the instaSPIN lab guide to use lab01b and lab01c to verify your own hardware since you are not using the TI EVM kits and then run the subsequent labs.

5. Using the lab02b or lab02c and tuning the identification variables parameter below to identify the motor parameters, and use the identified parameters to run the motor if the current and voltage sensing signals are verified and good.

#define USER_MOTOR_RES_EST_CURRENT (1.0) // A - 10-30% of rated current of the motor

#define USER_MOTOR_IND_EST_CURRENT (-1.0) // A - 10-30% of rated current of the motor, just enough to enable rotation

#define USER_MOTOR_MAX_CURRENT (5.0) // A - 30~150% of rated current of the motor

#define USER_MOTOR_FLUX_EST_FREQ_Hz (40.0) // Hz - 10~30% rated frequency of the motor

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

It seems you're having trouble with runtime library and linker issues after migrating Project lab3c to a new environment (new project taken). Here's a revised and streamlined approach to troubleshooting and resolving these issues:

**** Clean-only build of configuration Debug for project motor_8301 ****

"D:\\Texas_instrument\\ccs\\utils\\bin\\gmake" -k -j 12 clean -O

DEL /F "motor_8301.out"
DEL /F "CodeStartBranch.lst" "adc.lst" "clarke.lst" "clk.lst" "cpu.lst" "ctrl.lst" "filter_fo.lst" "flash.lst" "gpio.lst" "hal.lst" "ipark.lst" "main.lst" "memCopy.lst" "offset.lst" "osc.lst" "park.lst" "pie.lst" "pll.lst" "pwm.lst" "pwr.lst" "spi.lst" "svgen.lst" "timer.lst" "traj.lst" "usDelay.lst" "user.lst" "wdog.lst"
DEL /F "CodeStartBranch.obj" "adc.obj" "clarke.obj" "clk.obj" "cpu.obj" "ctrl.obj" "filter_fo.obj" "flash.obj" "gpio.obj" "hal.obj" "ipark.obj" "main.obj" "memCopy.obj" "offset.obj" "osc.obj" "park.obj" "pie.obj" "pll.obj" "pwm.obj" "pwr.obj" "spi.obj" "svgen.obj" "timer.obj" "traj.obj" "usDelay.obj" "user.obj" "wdog.obj"
DEL /F "adc.d" "clarke.d" "clk.d" "cpu.d" "ctrl.d" "filter_fo.d" "flash.d" "gpio.d" "hal.d" "ipark.d" "main.d" "memCopy.d" "offset.d" "osc.d" "park.d" "pie.d" "pll.d" "pwm.d" "pwr.d" "spi.d" "svgen.d" "timer.d" "traj.d" "user.d" "wdog.d"
DEL /F "CodeStartBranch.d" "usDelay.d"
Could Not Find D:\TI_Progrms\motor_8301\Debug\motor_8301.out
Could Not Find D:\TI_Progrms\motor_8301\Debug\CodeStartBranch.d
Finished clean

**** Build Finished ****

**** Build of configuration Debug for project motor_8301 ****

"D:\\Texas_instrument\\ccs\\utils\\bin\\gmake" -k -j 12 all -O

Building file: "../CodeStartBranch.asm"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="CodeStartBranch.d_raw" "../CodeStartBranch.asm"
Finished building: "../CodeStartBranch.asm"

Building file: "../clarke.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="clarke.d_raw" "../clarke.c"
Finished building: "../clarke.c"

Building file: "../adc.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="adc.d_raw" "../adc.c"
Finished building: "../adc.c"

Building file: "../cpu.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="cpu.d_raw" "../cpu.c"
Finished building: "../cpu.c"

Building file: "../clk.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="clk.d_raw" "../clk.c"
Finished building: "../clk.c"

Building file: "../filter_fo.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="filter_fo.d_raw" "../filter_fo.c"
Finished building: "../filter_fo.c"

Building file: "../flash.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="flash.d_raw" "../flash.c"
Finished building: "../flash.c"

Building file: "../gpio.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="gpio.d_raw" "../gpio.c"
Finished building: "../gpio.c"

Building file: "../ipark.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="ipark.d_raw" "../ipark.c"
Finished building: "../ipark.c"

Building file: "../memCopy.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="memCopy.d_raw" "../memCopy.c"
Finished building: "../memCopy.c"

Building file: "../offset.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="offset.d_raw" "../offset.c"
Finished building: "../offset.c"

Building file: "../osc.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="osc.d_raw" "../osc.c"
Finished building: "../osc.c"

Building file: "../park.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="park.d_raw" "../park.c"
Finished building: "../park.c"

Building file: "../pie.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="pie.d_raw" "../pie.c"
Finished building: "../pie.c"

Building file: "../pll.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="pll.d_raw" "../pll.c"
Finished building: "../pll.c"

Building file: "../pwr.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="pwr.d_raw" "../pwr.c"
Finished building: "../pwr.c"

Building file: "../main.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="main.d_raw" "../main.c"
Finished building: "../main.c"

Building file: "../spi.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="spi.d_raw" "../spi.c"
Finished building: "../spi.c"

Building file: "../svgen.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="svgen.d_raw" "../svgen.c"
Finished building: "../svgen.c"

Building file: "../hal.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="hal.d_raw" "../hal.c"
Finished building: "../hal.c"

Building file: "../timer.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="timer.d_raw" "../timer.c"
Finished building: "../timer.c"

Building file: "../ctrl.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="ctrl.d_raw" "../ctrl.c"
Finished building: "../ctrl.c"

Building file: "../traj.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="traj.d_raw" "../traj.c"
Finished building: "../traj.c"

Building file: "../pwm.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="pwm.d_raw" "../pwm.c"
Finished building: "../pwm.c"

Building file: "../usDelay.asm"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="usDelay.d_raw" "../usDelay.asm"
Finished building: "../usDelay.asm"

Building file: "../wdog.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="wdog.d_raw" "../wdog.c"
Finished building: "../wdog.c"

Building file: "../user.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/TI_Progrms/motor_8301" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing --preproc_with_compile --preproc_dependency="user.d_raw" "../user.c"
Finished building: "../user.c"

Building target: "motor_8301.out"
Invoking: C2000 Linker
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --advice:performance=all --define=DRBUG --define=FAST_ROM_V1P7 --define=F2802xF -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --asm_listing -z -m"motor_8301.map" --warn_sections -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/lib" -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --priority --reread_libs --disable_auto_rts -o "motor_8301.out" "./CodeStartBranch.obj" "./adc.obj" "./clarke.obj" "./clk.obj" "./cpu.obj" "./ctrl.obj" "./filter_fo.obj" "./flash.obj" "./gpio.obj" "./hal.obj" "./ipark.obj" "./main.obj" "./memCopy.obj" "./offset.obj" "./osc.obj" "./park.obj" "./pie.obj" "./pll.obj" "./pwm.obj" "./pwr.obj" "./spi.obj" "./svgen.obj" "./timer.obj" "./traj.obj" "./usDelay.obj" "./user.obj" "./wdog.obj" "../F28027.cmd" -lrts2800_ml.lib
<Linking>
warning #10247-D: creating output section "ramfuncs" without a SECTIONS specification
warning #10247-D: creating output section "rom_accessed_data" without a SECTIONS specification
warning #10210-D: creating ".stack" section with default size of 0x400; use the -stack option to change the default size
"../F28027.cmd", line 117: error #10099-D: program will not fit into available memory, or the section contains a call site that requires a trampoline that can't be generated for this section. placement with alignment/blocking fails for section ".text" size 0x4c41 page 0. Available memory ranges:
FLASHA size: 0x1f80 unused: 0x1e30 max hole: 0x1e30
"../F28027.cmd", line 142: error #10099-D: program will not fit into available memory, or the section contains a call site that requires a trampoline that can't be generated for this section. run placement with alignment/blocking fails for section ".stack" size 0x400 page 1. Available memory ranges:
RAMM0 size: 0x3b0 unused: 0x3b0 max hole: 0x3b0

