TMS320F280037C: disable boot mode pins and boot from flash

DTruex
Part Number: TMS320F280037C
Other Parts Discussed in Thread: C2000WARE
Tool/software:
I am trying to run with zero boot mode pins (example in 4.5.2.1)
I have programmed z2-GPREG1 to 5aFFFFFF and z2-GPREG3 to FFFFFF03. The program is getting hung up in the boot ROM by the ESTOP0 at address 3fb8b9, which, according to table 4-19 in the TRM indicates "In Wait Boot Mode". The address pointed to by the long branch at 0x80000 points to f280037_codestartbranch.asm. If I jump to that address (0x81ef9) and click run, the program executes as expected.
Why am I getting stuck in wait mode?
Thanks
Don
3 months ago
0 Matt Kukucka 3 months ago
TI__Genius 11675 points
Hello Don,
Your boot configurations look correct.
Is the codestart for your application allocated for 0x80000 in your linker command file (.cmd)?
Best,
Matt
0 DTruex 3 months ago in reply to Matt Kukucka
Intellectual 790 points
It is. After hitting the ESTOP I use the memory browser to get the address loaded at 0x8000. I cut and paste that address into the memory browser, hit enter, right click and select "move to line" then run.
0 Matt Kukucka 3 months ago in reply to DTruex
TI__Genius 11675 points
Hello,
Can you share your application's .map file?
Best,
Matt
0 DTruex 3 months ago in reply to Matt Kukucka
Intellectual 790 points
Sure
Thanks
Don
******************************************************************************
             TMS320C2000 Linker PC v22.6.1                     
******************************************************************************
>> Linked Mon Jul 21 10:09:07 2025

OUTPUT FILE NAME:   <BFADF100.out>
ENTRY POINT SYMBOL: "code_start"  address: 00080000


MEMORY CONFIGURATION

         name            origin    length      used     unused   attr    fill
----------------------  --------  ---------  --------  --------  ----  --------
PAGE 0:
  BOOT_RSVD             00000002   00000126  00000000  00000126  RWIX
  RAMM0                 00000128   000002d8  00000000  000002d8  RWIX
  RAMM1                 00000400   000003f8  00000200  000001f8  RWIX
  CLA1_MSGRAMLOW        00001480   00000080  00000000  00000080  RWIX
  CLA1_MSGRAMHIGH       00001500   00000080  00000000  00000080  RWIX
  RAMLS0                00008000   00000800  0000016c  00000694  RWIX
  RAMLS1                00008800   00000800  00000000  00000800  RWIX
  RAMLS2                00009000   00000800  00000000  00000800  RWIX
  RAMLS3_4              00009800   00001000  00000271  00000d8f  RWIX
  RAMLS5                0000a800   00000800  00000050  000007b0  RWIX
  RAMLS6                0000b000   00000800  00000000  00000800  RWIX
  RAMLS7                0000b800   00000800  00000000  00000800  RWIX
  RAMGS0                0000c000   00001000  00000280  00000d80  RWIX
  RAMGS1                0000d000   00001000  00000000  00001000  RWIX
  RAMGS2                0000e000   00001000  00000000  00001000  RWIX
  RAMGS3                0000f000   00000ff8  00000000  00000ff8  RWIX
  BEGIN                 00080000   00000002  00000002  00000000  RWIX
  FLASH_BANK0           00080002   0000fffe  00002d76  0000d288  RWIX
  FLASH_BANK1           00090000   00010000  00000000  00010000  RWIX
  FLASH_BANK2           000a0000   0000fff0  00000000  0000fff0  RWIX
  SECURE_ROM            003f2000   00006000  00000000  00006000  RWIX
  BOOTROM               003f8000   00007fc0  00000000  00007fc0  RWIX
  RESET                 003fffc0   00000002  00000000  00000002  RWIX