undefined first referenced
symbol in file
--------- ----------------
_CTRL_getVersion ./main.obj
_CTRL_initCtrl ./main.obj
_CTRL_runTraj ./ctrl.obj
_CTRL_setEstParams ./ctrl.obj
_CTRL_setUserMotorParams ./ctrl.obj
_CTRL_setupCtrl ./ctrl.obj
_CTRL_setupEstIdleState ./ctrl.obj
_CTRL_setupEstOnLineState ./ctrl.obj
_CTRL_setupTraj ./ctrl.obj
_DRV8301_enable ./hal.obj
_DRV8301_init ./hal.obj
_DRV8301_readData ./hal.obj
_DRV8301_setGpioHandle ./hal.obj
_DRV8301_setGpioNumber ./hal.obj
_DRV8301_setSpiHandle ./hal.obj
_DRV8301_setupSpi ./hal.obj
_DRV8301_writeData ./hal.obj
_EST_computeDirection_qFmt ./main.obj
_EST_doCurrentCtrl ./ctrl.obj
_EST_doSpeedCtrl ./ctrl.obj
_EST_getAngle_pu ./ctrl.obj
_EST_getFlux_VpHz ./main.obj
_EST_getFlux_pu ./user.obj
_EST_getFm_pu ./ctrl.obj
_EST_getIdRated ./main.obj
_EST_getLs_coarse_max_pu ./main.obj
_EST_getLs_d_H ./main.obj
_EST_getLs_d_pu ./main.obj
_EST_getLs_qFmt ./main.obj
_EST_getLs_q_H ./main.obj
_EST_getLs_q_pu ./user.obj
_EST_getMaxCurrentSlope_pu ./main.obj
_EST_getOneOverDcBus_pu ./ctrl.obj
_EST_getRr_Ohm ./main.obj
_EST_getRs_Ohm ./main.obj
_EST_getSpeed_krpm ./main.obj
_EST_getState ./ctrl.obj
_EST_get_krpm_to_pu_sf ./ctrl.obj
_EST_get_pu_to_krpm_sf ./main.obj
_EST_isError ./ctrl.obj
_EST_isIdle ./ctrl.obj
_EST_isLockRotor ./ctrl.obj
_EST_isMotorIdentified ./ctrl.obj
_EST_isOnLine ./ctrl.obj
_EST_run ./ctrl.obj
_EST_setDir_qFmt ./main.obj
_EST_setFe_neg_max_pu ./main.obj
_EST_setFe_pos_min_pu ./main.obj
_EST_setFlag_enableForceAngle ./main.obj
_EST_setId_ref_pu ./ctrl.obj
_EST_setIdle ./ctrl.obj
_EST_setIdle_all ./ctrl.obj
_EST_setIq_ref_pu ./ctrl.obj
_EST_setLs_d_pu ./user.obj
_EST_setLs_qFmt ./main.obj
_EST_setLs_q_pu ./user.obj
_EST_setMaxCurrentSlope_pu ./main.obj
_EST_setRs_pu ./ctrl.obj
_EST_updateId_ref_pu ./ctrl.obj
_EST_updateState ./ctrl.obj
_EST_useZeroIq_ref ./ctrl.obj
__IQ24cosPU ./ctrl.obj
__IQ24sinPU ./ctrl.obj
__IQ24sqrt ./ctrl.obj
__IQ30toF ./main.obj

error #10234-D: unresolved symbols remain
error #10010: errors encountered during linking; "motor_8301.out" not built

>> Compilation failure
makefile:161: recipe for target 'motor_8301.out' failed
gmake[1]: *** [motor_8301.out] Error 1
makefile:157: recipe for target 'all' failed
gmake: *** [all] Error 2

**** Build Finished ****

Give me suggestion on that.

0 Kishor vattikuti over 1 year ago in reply to Kishor vattikuti

Intellectual 330 points

I having trouble with runtime library and linker issues after migrating Project lab3c to a new environment (new project taken). Here's a revised and streamlined approach to troubleshooting and how to resolving these issues:

**** Build of configuration Debug for project lab2c_motor ****

"D:\\Texas_instrument\\ccs\\utils\\bin\\gmake" -k -j 12 all -O

Building file: "../CodeStartBranch.asm"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="CodeStartBranch.d_raw" "../CodeStartBranch.asm"
Finished building: "../CodeStartBranch.asm"

Building file: "../clarke.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="clarke.d_raw" "../clarke.c"
Finished building: "../clarke.c"

Building file: "../cpu.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="cpu.d_raw" "../cpu.c"
Finished building: "../cpu.c"

Building file: "../adc.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="adc.d_raw" "../adc.c"
Finished building: "../adc.c"

Building file: "../clk.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="clk.d_raw" "../clk.c"
Finished building: "../clk.c"

Building file: "../filter_fo.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="filter_fo.d_raw" "../filter_fo.c"
Finished building: "../filter_fo.c"

Building file: "../flash.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="flash.d_raw" "../flash.c"
Finished building: "../flash.c"

Building file: "../drv8301.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="drv8301.d_raw" "../drv8301.c"
Finished building: "../drv8301.c"

Building file: "../gpio.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="gpio.d_raw" "../gpio.c"
Finished building: "../gpio.c"

Building file: "../ipark.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="ipark.d_raw" "../ipark.c"
Finished building: "../ipark.c"

Building file: "../memCopy.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="memCopy.d_raw" "../memCopy.c"
Finished building: "../memCopy.c"

Building file: "../offset.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="offset.d_raw" "../offset.c"
Finished building: "../offset.c"

Building file: "../osc.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="osc.d_raw" "../osc.c"
Finished building: "../osc.c"

Building file: "../park.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="park.d_raw" "../park.c"
Finished building: "../park.c"

Building file: "../pid.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="pid.d_raw" "../pid.c"
Finished building: "../pid.c"

Building file: "../pll.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="pll.d_raw" "../pll.c"
Finished building: "../pll.c"

Building file: "../pie.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="pie.d_raw" "../pie.c"
Finished building: "../pie.c"

Building file: "../pwr.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="pwr.d_raw" "../pwr.c"
Finished building: "../pwr.c"

Building file: "../main.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="main.d_raw" "../main.c"
Finished building: "../main.c"

Building file: "../svgen.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="svgen.d_raw" "../svgen.c"
Finished building: "../svgen.c"

Building file: "../usDelay.asm"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="usDelay.d_raw" "../usDelay.asm"
Finished building: "../usDelay.asm"

Building file: "../spi.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="spi.d_raw" "../spi.c"
Finished building: "../spi.c"

Building file: "../traj.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="traj.d_raw" "../traj.c"
Finished building: "../traj.c"

Building file: "../hal.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="hal.d_raw" "../hal.c"
Finished building: "../hal.c"

Building file: "../ctrl.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="ctrl.d_raw" "../ctrl.c"
Finished building: "../ctrl.c"

Building file: "../pwm.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="pwm.d_raw" "../pwm.c"
Finished building: "../pwm.c"

Building file: "../user.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c_motor" --include_path="D:/Texas_instrument/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="user.d_raw" "../user.c"
Finished building: "../user.c"

Building target: "lab2c_motor.out"
Invoking: C2000 Linker
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --advice:performance=all -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi -z -m"lab2c_motor.map" --warn_sections -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/lib" -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --reread_libs --diag_wrap=off --display_error_number --xml_link_info="lab2c_motor_linkInfo.xml" --rom_model -o "lab2c_motor.out" "./CodeStartBranch.obj" "./adc.obj" "./clarke.obj" "./clk.obj" "./cpu.obj" "./ctrl.obj" "./drv8301.obj" "./filter_fo.obj" "./flash.obj" "./gpio.obj" "./hal.obj" "./ipark.obj" "./main.obj" "./memCopy.obj" "./offset.obj" "./osc.obj" "./park.obj" "./pid.obj" "./pie.obj" "./pll.obj" "./pwm.obj" "./pwr.obj" "./spi.obj" "./svgen.obj" "./traj.obj" "./usDelay.obj" "./user.obj" "../28027_RAM_lnk.cmd" -lrts2800_ml.lib
<Linking>
warning #10247-D: creating output section "ramfuncs" without a SECTIONS specification
warning #10210-D: creating ".stack" section with default size of 0x400; use the -stack option to change the default size
"../28027_RAM_lnk.cmd", line 122: error #10099-D: program will not fit into available memory, or the section contains a call site that requires a trampoline that can't be generated for this section. placement with alignment/blocking fails for section ".text" size 0x4f77 page 0. Available memory ranges:
PRAML0 size: 0x900 unused: 0x900 max hole: 0x900

undefined first referenced
symbol in file
--------- ----------------
_CTRL_getVersion ./main.obj
_CTRL_initCtrl ./main.obj
_CTRL_runTraj ./ctrl.obj
_CTRL_setEstParams ./ctrl.obj
_CTRL_setUserMotorParams ./ctrl.obj
_CTRL_setupCtrl ./ctrl.obj
_CTRL_setupEstIdleState ./ctrl.obj
_CTRL_setupEstOnLineState ./ctrl.obj
_CTRL_setupTraj ./ctrl.obj
_EST_computeDirection_qFmt ./main.obj
_EST_doCurrentCtrl ./ctrl.obj
_EST_doSpeedCtrl ./ctrl.obj
_EST_getAngle_pu ./ctrl.obj
_EST_getFlux_VpHz ./main.obj
_EST_getFlux_pu ./user.obj
_EST_getFm_pu ./ctrl.obj
_EST_getIdRated ./main.obj
_EST_getLs_coarse_max_pu ./main.obj
_EST_getLs_d_H ./main.obj
_EST_getLs_d_pu ./main.obj
_EST_getLs_qFmt ./main.obj
_EST_getLs_q_H ./main.obj
_EST_getLs_q_pu ./user.obj
_EST_getMaxCurrentSlope_pu ./main.obj
_EST_getOneOverDcBus_pu ./ctrl.obj
_EST_getRr_Ohm ./main.obj
_EST_getRs_Ohm ./main.obj
_EST_getSpeed_krpm ./main.obj
_EST_getState ./ctrl.obj
_EST_get_krpm_to_pu_sf ./ctrl.obj
_EST_get_pu_to_krpm_sf ./main.obj
_EST_isError ./ctrl.obj
_EST_isIdle ./ctrl.obj
_EST_isLockRotor ./ctrl.obj
_EST_isMotorIdentified ./ctrl.obj
_EST_isOnLine ./ctrl.obj
_EST_run ./ctrl.obj
_EST_setDir_qFmt ./main.obj
_EST_setFe_neg_max_pu ./main.obj
_EST_setFe_pos_min_pu ./main.obj
_EST_setFlag_enableForceAngle ./main.obj
_EST_setId_ref_pu ./ctrl.obj
_EST_setIdle ./ctrl.obj
_EST_setIdle_all ./ctrl.obj
_EST_setIq_ref_pu ./ctrl.obj
_EST_setLs_d_pu ./user.obj
_EST_setLs_qFmt ./main.obj
_EST_setLs_q_pu ./user.obj
_EST_setMaxCurrentSlope_pu ./main.obj
_EST_setRs_pu ./ctrl.obj
_EST_updateId_ref_pu ./ctrl.obj
_EST_updateState ./ctrl.obj
_EST_useZeroIq_ref ./ctrl.obj
_TIMER_init ./hal.obj
_TIMER_setDecimationFactor ./hal.obj
_TIMER_setEmulationMode ./hal.obj
_TIMER_setPreScaler ./hal.obj
_WDOG_disable ./hal.obj
_WDOG_init ./hal.obj
__IQ24cosPU ./ctrl.obj
__IQ24sinPU ./ctrl.obj
__IQ24sqrt ./ctrl.obj
__IQ30toF ./main.obj

error #10234-D: unresolved symbols remain
error #10010: errors encountered during linking; "lab2c_motor.out" not built

>> Compilation failure
makefile:161: recipe for target 'lab2c_motor.out' failed
gmake[1]: *** [lab2c_motor.out] Error 1
makefile:157: recipe for target 'all' failed
gmake: *** [all] Error 2

**** Build Finished ****

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

You didn't add the related libraries like IQmath, FAST libraries, and set the right directory to search the related header files. Looks it's difficult to tell you all of instructions and steps about how to create a new project and migrate the algorithm in several sentence. You may have to take a look at the guide and attend the training as mentioned above.

Or you may use the example labs and just add/change the codes per your application if you don't want to spend a lot of time to learn the contents as above.

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

Hi Yanming Luo

Lab2c and 5b were tested, and the motor was running in a clockwise direction. I am now working on modifying the motor to also run in an anticlockwise direction. Is this possible?

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

Yes. Just need to set the target speed to a negative value for another rotation direction.

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

Yes. Just need to set the target speed to a negative value for another rotation direction.

I am changes in pid.h (header file) for anti-clockwise direction

" Error = - refValue - fbackValue; "

Any changes also ctrl.c, pwm.c, drv8301.c etc

/* --COPYRIGHT--,BSD
* Copyright (c) 2012, Texas Instruments Incorporated
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
* --/COPYRIGHT--*/
#ifndef _PID_H_
#define _PID_H_

//! \file modules/pid/src/32b/pid.h
//! \brief Contains the public interface to the
//! Proportional-Integral-Derivative (PID) controller module routines
//!
//! (C) Copyright 2011, Texas Instruments, Inc.