PAGE 1:
  ADCARESULT            00000b00   00000018  00000000  00000018  RWIX
  ADCBRESULT            00000b20   00000018  00000000  00000018  RWIX
  ADCCRESULT            00000b40   00000018  00000000  00000018  RWIX
  CPUTIMER0             00000c00   00000008  00000000  00000008  RWIX
  CPUTIMER1             00000c08   00000008  00000000  00000008  RWIX
  CPUTIMER2             00000c10   00000008  00000000  00000008  RWIX
  PIECTRL               00000ce0   0000001a  00000000  0000001a  RWIX
  PIEVECTTABLE          00000d00   00000200  00000000  00000200  RWIX
  DMA                   00001000   00000200  00000000  00000200  RWIX
  CLA1                  00001400   00000080  00000000  00000080  RWIX
  CLB1LOGICCFG          00003000   00000052  00000000  00000052  RWIX
  CLB1LOGICCTRL         00003100   00000040  00000000  00000040  RWIX
  CLB1DATAEXCH          00003180   00000080  00000000  00000080  RWIX
  CLB2LOGICCFG          00003400   00000052  00000000  00000052  RWIX
  CLB2LOGICCTRL         00003500   00000040  00000000  00000040  RWIX
  CLB2DATAEXCH          00003580   00000080  00000000  00000080  RWIX
  CLB3LOGICCFG          00003800   00000052  00000000  00000052  RWIX
  CLB3LOGICCTRL         00003900   00000040  00000000  00000040  RWIX
  CLB3DATAEXCH          00003980   00000080  00000000  00000080  RWIX
  CLB4LOGICCFG          00003c00   00000052  00000000  00000052  RWIX
  CLB4LOGICCTRL         00003d00   00000040  00000000  00000040  RWIX
  CLB4DATAEXCH          00003d80   00000080  00000000  00000080  RWIX
  EPWM1                 00004000   00000100  00000000  00000100  RWIX
  EPWM2                 00004100   00000100  00000000  00000100  RWIX
  EPWM3                 00004200   00000100  00000000  00000100  RWIX
  EPWM4                 00004300   00000100  00000000  00000100  RWIX
  EPWM5                 00004400   00000100  00000000  00000100  RWIX
  EPWM6                 00004500   00000100  00000000  00000100  RWIX
  EPWM7                 00004600   00000100  00000000  00000100  RWIX
  EPWM8                 00004700   00000100  00000000  00000100  RWIX
  EQEP1                 00005100   00000040  00000000  00000040  RWIX
  EQEP2                 00005140   00000040  00000000  00000040  RWIX
  ECAP1                 00005200   00000020  00000000  00000020  RWIX
  ECAP2                 00005240   00000020  00000000  00000020  RWIX
  ECAP3                 00005280   00000020  00000000  00000020  RWIX
  HRCAP3                000052a0   00000020  00000000  00000020  RWIX
  DACA                  00005c00   00000008  00000000  00000008  RWIX
  DACB                  00005c10   00000008  00000000  00000008  RWIX
  CMPSS1                00005c80   00000020  00000000  00000020  RWIX
  CMPSS2                00005ca0   00000020  00000000  00000020  RWIX
  CMPSS3                00005cc0   00000020  00000000  00000020  RWIX
  CMPSS4                00005ce0   00000020  00000000  00000020  RWIX
  SDFM1                 00005e00   00000080  00000000  00000080  RWIX
  SDFM2                 00005e80   00000080  00000000  00000080  RWIX
  SPIA                  00006100   00000010  00000000  00000010  RWIX
  SPIB                  00006110   00000010  00000000  00000010  RWIX
  BGCRCCPU              00006340   00000040  00000000  00000040  RWIX
  BGCRCCLA1             00006380   00000040  00000000  00000040  RWIX
  PMBUSA                00006400   00000020  00000000  00000020  RWIX
  HIC                   00006500   00000080  00000000  00000080  RWIX
  FSITXA                00006600   00000050  00000000  00000050  RWIX
  FSIRXA                00006680   00000050  00000000  00000050  RWIX
  LINA                  00006a00   000000ec  00000000  000000ec  RWIX
  LINB                  00006b00   000000ec  00000000  000000ec  RWIX
  WD                    00007000   0000002c  00000000  0000002c  RWIX
  NMIINTRUPT            00007060   00000010  00000000  00000010  RWIX
  XINT                  00007070   0000000c  00000000  0000000c  RWIX
  SCIA                  00007200   00000010  00000000  00000010  RWIX
  SCIB                  00007210   00000010  00000000  00000010  RWIX
  I2CA                  00007300   00000022  00000000  00000022  RWIX
  I2CB                  00007340   00000022  00000000  00000022  RWIX
  ADCA                  00007400   00000080  00000000  00000080  RWIX