// **************************************************************************
// the includes

//modules
#include "sw/modules/iqmath/src/32b/IQmathLib.h"
#include "sw/modules/types/src/types.h"

//!
//!
//! \defgroup PID PID
//!
//@{

// Include the algorithm overview defined in modules/<module>/docs/doxygen/doxygen.h
//! \defgroup PID_OVERVIEW

#ifdef __cplusplus
extern "C" {
#endif

// **************************************************************************
// the defines

// **************************************************************************
// the typedefs

//! \brief Defines the PID controller object
//!
typedef struct _PID_Obj_
{
_iq Kp; //!< the proportional gain for the PID controller
_iq Ki; //!< the integral gain for the PID controller
_iq Kd; //!< the derivative gain for the PID controller

_iq Ui; //!< the integrator start value for the PID controller

_iq refValue; //!< the reference input value
_iq fbackValue; //!< the feedback input value

_iq outMin; //!< the minimum output value allowed for the PID controller
_iq outMax; //!< the maximum output value allowed for the PID controller

} PID_Obj;

//! \brief Defines the PID handle
//!
typedef struct _PID_Obj_ *PID_Handle;

// **************************************************************************
// the function prototypes

//! \brief Gets the feedback value in the PID controller
//! \param[in] handle The PID controller handle
//! \return The feedback value in the PID controller
static inline _iq PID_getFbackValue(PID_Handle handle)
{
PID_Obj *obj = (PID_Obj *)handle;

return(obj->fbackValue);
} // end of PID_getFbackValue() function

//! \brief Gets the gains in the PID controller
//! \param[in] handle The PID controller handle
//! \param[out] pKp The pointer to the proportional gain value
//! \param[out] pKi The pointer to the integrator gain value
//! \param[out] pKd The pointer to the derivative gain value
static inline void PID_getGains(PID_Handle handle,_iq *pKp,_iq *pKi,_iq *pKd)
{
PID_Obj *obj = (PID_Obj *)handle;

*pKp = obj->Kp;
*pKi = obj->Ki;
*pKd = obj->Kd;

return;
} // end of PID_getGains() function

//! \brief Gets the derivative gain in the PID controller
//! \param[in] handle The PID controller handle
//! \return The derivative gain in the PID controller
static inline _iq PID_getKd(PID_Handle handle)
{
PID_Obj *obj = (PID_Obj *)handle;

return(obj->Kd);
} // end of PID_getKd() function

//! \brief Gets the integral gain in the PID controller
//! \param[in] handle The PID controller handle
//! \return The integral gain in the PID controller
static inline _iq PID_getKi(PID_Handle handle)
{
PID_Obj *obj = (PID_Obj *)handle;

return(obj->Ki);
} // end of PID_getKi() function

//! \brief Gets the proportional gain in the PID controller
//! \param[in] handle The PID controller handle
//! \return The proportional gain in the PID controller
static inline _iq PID_getKp(PID_Handle handle)
{
PID_Obj *obj = (PID_Obj *)handle;

return(obj->Kp);
} // end of PID_getKp() function

//! \brief Gets the minimum and maximum output value allowed in the PID controller
//! \param[in] handle The PID controller handle
//! \param[out] pOutMin The pointer to the minimum output value allowed
//! \param[out] pOutMax The pointer to the maximum output value allowed
static inline void PID_getMinMax(PID_Handle handle,_iq *pOutMin,_iq *pOutMax)
{
PID_Obj *obj = (PID_Obj *)handle;

*pOutMin = obj->outMin;
*pOutMax = obj->outMax;

return;
} // end of PID_getMinMax() function

//! \brief Gets the maximum output value allowed in the PID controller
//! \param[in] handle The PID controller handle
//! \return The maximum output value allowed
static inline _iq PID_getOutMax(PID_Handle handle)
{
PID_Obj *obj = (PID_Obj *)handle;

return(obj->outMax);
} // end of PID_getOutMax() function

//! \brief Gets the minimum output value allowed in the PID controller
//! \param[in] handle The PID controller handle
//! \return The minimum output value allowed
static inline _iq PID_getOutMin(PID_Handle handle)
{
PID_Obj *obj = (PID_Obj *)handle;

return(obj->outMin);
} // end of PID_getOutMin() function

//! \brief Gets the reference value in the PID controller
//! \param[in] handle The PID controller handle
//! \return The reference value in the PID controller
static inline _iq PID_getRefValue(PID_Handle handle)
{
PID_Obj *obj = (PID_Obj *)handle;

return(obj->refValue);
} // end of PID_getRefValue() function

//! \brief Gets the integrator start value in the PID controller
//! \param[in] handle The PID controller handle
//! \return The integrator start value for the PID controller
static inline _iq PID_getUi(PID_Handle handle)
{
PID_Obj *obj = (PID_Obj *)handle;

return(obj->Ui);
} // end of PID_getUi() function

//! \brief Initializes the PID controller
//! \param[in] pMemory A pointer to the memory for the PID controller object
//! \param[in] numBytes The number of bytes allocated for the PID controller object, bytes
//! \return The PID controller (PID) object handle
extern PID_Handle PID_init(void *pMemory,const size_t numBytes);

//! \brief Runs the PID controller
//! \param[in] handle The PID controller handle
//! \param[in] refValue The reference value to the controller
//! \param[in] fbackValue The feedback value to the controller
//! \param[in] pOutValue The pointer to the controller output value
static inline void PID_run(PID_Handle handle,const _iq refValue,const _iq fbackValue,_iq *pOutValue)
{
PID_Obj *obj = (PID_Obj *)handle;

_iq Error;
_iq Up,Ui;

//Error = refValue - fbackValue;

" Error =- refValue - fbackValue; "

Ui = obj->Ui; // load the previous integral output
Up = _IQmpy(obj->Kp,Error); // Compute the proportional output
Ui = _IQsat(Ui + _IQmpy(obj->Ki,Up),obj->outMax,obj->outMin); // Compute the integral output

obj->Ui = Ui; // store the intetral output
obj->refValue = refValue;
obj->fbackValue = fbackValue;

*pOutValue = _IQsat(Up + Ui,obj->outMax,obj->outMin); // Saturate the output

return;
} // end of PID_run() function

//! \brief Runs the PID controller for speed
//! \param[in] handle The PID controller handle
//! \param[in] refValue The reference value to the controller
//! \param[in] fbackValue The feedback value to the controller
//! \param[in] pOutValue The pointer to the controller output value
static inline void PID_run_spd(PID_Handle handle,const _iq refValue,const _iq fbackValue,_iq *pOutValue)
{
PID_Obj *obj = (PID_Obj *)handle;

_iq Error;
_iq Up,Ui;

// Error = refValue - fbackValue;
Error = -refValue - fbackValue;
Ui = obj->Ui; // load the previous integral output
Up = _IQmpy(obj->Kp,Error); // Compute the proportional output
Ui = _IQsat(Ui + _IQmpy(obj->Ki,Error),obj->outMax,obj->outMin); // Compute the integral output

obj->Ui = Ui; // store the intetral output
obj->refValue = refValue;
obj->fbackValue = fbackValue;