  ADCB                  00007480   00000080  00000000  00000080  RWIX
  ADCC                  00007500   00000080  00000000  00000080  RWIX
  INPUTXBAR             00007900   00000020  00000000  00000020  RWIX
  XBAR                  00007920   00000020  00000000  00000020  RWIX
  SYNCSOC               00007940   00000006  00000000  00000006  RWIX
  CLBINPUTXBAR          00007960   00000020  00000000  00000020  RWIX
  DMACLASRCSEL          00007980   0000001a  00000000  0000001a  RWIX
  EPWMXBAR              00007a00   00000040  00000000  00000040  RWIX
  CLBXBAR               00007a40   00000040  00000000  00000040  RWIX
  OUTPUTXBAR            00007a80   00000040  00000000  00000040  RWIX
  CLBOUTPUTXBAR         00007bc0   00000040  00000000  00000040  RWIX
  GPIOCTRL              00007c00   00000200  00000000  00000200  RWIX
  GPIODATA              00007f00   00000040  00000000  00000040  RWIX
  GPIODATAREAD          00007f80   00000010  00000000  00000010  RWIX
  LFU                   00007fe0   00000020  00000000  00000020  RWIX
  CANA                  00048000   00000200  00000000  00000200  RWIX
  MCANASS               0005c400   0000002c  00000000  0000002c  RWIX
  MCANA                 0005c600   00000100  00000000  00000100  RWIX
  MCANAERROR            0005c800   00000210  00000000  00000210  RWIX
  DEVCFG                0005d000   000001b0  00000000  000001b0  RWIX
  CLKCFG                0005d200   00000100  00000000  00000100  RWIX
  CPUSYS                0005d300   000000a0  00000000  000000a0  RWIX
  SYSSTATUS             0005d400   00000040  00000000  00000040  RWIX
  PERIPHAC              0005d500   00000200  00000000  00000200  RWIX
  ANALOGSUBSYS          0005d700   00000122  00000000  00000122  RWIX
  DCC0                  0005e700   00000038  00000000  00000038  RWIX
  DCC1                  0005e740   00000038  00000000  00000038  RWIX
  ERADGLOBAL            0005e800   00000014  00000000  00000014  RWIX
  ERADHWBP1             0005e900   00000008  00000000  00000008  RWIX
  ERADHWBP2             0005e908   00000008  00000000  00000008  RWIX
  ERADHWBP3             0005e910   00000008  00000000  00000008  RWIX
  ERADHWBP4             0005e918   00000008  00000000  00000008  RWIX
  ERADHWBP5             0005e920   00000008  00000000  00000008  RWIX
  ERADHWBP6             0005e928   00000008  00000000  00000008  RWIX
  ERADHWBP7             0005e930   00000008  00000000  00000008  RWIX
  ERADHWBP8             0005e938   00000008  00000000  00000008  RWIX
  ERADCOUNTER1          0005e980   00000010  00000000  00000010  RWIX
  ERADCOUNTER2          0005e990   00000010  00000000  00000010  RWIX
  ERADCOUNTER3          0005e9a0   00000010  00000000  00000010  RWIX
  ERADCOUNTER4          0005e9b0   00000010  00000000  00000010  RWIX
  ERADCRCGLOBAL         0005ea00   00000010  00000000  00000010  RWIX
  ERADCRC1              0005ea10   00000010  00000000  00000010  RWIX
  ERADCRC2              0005ea20   00000010  00000000  00000010  RWIX
  ERADCRC3              0005ea30   00000010  00000000  00000010  RWIX
  ERADCRC4              0005ea40   00000010  00000000  00000010  RWIX
  ERADCRC5              0005ea50   00000010  00000000  00000010  RWIX
  ERADCRC6              0005ea60   00000010  00000000  00000010  RWIX
  ERADCRC7              0005ea70   00000010  00000000  00000010  RWIX
  ERADCRC8              0005ea80   00000010  00000000  00000010  RWIX
  EPG1                  0005ec00   00000050  00000000  00000050  RWIX
  EPG1MUX               0005ecd0   00000010  00000000  00000010  RWIX
  DCSMZ1                0005f000   0000003e  00000000  0000003e  RWIX
  DCSMZ2                0005f080   0000003e  00000000  0000003e  RWIX
  DCSMCOMMON            0005f0c0   00000020  00000000  00000020  RWIX
  MEMCFG                0005f400   000000c0  00000000  000000c0  RWIX
  ACCESSPROTECTION      0005f500   00000040  00000000  00000040  RWIX
  MEMORYERROR           0005f540   00000040  00000000  00000040  RWIX
  TESTERROR             0005f590   00000010  00000000  00000010  RWIX
  FLASH0CTRL            0005f800   00000182  00000000  00000182  RWIX
  FLASH0ECC             0005fb00   00000028  00000000  00000028  RWIX
  UID                   00070200   00000010  00000000  00000010  RWIX
  DCSMZ1OTP             00078000   00000020  00000000  00000020  RWIX
  DCSMZ2OTP             00078200   00000020  00000000  00000020  RWIX


SECTION ALLOCATION MAP

 output                                  attributes/
section   page    origin      length       input sections
--------  ----  ----------  ----------   ----------------
.stack     0    00000400    00000200     UNINITIALIZED
                  00000400    00000200     --HOLE--

codestart 
*          0    00080000    00000002     
                  00080000    00000002     f28003x_codestartbranch.obj (codestart)

.cinit     0    00082d60    00000026     
                  00082d60    0000000c     (.cinit..data.load) [load image, compression = lzss]
                  00082d6c    00000006     (__TI_handler_table)
                  00082d72    00000004     (.cinit..bss.load) [load image, compression = zero_init]
                  00082d76    00000004     (.cinit.ramgs0.load) [load image, compression = zero_init]
                  00082d7a    0000000c     (__TI_cinit_table)

.init_array 
*          0    00080008    00000000     UNINITIALIZED

.bss       0    00008000    0000015c     UNINITIALIZED
                  00008000    00000138     Main.obj (.bss)
                  00008138    00000012     Main.obj (.bss:timerCounts)
                  0000814a    00000012     Main.obj (.bss:timerLoad)

.data      0    0000815c    00000010     UNINITIALIZED
                  0000815c    00000006     rts2800_fpu32_eabi.lib : exit.c.obj (.data)
                  00008162    00000005     Task.obj (.data)
                  00008167    00000001     --HOLE--
                  00008168    00000002     rts2800_fpu32_eabi.lib : _lock.c.obj (.data:_lock)
                  0000816a    00000002                            : _lock.c.obj (.data:_unlock)

ramgs0     0    0000c000    00000280     UNINITIALIZED
                  0000c000    00000280     Main.obj (ramgs0)

.const     0    00080008    000007f0     
                  00080008    000000ce     MyInit.obj (.const:.string)
                  000800d6    0000009b     driverlib.lib : flash.obj (.const:.string)
                  00080171    00000001     --HOLE-- [fill = 0]
                  00080172    0000009a                   : sysctl.obj (.const:.string)
                  0008020c    00000098                   : gpio.obj (.const:.string)
                  000802a4    00000097                   : can.obj (.const:.string)
                  0008033b    00000001     --HOLE-- [fill = 0]
                  0008033c    00000097                   : sci.obj (.const:.string)
                  000803d3    00000001     --HOLE-- [fill = 0]
                  000803d4    00000097                   : spi.obj (.const:.string)
                  0008046b    00000001     --HOLE-- [fill = 0]
                  0008046c    00000088     Task.obj (.const:.string)
                  000804f4    00000059     device.obj (.const:.string)
                  0008054d    00000001     --HOLE-- [fill = 0]
                  0008054e    00000053     MyCAN.obj (.const:.string)
                  000805a1    00000001     --HOLE-- [fill = 0]
                  000805a2    00000050     driverlib.lib : cputimer.obj (.const:.string)
                  000805f2    0000004e                   : memcfg.obj (.const:.string)
                  00080640    0000004b                   : adc.obj (.const:.string)
                  0008068b    00000001     --HOLE-- [fill = 0]
                  0008068c    00000048     MyTimers.obj (.const:.string)
                  000806d4    00000043     ADCISR.obj (.const:.string)
                  00080717    00000001     --HOLE-- [fill = 0]
                  00080718    00000043     ICM42670.obj (.const:.string)
                  0008075b    00000001     --HOLE-- [fill = 0]
                  0008075c    00000043     MyADC.obj (.const:.string)
                  0008079f    00000001     --HOLE-- [fill = 0]
                  000807a0    00000043     MyRS485.obj (.const:.string)
                  000807e3    00000001     --HOLE-- [fill = 0]
                  000807e4    00000010     Filter.obj (.const)
                  000807f4    00000004     MyInit.obj (.const)

.reset     0    003fffc0    00000000     DSECT

.TI.ramfunc 
*          0    00082ae8    00000271     RUN ADDR = 00009800
                  00082ae8    000000b0     MyCAN.obj (.TI.ramfunc:canAISR)
                  00082b98    00000049     driverlib.lib : flash.obj (.TI.ramfunc:Flash_initModule)
                  00082be1    00000039     ADCISR.obj (.TI.ramfunc:adcC1ISR)
                  00082c1a    00000033     MyTimers.obj (.TI.ramfunc:cpuTimer0ISR)
                  00082c4d    0000002c     driverlib.lib : flash.obj (.TI.ramfunc:Flash_setBankPowerMode)
                  00082c79    00000024                   : flash.obj (.TI.ramfunc:Flash_setWaitstates)
                  00082c9d    0000001d                   : flash.obj (.TI.ramfunc:Flash_setPumpPowerMode)
                  00082cba    00000018                   : flash.obj (.TI.ramfunc:Flash_disableCache)
                  00082cd2    00000018                   : flash.obj (.TI.ramfunc:Flash_disablePrefetch)
                  00082cea    00000017                   : flash.obj (.TI.ramfunc:Flash_enableCache)
                  00082d01    00000017                   : flash.obj (.TI.ramfunc:Flash_enablePrefetch)
                  00082d18    00000016                   : flash.obj (.TI.ramfunc:Flash_enableECC)
                  00082d2e    00000015     MyTimers.obj (.TI.ramfunc:cpuTimer1ISR)
                  00082d43    00000012     MyTimers.obj (.TI.ramfunc:cpuTimer2ISR)
                  00082d55    00000004     driverlib.lib : sysctl.obj (.TI.ramfunc)