*pOutValue = _IQsat(Up + Ui,obj->outMax,obj->outMin); // Saturate the output

return;
} // end of PID_run_spd() function

//! \brief Sets the feedback value in the PID controller
//! \param[in] handle The PID controller handle
//! \param[in] fbackValue The feedback value
static inline void PID_setFbackValue(PID_Handle handle,const _iq fbackValue)
{
PID_Obj *obj = (PID_Obj *)handle;

obj->fbackValue = fbackValue;

return;
} // end of PID_setFbackValue() function

//! \brief Sets the gains in the PID controller
//! \param[in] handle The PID controller handle
//! \param[in] Kp The proportional gain for the PID controller
//! \param[in] Ki The integrator gain for the PID controller
//! \param[in] Kd The derivative gain for the PID controller
static inline void PID_setGains(PID_Handle handle,const _iq Kp,const _iq Ki,const _iq Kd)
{
PID_Obj *obj = (PID_Obj *)handle;

obj->Kp = Kp;
obj->Ki = Ki;
obj->Kd = Kd;

return;
} // end of PID_setGains() function

//! \brief Sets the derivative gain in the PID controller
//! \param[in] handle The PID controller handle
//! \param[in] Kd The derivative gain for the PID controller
static inline void PID_setKd(PID_Handle handle,const _iq Kd)
{
PID_Obj *obj = (PID_Obj *)handle;

obj->Kd = Kd;

return;
} // end of PID_setKd() function

//! \brief Sets the integral gain in the PID controller
//! \param[in] handle The PID controller handle
//! \param[in] Ki The integral gain for the PID controller
static inline void PID_setKi(PID_Handle handle,const _iq Ki)
{
PID_Obj *obj = (PID_Obj *)handle;

obj->Ki = Ki;

return;
} // end of PID_setKi() function

//! \brief Sets the proportional gain in the PID controller
//! \param[in] handle The PID controller handle
//! \param[in] Kp The proportional gain for the PID controller
static inline void PID_setKp(PID_Handle handle,const _iq Kp)
{
PID_Obj *obj = (PID_Obj *)handle;

obj->Kp = Kp;

return;
} // end of PID_setKp() function

//! \brief Sets the minimum and maximum output value allowed in the PID controller
//! \param[in] handle The PID controller handle
//! \param[in] outMin The minimum output value allowed
//! \param[in] outMax The maximum output value allowed
static inline void PID_setMinMax(PID_Handle handle,const _iq outMin,const _iq outMax)
{
PID_Obj *obj = (PID_Obj *)handle;

obj->outMin = outMin;
obj->outMax = outMax;

return;
} // end of PID_setMinMax() function

//! \brief Sets the maximum output value allowed in the PID controller
//! \param[in] handle The PID controller handle
//! \param[in] outMax The maximum output value allowed
static inline void PID_setOutMax(PID_Handle handle,const _iq outMax)
{
PID_Obj *obj = (PID_Obj *)handle;

obj->outMax = outMax;

return;
} // end of PID_setOutMax() function

//! \brief Sets the minimum output value allowed in the PID controller
//! \param[in] handle The PID controller handle
//! \param[in] outMax The minimum output value allowed
static inline void PID_setOutMin(PID_Handle handle,const _iq outMin)
{
PID_Obj *obj = (PID_Obj *)handle;

obj->outMin = outMin;

return;
} // end of PID_setOutMin() function

//! \brief Sets the reference value in the PID controller
//! \param[in] handle The PID controller handle
//! \param[in] refValue The reference value
static inline void PID_setRefValue(PID_Handle handle,const _iq refValue)
{
PID_Obj *obj = (PID_Obj *)handle;

obj->refValue = refValue;

return;
} // end of PID_setRefValue() function

//! \brief Sets the integrator start value in the PID controller
//! \param[in] handle The PID controller handle
//! \param[in] Ui The integral start value for the PID controller
static inline void PID_setUi(PID_Handle handle,const _iq Ui)
{
PID_Obj *obj = (PID_Obj *)handle;

obj->Ui = Ui;

return;
} // end of PID_setUi() function

#ifdef __cplusplus
}
#endif // extern "C"

//@} // ingroup
#endif //end of _PID_H_ definition

+1 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

Yes. Just need to set the target speed to a negative value for another rotation direction.?

Give me explanation on

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

The software will change the output voltage sequence and direction according to the reference speed. You don't change anything else, you only need to set the positive or negative reference speed for forward or reverse rotation as mentioned above.

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

"Are there any possible UART commands to control a motor, such as 'Rx_on' to turn the motor on and 'Rx_off' to turn it off?"

0 Kishor vattikuti over 1 year ago in reply to Kishor vattikuti

Intellectual 330 points

I compiled it, but when I uploaded it to the GUI, an error appeared.

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

Kishor vattikuti said:
"Are there any possible UART commands to control a motor, such as 'Rx_on' to turn the motor on and 'Rx_off' to turn it off?"

No. You have to add this by yourself.

Please take a look at the guide in motorWare as below:

\ti\motorware\motorware_1_01_00_18\docs\guis\universal

And also you can search and refer to the related thread about the GUI connection on E2E as below.

https://e2e.ti.com/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/635255/ccs-launchxl-f28027f-boostxl-drv8301-universal-gui

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

I am starting to develop UART commands to control a motor, such as 'Rx_on' to turn the motor on and 'Rx_off' to turn it off. I am using the Lab2C platform for this project.

I have created a new source file (uart.c) and a header file (uart.h).

In the source file, I have written the code as follows:

//#include "F28x_Project.h" // Device Headerfile and Examples Include File
#include "uart.c"
#include "uart.h" // Include the header file

//#define UART_BAUD_RATE 115200
#define SCI_BaudRate_115_2_kBaud = 15 //!< Denotes 115.2 kBaud
//#define SCI_BAUD_RATE_DIVISOR 194

#define RX_ON_COMMAND "Rx_on"
#define RX_OFF_COMMAND "Rx_off"

// Global variable to store UART received data
//volatile char uartRxBuffer[100];
volatile char SCIRXBUF[100];
volatile uint16_t rxIndex = 0;

void InitUART(void)
{
// Configure UART for communication
InitSciaGpio();
SciaRegs.SCICCR.all = 0x0007; // 1 stop bit, No Parity, 8 char bits
SciaRegs.SCICTL1.all = 0x0003; // Enable TX, RX, and Enable the SCI
SciaRegs.SCICTL2.all = 0x0003; // Enable TX, RX interrupts
SciaRegs.SCIHBAUD.all = (uint16_t)((Uint32)(SysCtl_getPeripheralClock(SCI_A) / (UART_BAUD_RATE * 8)) - 1);
SciaRegs.SCILBAUD.all = (uint16_t)((Uint32)(SysCtl_getPeripheralClock(SCI_A) / (UART_BAUD_RATE * 8)) - 1);
}

void InitSciaGpio(void)
{
// Initialize GPIO for SCI-A
EALLOW;
GpioCtrlRegs.GPAMUX1.bit.GPIO29 = 1; // Configure GPIO29 for SCIA TX
GpioCtrlRegs.GPAMUX1.bit.GPIO928 = 1; // Configure GPIO28 for SCIA RX
EDIS;
}

void InitPWM(void)
{
// Initialize PWM for motor control
EALLOW;
Eqpwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up mode
Eqpwm1Regs.TBPRD = 1000; // Set PWM period
Eqpwm1Regs.CMPA.half.CMPA = 0; // Initialize duty cycle to 0
Eqpwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE; // Disable phase loading
Eqpwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1; // No division
Eqpwm1Regs.TBCTL.bit.CLKDIV = TB_DIV1; // No division
Eqpwm1Regs.AQCTLA.bit.CAU = AQ_SET; // Set on Compare A Up
Eqpwm1Regs.AQCTLA.bit.CAD = AQ_CLEAR; // Clear on Compare A Down
Eqpwm1Regs.CTL.bit.PHSDIR = PWM_UP_DOWN; // Up/Down Count Mode
EDIS;