Cla1Prog   0    00082a98    00000050     RUN ADDR = 0000a800
                  00082a98    00000018     BFADF100.obj (Cla1Prog:Cla1Task1)
                  00082ab0    00000008     BFADF100.obj (Cla1Prog:Cla1Task2)
                  00082ab8    00000008     BFADF100.obj (Cla1Prog:Cla1Task3)
                  00082ac0    00000008     BFADF100.obj (Cla1Prog:Cla1Task4)
                  00082ac8    00000008     BFADF100.obj (Cla1Prog:Cla1Task5)
                  00082ad0    00000008     BFADF100.obj (Cla1Prog:Cla1Task6)
                  00082ad8    00000008     BFADF100.obj (Cla1Prog:Cla1Task7)
                  00082ae0    00000008     BFADF100.obj (Cla1Prog:Cla1Task8)

.const_cla 
*          0    00009000    00000000     UNINITIALIZED

.text      0    000807f8    0000229f     
                  000807f8    00000123     driverlib.lib : sysctl.obj (.text:SysCtl_setClock)
                  0008091b    000000fe                   : sysctl.obj (.text:SysCtl_isPLLValid)
                  00080a19    000000e8     Filter.obj (.text:FFirstOrderLPFInit)
                  00080b01    000000db     driverlib.lib : can.obj (.text:CAN_setupMessageObject)
                  00080bdc    000000db     ICM42670.obj (.text:ICM42670Init)
                  00080cb7    000000ce     device.obj (.text:Device_enableAllPeripherals)
                  00080d85    000000c5     MyCAN.obj (.text:MyCANInit)
                  00080e4a    0000009c     rts2800_fpu32_eabi.lib : fd_add28.asm.obj (.text)
                  00080ee6    0000008b                            : fd_div28.asm.obj (.text)
                  00080f71    00000088     MyADC.obj (.text:MyADCInit)
                  00080ff9    00000088     rts2800_fpu32_eabi.lib : fs_div28.asm.obj (.text)
                  00081081    00000083                            : fd_mpy28.asm.obj (.text)
                  00081104    00000073     driverlib.lib : sysctl.obj (.text:DCC_setCounterSeeds)
                  00081177    00000072                   : can.obj (.text:CAN_sendMessage)
                  000811e9    00000071     MyInit.obj (.text:InitCLA)
                  0008125a    00000071     MyRS485.obj (.text:MyRS485Init)
                  000812cb    0000006a     driverlib.lib : gpio.obj (.text:GPIO_setAnalogMode)
                  00081335    00000067     Task.obj (.text:TaskSoftTimers)
                  0008139c    00000066     driverlib.lib : can.obj (.text:CAN_readMessage)
                  00081402    00000065                   : sysctl.obj (.text:SysCtl_getClock)
                  00081467    00000064                   : can.obj (.text:CAN_setBitTiming)
                  000814cb    0000005c                   : spi.obj (.text:SPI_setConfig)
                  00081527    0000005b     MyInit.obj (.text:InitGPIO)
                  00081582    00000054     MyInit.obj (.text:MyInit)
                  000815d6    00000052     driverlib.lib : gpio.obj (.text:GPIO_setPadConfig)
                  00081628    00000050                   : adc.obj (.text:ADC_setOffsetTrim)
                  00081678    0000004f     device.obj (.text:Device_init)
                  000816c7    0000004e     MyInit.obj (.text:InitDAC)
                  00081715    0000004d     driverlib.lib : sysctl.obj (.text:SysCtl_selectOscSource)
                  00081762    0000004a     MyTimers.obj (.text:TimersInit)
                  000817ac    00000046     driverlib.lib : adc.obj (.text:ADC_setINLTrim)
                  000817f2    00000046     MyADC.obj (.text:ADC_setupSOC)
                  00081838    00000046     driverlib.lib : can.obj (.text:CAN_clearInterruptStatus)
                  0008187e    00000046                   : sysctl.obj (.text:SysCtl_selectXTAL)
                  000818c4    00000045                   : sci.obj (.text:SCI_clearInterruptStatus)
                  00081909    00000045                   : sci.obj (.text:SCI_disableInterrupt)
                  0008194e    00000045                   : sysctl.obj (.text:SysCtl_pollX1Counter)
                  00081993    00000044                   : sci.obj (.text:SCI_enableInterrupt)
                  000819d7    00000044     Task.obj (.text:TaskIdle)
                  00081a1b    00000043     driverlib.lib : can.obj (.text:CAN_readMessageWithID)
                  00081a5e    00000040     Task.obj (.text:TaskReadCBits)
                  00081a9e    00000040     Task.obj (.text:TaskReadIsoInBits)
                  00081ade    0000003e     MyInit.obj (.text:InitGlobs)
                  00081b1c    0000003e     driverlib.lib : sci.obj (.text:SCI_setConfig)
                  00081b5a    0000003d                   : interrupt.obj (.text:Interrupt_initModule)
                  00081b97    0000003c     MyADC.obj (.text:MyADCSOC)
                  00081bd3    0000003c     MyRS485.obj (.text:scibRXFIFOISR)
                  00081c0f    0000003b     MyTimers.obj (.text:TimerInitCPUTimers)
                  00081c4a    00000039     driverlib.lib : gpio.obj (.text:GPIO_setQualificationPeriod)
                  00081c83    00000039                   : memcfg.obj (.text:MemCfg_setLSRAMControllerSel)
                  00081cbc    00000038     MyRS485.obj (.text:scibTXFIFOISR)
                  00081cf4    00000037     driverlib.lib : gpio.obj (.text:GPIO_setControllerCore)
                  00081d2b    00000037                   : gpio.obj (.text:GPIO_setPinConfig)
                  00081d62    00000037                   : gpio.obj (.text:GPIO_setQualificationMode)
                  00081d99    00000037                   : interrupt.obj (.text:Interrupt_enable)
                  00081dd0    00000031                   : gpio.obj (.text:GPIO_setDirectionMode)
                  00081e01    00000031     ICM42670.obj (.text:ICM42670ReadReg)
                  00081e32    00000030     rts2800_fpu32_eabi.lib : copy_decompress_lzss.c.obj (.text:decompress:lzss)
                  00081e62    0000002f     MyADC.obj (.text:ADC_setInterruptSource)
                  00081e91    0000002e     MyTimers.obj (.text:TimerConfigCPUTimer)
                  00081ebf    0000002b     ICM42670.obj (.text:ICM42670WriteReg)
                  00081eea    0000002b     rts2800_fpu32_eabi.lib : autoinit.c.obj (.text:__TI_auto_init_nobinit_nopinit)
                  00081f15    00000029                            : exit.c.obj (.text)
                  00081f3e    00000028     driverlib.lib : adc.obj (.text:ADC_setOffsetTrimAll)
                  00081f66    00000027                   : adc.obj (.text:ADC_setVREF)
                  00081f8d    00000027     MyCAN.obj (.text:CAN_selectClockSource)
                  00081fb4    00000026     driverlib.lib : cla.obj (.text:CLA_setTriggerSource)
                  00081fda    00000026     MyRS485.obj (.text:SCI_setFIFOInterruptLevel)
                  00082000    00000025     driverlib.lib : sysctl.obj (.text:SysCtl_selectXTALSingleEnded)
                  00082025    00000024                   : sysctl.obj (.text:DCC_enableSingleShotMode)
                  00082049    00000024     MyInit.obj (.text:MemCfg_setCLAMemType)
                  0008206d    00000023     rts2800_fpu32_eabi.lib : fd_tofsfpu32.asm.obj (.text)
                  00082090    00000022     MyCAN.obj (.text:CAN_enableInterrupt)
                  000820b2    00000022     driverlib.lib : can.obj (.text:CAN_writeDataReg)
                  000820d4    00000022     MyCANRx.obj (.text:MyCANRxParse)
                  000820f6    00000020     MyADC.obj (.text:ADC_enableInterrupt)
                  00082116    0000001f     MyInit.obj (.text:DAC_setShadowValue)
                  00082135    0000001f     Task.obj (.text:DAC_setShadowValue)
                  00082154    0000001f     Task.obj (.text:GPIO_togglePin)
                  00082173    0000001e     MyCANTx.obj (.text:CAN_Send_0X40)
                  00082191    0000001e     MyCANTx.obj (.text:CAN_Send_0X42)
                  000821af    0000001e     driverlib.lib : sysctl.obj (.text:DCC_setCounter0ClkSource)
                  000821cd    0000001e                   : sysctl.obj (.text:DCC_setCounter1ClkSource)
                  000821eb    0000001e                   : interrupt.obj (.text:Interrupt_initVectorTable)
                  00082209    0000001d     MyCAN.obj (.text:CAN_clearGlobalInterruptStatus)
                  00082226    0000001d     MyCAN.obj (.text:CAN_enableGlobalInterrupt)
                  00082243    0000001d     MyRS485.obj (.text:SCI_enableFIFO)
                  00082260    0000001d     rts2800_fpu32_eabi.lib : memcpy.c.obj (.text)
                  0008227d    0000001c     driverlib.lib : can.obj (.text:CAN_initModule)
                  00082299    0000001c     rts2800_fpu32_eabi.lib : fs_tofdfpu32.asm.obj (.text)