// Configure GPIOs for PWM
EALLOW;
GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1; // GPIO0 for PWM output
EDIS;
}

void sciaRxISR(void)
{
// SCI RX Interrupt Service Routine
char receivedChar = SciaRegs.SCIRXBUF.all; // Read received character

// Store received character in buffer
if (rxIndex < sizeof(uartRxBuffer) - 1)
{
uartRxBuffer[rxIndex++] = receivedChar;
}
if (receivedChar == '\n' || rxIndex >= sizeof(uartRxBuffer) - 1)
{
uartRxBuffer[rxIndex] = '\0'; // Null-terminate the string
rxIndex = 0; // Reset index for next command
// Call function to handle received command
HandleUARTCommand();
}

SciaRegs.SCIFFCLR.bit.RXFFOVFCLR = 1; // Clear overflow flag
PieCtrlRegs.PIEACK.all = PIEACK_GROUP9; // Acknowledge interrupt
}

void HandleUARTCommand(void)
{
if (strcmp(uartRxBuffer, RX_ON_COMMAND) == 0)
{
TurnMotorOn();
}
else if (strcmp(uartRxBuffer, RX_OFF_COMMAND) == 0)
{
TurnMotorOff();
}
else
{
// Handle unknown command
}
}

void TurnMotorOn(void)
{
// Code to turn the motor on
Eqpwm1Regs.CMPA.half.CMPA = 500; // Example duty cycle (50%)
}

void TurnMotorOff(void)
{
// Code to turn the motor off
Eqpwm1Regs.CMPA.half.CMPA = 0; // Set duty cycle to 0%
}

In the header file, I have written the code as follows:

/*
* uart.h
*
* Created on: 10-Aug-2024
* Author: DELL
*/

#ifndef UART_H_
#define UART_H_

#include <stdint.h>

// Function prototypes
void InitUART(void);
void InitSciaGpio(void);
void InitPWM(void);
void HandleUARTCommand(void);
void TurnMotorOn(void);
void TurnMotorOff(void);
void sciaRxISR(void);

// Global variables
extern volatile char uartRxBuffer[100];
extern volatile uint16_t rxIndex;

#endif /* UART_H_ */

but errors occur. The above developing code is suitable to control motor or not. And any added in the code.

0 Kishor vattikuti over 1 year ago in reply to Kishor vattikuti

Intellectual 330 points

"Please check if there are any mistakes in the question I asked above."

0 Kishor vattikuti over 1 year ago in reply to Kishor vattikuti

Intellectual 330 points

sorry the above code is modified

I am starting to develop UART commands to control a motor, such as 'Rx_on' to turn the motor on and 'Rx_off' to turn it off. I am using the Lab2C platform for this project.

I have created a new source file (uart.c) and a header file (uart.h).

In the source file, I have written the code as follows:

#ifndef UART_C
#define UART_C

#include "F2802x_Device.h"
#include "f2802x_examples.h"

// Motor control definitions
#define MOTOR_ON_COMMAND "Rx_on"
#define MOTOR_OFF_COMMAND "Rx_off"

__interrupt void scia_rx_isr(void);
__interrupt void scia_tx_isr(void);

char txBuffer[] = "Hello, UART Interrupt!";
//int txIndex = 0;

int txIndex=0;
//char rxBuffer[16];
char SCIRXBUF[16];
int rxIndex = 0;
bool motorEnabled = false;

// Function prototypes
void InitGpio();
void InitScia();
void ControlMotor(bool enable);
/*
void main(void)
{
// InitSysCtrl(); // Initialize the CPU and configure the clock
DINT; // Disable CPU interrupts

//InitGpio(); // Initialize the GPIO
//InitScia(); // Initialize the UART

InitPieCtrl(); // Initialize the PIE control registers
InitPieVectTable(); // Initialize the PIE vector table

EALLOW;
// PieVectTable.SCIRXINTA = &scia_rx_isr; // Map RX ISR to the PIE vector table
//PieVectTable.SCITXINTA = &scia_tx_isr; // Map TX ISR to the PIE vector table
EDIS;

//IER |= M_INT9; // Enable CPU INT9
//PieCtrlRegs.PIEIER9.bit.INTx1 = 1; // Enable PIE Group 9 interrupt 1 (RX)
//PieCtrlRegs.PIEIER9.bit.INTx2 = 1; // Enable PIE Group 9 interrupt 2 (TX)

EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM

while(1)
{
// Wait for interrupt-driven communication
}
}*/

__interrupt void scia_rx_isr(void)
{
Uint16 receivedChar;

receivedChar = SciaRegs.SCIRXBUF.all; // Read received character
//if (rxIndex < sizeof(rxBuffer) - 1)
if (rxIndex < sizeof(SCIRXBUF) - 1)
{
// rxBuffer[rxIndex++] = (char)receivedChar;
SCIRXBUF[rxIndex++] = (char)receivedChar;
}

// Check if end of command (e.g., newline or carriage return)
if (receivedChar == '\n' || receivedChar == '\r')
{
//rxBuffer[rxIndex] = '\0'; // Null-terminate the string
SCIRXBUF[rxIndex] = '\0'; // Null-terminate the string
rxIndex = 0;

// Process received command
// if (strcmp(rxBuffer, MOTOR_ON_COMMAND) == 0)
if (strcmp(SCIRXBUF, MOTOR_ON_COMMAND) == 0)
{
ControlMotor(true); // Turn motor on
}
// else if (strcmp(rxBuffer, MOTOR_OFF_COMMAND) == 0)
else if (strcmp(SCIRXBUF, MOTOR_OFF_COMMAND) == 0)
{
ControlMotor(false); // Turn motor off
}

// Echo received command
SciaRegs.SCITXBUF = receivedChar;
}

SciaRegs.SCIFFRX.bit.RXFFINTCLR = 1; // Clear RX interrupt flag
PieCtrlRegs.PIEACK.all = PIEACK_GROUP9; // Acknowledge interrupt
}

__interrupt void scia_tx_isr(void)
{
// if (txBuffer[txIndex] != '\0')
if (txBuffer[txIndex] != '\0')
{
SciaRegs.SCITXBUF = txBuffer[txIndex++]; // Send next character
}
else
{
txIndex = 0; // Reset txIndex after completing transmission
SciaRegs.SCICTL1.bit.TXENA = 0; // Disable TX
}