                  000822b5    0000001b     driverlib.lib : can.obj (.text:CAN_readDataReg)
                  000822d0    0000001a                   : can.obj (.text:CAN_initRAM)
                  000822ea    0000001a     MyTimers.obj (.text:CPUTimer_startTimer)
                  00082304    0000001a     driverlib.lib : sysctl.obj (.text:SysCtl_getLowSpeedClock)
                  0008231e    0000001a     rts2800_fpu32_eabi.lib : fd_tou28.asm.obj (.text)
                  00082338    00000019     driverlib.lib : sysctl.obj (.text:SysCtl_setPLLSysClk)
                  00082351    00000018                   : sci.obj (.text:SCI_disableModule)
                  00082369    00000018     MyRS485.obj (.text:SCI_performSoftwareReset)
                  00082381    00000018     driverlib.lib : sci.obj (.text:SCI_performSoftwareReset)
                  00082399    00000018     MyRS485.obj (.text:SCI_resetChannels)
                  000823b1    00000018     MyRS485.obj (.text:SCI_resetRxFIFO)
                  000823c9    00000018     MyRS485.obj (.text:SCI_resetTxFIFO)
                  000823e1    00000018     Main.obj (.text:SysCtl_disablePeripheral)
                  000823f9    00000017     ADCISR.obj (.text:ADC_isBaseValid)
                  00082410    00000017     MyADC.obj (.text:ADC_isBaseValid)
                  00082427    00000017     driverlib.lib : adc.obj (.text:ADC_isBaseValid)
                  0008243e    00000017     MyTimers.obj (.text:CPUTimer_isBaseValid)
                  00082455    00000017     driverlib.lib : cputimer.obj (.text:CPUTimer_isBaseValid)
                  0008246c    00000017     MyTimers.obj (.text:CPUTimer_setPreScaler)
                  00082483    00000017     ICM42670.obj (.text:SPI_writeDataBlockingNonFIFO)
                  0008249a    00000017     MyInit.obj (.text:SysCtl_enablePeripheral)
                  000824b1    00000017     device.obj (.text:SysCtl_enablePeripheral)
                  000824c8    00000017     driverlib.lib : sysctl.obj (.text:SysCtl_enablePeripheral)
                  000824df    00000017     MyTimers.obj (.text:TimerPreMainWait)
                  000824f6    00000017     rts2800_fpu32_eabi.lib : boot28.asm.obj (.text)
                  0008250d    00000016     MyADC.obj (.text:ADC_setInterruptPulseMode)
                  00082523    00000016     MyADC.obj (.text:ADC_setPrescaler)
                  00082539    00000016     MyCAN.obj (.text:CAN_disableTestMode)
                  0008254f    00000016     MyInit.obj (.text:CLA_mapTaskVector)
                  00082565    00000016     MyInit.obj (.text:DAC_setLoadMode)
                  0008257b    00000016     driverlib.lib : sysctl.obj (.text:DCC_disableDoneSignal)
                  00082591    00000016                   : interrupt.obj (.text:Interrupt_defaultHandler)
                  000825a7    00000015     MyInit.obj (.text:CLA_enableIACK)
                  000825bc    00000015     MyTimers.obj (.text:CPUTimer_enableInterrupt)
                  000825d1    00000015     MyInit.obj (.text:DAC_enableOutput)
                  000825e6    00000015     MyInit.obj (.text:DAC_setGainMode)
                  000825fb    00000015     MyInit.obj (.text:DAC_setReferenceVoltage)
                  00082610    00000015     driverlib.lib : sysctl.obj (.text:DCC_clearDoneFlag)
                  00082625    00000015                   : sysctl.obj (.text:DCC_clearErrorFlag)
                  0008263a    00000015                   : sysctl.obj (.text:DCC_disableErrorSignal)
                  0008264f    00000015                   : sysctl.obj (.text:DCC_isBaseValid)
                  00082664    00000015     device.obj (.text:GPIO_unlockPortConfig)
                  00082679    00000014     ADCISR.obj (.text:ADC_clearInterruptStatus)
                  0008268d    00000014     MyADC.obj (.text:ADC_clearInterruptStatus)
                  000826a1    00000014     MyTimers.obj (.text:CPUTimer_reloadTimerCounter)
                  000826b5    00000014     MyTimers.obj (.text:CPUTimer_stopTimer)
                  000826c9    00000014     driverlib.lib : sysctl.obj (.text:DCC_disableModule)
                  000826dd    00000014                   : sysctl.obj (.text:DCC_enableModule)
                  000826f1    00000014     Task.obj (.text:GPIO_isPinValid)