SciaRegs.SCIFFTX.bit.TXFFINTCLR = 1; // Clear TX interrupt flag
PieCtrlRegs.PIEACK.all = PIEACK_GROUP9; // Acknowledge interrupt
}

void InitGpio()
{
EALLOW;
GpioCtrlRegs.GPAPUD.bit.GPIO28 = 0; // Enable pull-up on GPIO28 (SCIRXDA)
GpioCtrlRegs.GPAPUD.bit.GPIO29 = 0; // Enable pull-up on GPIO29 (SCITXDA)
GpioCtrlRegs.GPAQSEL2.bit.GPIO28 = 3; // Asynchronous input GPIO28 (SCIRXDA)
GpioCtrlRegs.GPAMUX2.bit.GPIO28 = 1; // Configure GPIO28 as SCIRXDA
GpioCtrlRegs.GPAMUX2.bit.GPIO29 = 1; // Configure GPIO29 as SCITXDA
EDIS;
}

void InitScia()
{
EALLOW;
SysCtrlRegs.PCLKCR0.bit.SCIAENCLK = 1; // Enable SCI-A clock
SciaRegs.SCICCR.all = 0x0007; // 1 stop bit, No loopback, No parity, 8 char bits, async mode, idle-line protocol
SciaRegs.SCICTL1.all = 0x0003; // Enable TX, RX, internal SCICLK
SciaRegs.SCICTL2.all = 0x0003; // Enable TX, RX interrupts
SciaRegs.SCICTL1.all = 0x0023; // Relinquish SCI from Reset
SciaRegs.SCIHBAUD = 0x0001; // Set baud rate to 9600
SciaRegs.SCILBAUD = 0x00E7;
SciaRegs.SCIFFTX.all = 0xC022; // Enable FIFO enhancements, clear TX FIFO, set TX FIFO level to 2
SciaRegs.SCIFFRX.all = 0x0022; // Enable RX FIFO, clear RX FIFO, set RX FIFO level to 2
SciaRegs.SCIFFCT.all = 0x0;
EDIS;
}

void ControlMotor(bool enable)
{
if (enable)
{
// Add your code to turn the motor on, e.g., set GPIO or PWM
motorEnabled = true;
}
else
{
// Add your code to turn the motor off, e.g., reset GPIO or PWM
motorEnabled = false;
}
}
#endif

and also uart.h header file

#ifndef UART_H
#define UART_H

#include "F2802x_Device.h"

// Motor control command definitions
#define MOTOR_ON_COMMAND "Rx_on"
#define MOTOR_OFF_COMMAND "Rx_off"

// Function prototypes
void InitGpio(void);
void InitScia(void);
void ControlMotor(bool enable);

// Interrupt Service Routines
__interrupt void scia_rx_isr(void);
__interrupt void scia_tx_isr(void);

#endif // UART_H

and added initialize main.c function is below

InitSysCtrl(); // Initialize the CPU and configure the clock
DINT; // Disable CPU interrupts

InitGpio(); // Initialize the GPIO
InitScia(); // Initialize the UART

InitPieCtrl(); // Initialize the PIE control registers
InitPieVectTable(); // Initialize the PIE vector table

EALLOW;
PieVectTable.SCIRXINTA = &scia_rx_isr; // Map RX ISR to the PIE vector table
PieVectTable.SCITXINTA = &scia_tx_isr; // Map TX ISR to the PIE vector table
EDIS;

IER |= M_INT9; // Enable CPU INT9
PieCtrlRegs.PIEIER9.bit.INTx1 = 1; // Enable PIE Group 9 interrupt 1 (RX)
PieCtrlRegs.PIEIER9.bit.INTx2 = 1; // Enable PIE Group 9 interrupt 2 (TX)

EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM

UART_sendString("System Initialized\n");

while(1)
{
// Wait for interrupt-driven communication
}

but some errors occur. Please help me

**** Build of configuration Debug for project lab2c ****

"D:\\Texas_instrument\\ccs\\utils\\bin\\gmake" -k -j 12 all -O

Building file: "../uart.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/common/include" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/headers/include" --include_path="D:/Texas_instrument/motorware_1_01_00_18/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="uart.d_raw" "../uart.c"
"../uart.c", line 80: warning #225-D: function "strcmp" declared implicitly
Finished building: "../uart.c"

Building file: "../main.c"
Invoking: C2000 Compiler
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt --include_path="D:/TI_Progrms/lab2c" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/common/include" --include_path="D:/Texas_instrument/C2000Ware_5_02_00_00/device_support/f2802x/headers/include" --include_path="D:/Texas_instrument/motorware_1_01_00_18/motorware_1_01_00_18" --include_path="D:/Texas_instrument/motorware_1_01_00_18/motorware_1_01_00_18/sw/modules/hal/boards/boostxldrv8301_revB/f28x/f2802x/src" --include_path="D:/Texas_instrument/motorware_1_01_00_18/motorware_1_01_00_18/sw/solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src" --include_path="D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi --preproc_with_compile --preproc_dependency="main.d_raw" "../main.c"
"../main.c", line 242: warning #187-D: dynamic initialization in unreachable code
Finished building: "../main.c"

Building target: "lab2c.out"
Invoking: C2000 Linker
"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/bin/cl2000" -v28 -ml -mt -g --diag_warning=225 --diag_wrap=off --display_error_number --abi=coffabi -z -m"lab2c.map" --warn_sections -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/lib" -i"D:/Texas_instrument/ccs/tools/compiler/ti-cgt-c2000_22.6.1.LTS/include" --reread_libs --diag_wrap=off --display_error_number --xml_link_info="lab2c_linkInfo.xml" --rom_model -o "lab2c.out" "./CodeStartBranch.obj" "./adc.obj" "./clarke.obj" "./clk.obj" "./cpu.obj" "./ctrl.obj" "./drv8301.obj" "./filter_fo.obj" "./flash.obj" "./gpio.obj" "./hal.obj" "./ipark.obj" "./main.obj" "./memCopy.obj" "./offset.obj" "./osc.obj" "./park.obj" "./pid.obj" "./pie.obj" "./pll.obj" "./pwm.obj" "./pwr.obj" "./sci.obj" "./spi.obj" "./svgen.obj" "./timer.obj" "./traj.obj" "./uart.obj" "./usDelay.obj" "./user.obj" "./wdog.obj" "D:/Texas_instrument/motorware_1_01_00_18/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2802x/2802xRevB_Fast_IQ_ROMSymbols.lib" "D:/Texas_instrument/motorware_1_01_00_18/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2802x/2802xRevB_Fast_ONLY_ROMSymbols.lib" "D:/Texas_instrument/motorware_1_01_00_18/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2802x/2802xRevB_Fast_RTS_ROMSymbols.lib" "../F28027F.cmd" "D:/Texas_instrument/motorware_1_01_00_18/motorware_1_01_00_18/sw/modules/iqmath/lib/f28x/32b/IQmath.lib" "D:/Texas_instrument/motorware_1_01_00_18/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2802x/fast_public.lib" -lrts2800_ml.lib
<Linking>
error #10056: symbol "_txIndex" redefined: first defined in "./main.obj"; redefined in "./uart.obj"
error #10056: symbol "_InitGpio" redefined: first defined in "./main.obj"; redefined in "./uart.obj"
error #10056: symbol "_txBuffer" redefined: first defined in "./main.obj"; redefined in "./uart.obj"
error #10056: symbol "_scia_tx_isr" redefined: first defined in "./main.obj"; redefined in "./uart.obj"
error #10056: symbol "_scia_rx_isr" redefined: first defined in "./main.obj"; redefined in "./uart.obj"
error #10056: symbol "_ControlMotor" redefined: first defined in "./main.obj"; redefined in "./uart.obj"
error #10056: symbol "_motorEnabled" redefined: first defined in "./main.obj"; redefined in "./uart.obj"
error #10056: symbol "_SCIRXBUF" redefined: first defined in "./main.obj"; redefined in "./uart.obj"
error #10056: symbol "_rxIndex" redefined: first defined in "./main.obj"; redefined in "./uart.obj"
error #10056: symbol "_InitScia" redefined: first defined in "./main.obj"; redefined in "./uart.obj"
warning #10210-D: creating ".stack" section with default size of 0x400; use the -stack option to change the default size

undefined first referenced
symbol in file
--------- ----------------
_GpioCtrlRegs ./main.obj
_InitPieCtrl ./main.obj
_InitPieVectTable ./main.obj
_InitSysCtrl ./main.obj
_PieCtrlRegs ./main.obj
_PieVectTable ./main.obj
_SciaRegs ./main.obj
_SysCtrlRegs ./main.obj
_UART_sendString ./main.obj

error #10234-D: unresolved symbols remain
error #10010: errors encountered during linking; "lab2c.out" not built

>> Compilation failure
makefile:170: recipe for target 'lab2c.out' failed
gmake[1]: *** [lab2c.out] Error 1
makefile:166: recipe for target 'all' failed
gmake: *** [all] Error 2

**** Build Finished ****

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

You may take a look at the guide (motorware_hal_tutorial.pdf) as below to add the functions you need. You can add the function with the same format in current motorWare.

C:\ti\motorware\motorware_1_01_00_18\docs\tutorials

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

Thank you for your support. However, I am using functions from the motorware_hal_tutorial.pdf, but I am encountering some errors. Could you provide example code for UART commands to control a motor, such as 'Rx_on' to turn the motor on and 'Rx_off' to turn it off? I am working with the Lab2C platform for this project.

0 Yanming Luo over 1 year ago in reply to Kishor vattikuti

TI__Guru** 115420 points

Sorry. There is no such example for you in motorWare. You may follow the guide and refer to the SCI example in C2000Ware or controlSUITE.

0 Kishor vattikuti over 1 year ago in reply to Yanming Luo

Intellectual 330 points

Thank you for your support. I am trying it numerous times, but errors occur. Please provide code for UART commands to control a motor, such as 'Rx_on' to turn the motor on and 'Rx_off' to turn it off. I am working with the Lab2C platform for this project.

In main.c below code

//! \defgroup PROJ_LAB02c PROJ_LAB02c
//@{

//! \defgroup PROJ_LAB02c_OVERVIEW Project Overview
//!
//! Run InstaSPINï¿½FOC from user memory (RAM/FLASH), only FASTï¿½in ROM
//! Special variable scaling for improved motor ID, especially with low inductance motors

// **************************************************************************
// the includes

// system includes
#include <math.h>
#include <uart.h>
//#include <uart_motor_control.c>
#include "main.h"
/*#include "uart.h"
#include "uart.c"
#include "F2802x_Device.h"
#include "f2802x_examples.h"*/
#include "hal.h"
//#include "drv8301.h"
#include "uart.h"
#include "motor_control.h"
#include <stdio.h>
#include <string.h>

#define SCI_BUFFER_SIZE 256

/*void UART_init(void);
void UART_sendString(const char *str);
void UART_sendByte(uint8_t byte);
uint8_t UART_receiveByte(void);*/

HAL_Handle halHandle;

// Define the handle for the hardware abstraction layer
//HAL_Handle halHandle;

// Function prototypes
//void initHardware(void);
//void handleUART(void);
void processCommand(const char *command);
void receiveAndProcessCommands(SCI_Handle sciHandle);

char rxBuffer[SCI_BUFFER_SIZE];
int rxBufferIndex = 0;

//void processCommand(const char *command);
//void receiveAndProcessCommands(SCI_Handle sciHandle);

void receiveAndProcessCommands(SCI_Handle sciHandle) {
uint16_t data;
while (1) {
// Check if data is available in the RX FIFO
data = SCI_getDataBlocking(sciHandle);
if (data == '\r' || data == '\n') { // End of command
rxBuffer[rxBufferIndex] = '\0';
// Process the command
processCommand(rxBuffer);
// Reset buffer index for next command
rxBufferIndex = 0;
} else {
// Store the received character in the buffer
if (rxBufferIndex < (SCI_BUFFER_SIZE - 1)) {
rxBuffer[rxBufferIndex++] = (char)data;
} else {
// Buffer overflow, reset index
rxBufferIndex = 0;
}
}
}
}

void processCommand(const char *command) {
if (strcmp(command, "Rx_on") == 0) {
motorControlOn();
} else if (strcmp(command, "Rx_off") == 0) {
motorControlOff();
} else {
// Handle unknown command
printf("Unknown command: %s\n", command);
}
}

#ifdef FLASH
#pragma CODE_SECTION(mainISR,"ramfuncs");
#endif

// Include header files used in the main function

// **************************************************************************
// the defines

#define LED_BLINK_FREQ_Hz 5

// **************************************************************************
// the globals

uint_least16_t gCounter_updateGlobals = 0;

bool Flag_Latch_softwareUpdate = true;

CTRL_Handle ctrlHandle;

#ifdef CSM_ENABLE
#pragma DATA_SECTION(halHandle,"rom_accessed_data");
#endif
HAL_Handle halHandle;

#ifdef CSM_ENABLE
#pragma DATA_SECTION(gUserParams,"rom_accessed_data");
#endif
USER_Params gUserParams;

HAL_PwmData_t gPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)};

HAL_AdcData_t gAdcData;

_iq gMaxCurrentSlope = _IQ(0.0);

#ifdef FAST_ROM_V1p6
CTRL_Obj *controller_obj;
#else
#ifdef CSM_ENABLE
#pragma DATA_SECTION(ctrl,"rom_accessed_data");
#endif
CTRL_Obj ctrl; //v1p7 format
#endif

uint16_t gLEDcnt = 0;

volatile MOTOR_Vars_t gMotorVars = MOTOR_Vars_INIT;

#ifdef FLASH
// Used for running BackGround in flash, and ISR in RAM
extern uint16_t *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;

#ifdef CSM_ENABLE
extern uint16_t *econst_start, *econst_end, *econst_ram_load;
extern uint16_t *switch_start, *switch_end, *switch_ram_load;
#endif
#endif

_iq gLs_pu = _IQ30(0.0);
uint_least8_t gLs_qFmt = 0;
uint_least8_t gMax_Ls_qFmt = 0;

#ifdef DRV8301_SPI
// Watch window interface to the 8301 SPI
DRV_SPI_8301_Vars_t gDrvSpi8301Vars;
#endif

#ifdef DRV8305_SPI
// Watch window interface to the 8305 SPI
DRV_SPI_8305_Vars_t gDrvSpi8305Vars;
#endif

// **************************************************************************
// the functions
// UART functions

void main(void)
{

SCI_Handle sciHandle;
void *sciObj; // Replace with actual initialization

// Initialize the SCI handle
sciHandle = SCI_init(sciObj, sizeof(*sciObj));

// Initialize the SCI module with configuration
SCI_setBaudRate(sciHandle, 9600);
SCI_setCharLength(sciHandle, 8);
SCI_setNumStopBits(sciHandle, 1);
SCI_setParity(sciHandle, 0); // No parity
SCI_enable(sciHandle);

// Start receiving and processing commands
//receiveAndProcessCommands(sciHandle);

//return 0;

uint_least8_t estNumber = 0;

#ifdef FAST_ROM_V1p6
uint_least8_t ctrlNumber = 0;
#endif