                  00082705    00000014     driverlib.lib : gpio.obj (.text:GPIO_isPinValid)
                  00082719    00000014     Task.obj (.text:TaskServiceDACs)
                  0008272d    00000013     MyADC.obj (.text:ADC_disableConverter)
                  00082740    00000013     MyADC.obj (.text:ADC_enableConverter)
                  00082753    00000013     driverlib.lib : cputimer.obj (.text:CPUTimer_setEmulationMode)
                  00082766    00000013     MyInit.obj (.text:DAC_isBaseValid)
                  00082779    00000013     Task.obj (.text:DAC_isBaseValid)
                  0008278c    00000013     MyRS485.obj (.text:SCI_clearOverflowStatus)
                  0008279f    00000013     MyRS485.obj (.text:SCI_enableModule)
                  000827b2    00000013     driverlib.lib : sci.obj (.text:SCI_enableModule)
                  000827c5    00000013     MyRS485.obj (.text:SCI_isBaseValid)
                  000827d8    00000013     driverlib.lib : sci.obj (.text:SCI_isBaseValid)
                  000827eb    00000013     ICM42670.obj (.text:SPI_isBaseValid)
                  000827fe    00000013     driverlib.lib : spi.obj (.text:SPI_isBaseValid)
                  00082811    00000012     MyCAN.obj (.text:CAN_getInterruptCause)
                  00082823    00000012     ICM42670.obj (.text:SPI_readDataBlockingNonFIFO)
                  00082835    00000011     MyCAN.obj (.text:CAN_disableAutoBusOn)
                  00082846    00000011     MyCAN.obj (.text:CAN_startModule)
                  00082857    00000011     MyTimers.obj (.text:CPUTimer_setPeriod)
                  00082868    00000011     MyRS485.obj (.text:SCI_disableLoopback)
                  00082879    00000011     ICM42670.obj (.text:SPI_disableModule)
                  0008288a    00000011     ICM42670.obj (.text:SPI_enableModule)
                  0008289b    00000010     MyCAN.obj (.text:CAN_getStatus)
                  000828ab    00000010     MyCAN.obj (.text:CAN_isBaseValid)
                  000828bb    00000010     driverlib.lib : can.obj (.text:CAN_isBaseValid)
                  000828cb    00000010     device.obj (.text:Device_initGPIO)
                  000828db    00000010     driverlib.lib : flash.obj (.text:Flash_isCtrlBaseValid)
                  000828eb    00000010                   : flash.obj (.text:Flash_isECCBaseValid)
                  000828fb    00000010     ICM42670.obj (.text:SPI_readDataNonBlocking)
                  0008290b    00000010     Main.obj (.text:main)
                  0008291b    0000000f     MyInit.obj (.text:CLA_isBaseValid)
                  0008292a    0000000f     ICM42670.obj (.text:GPIO_clearPortPins)
                  00082939    0000000f     ICM42670.obj (.text:GPIO_setPortPins)
                  00082948    0000000f     MyInit.obj (.text:GPIO_setPortPins)
                  00082957    0000000f     Task.obj (.text:GPIO_setPortPins)
                  00082966    0000000f     MyADC.obj (.text:Interrupt_register)
                  00082975    0000000f     MyCAN.obj (.text:Interrupt_register)
                  00082984    0000000f     MyRS485.obj (.text:Interrupt_register)
                  00082993    0000000f     MyTimers.obj (.text:Interrupt_register)
                  000829a2    0000000e     rts2800_fpu32_eabi.lib : fd_sub28.asm.obj (.text)
                  000829b0    0000000d     Task.obj (.text:GPIO_readPortData)
                  000829bd    0000000d     driverlib.lib : interrupt.obj (.text:Interrupt_disableGlobal)
                  000829ca    0000000d                   : interrupt.obj (.text:Interrupt_enableGlobal)
                  000829d7    0000000d     Main.obj (.text:MainInit)
                  000829e4    0000000d     device.obj (.text:SysCtl_setLowSpeedClock)
                  000829f1    0000000d     rts2800_fpu32_eabi.lib : copy_zero_init.c.obj (.text:decompress:ZI:__TI_zero_init_nomemset)
                  000829fe    0000000c                            : args_main.c.obj (.text)
                  00082a0a    0000000b     device.obj (.text:SysCtl_disableWatchdog)
                  00082a15    0000000b     driverlib.lib : sysctl.obj (.text:SysCtl_isMCDClockFailureDetected)
                  00082a20    0000000a                   : interrupt.obj (.text:Interrupt_illegalOperationHandler)
                  00082a2a    0000000a                   : interrupt.obj (.text:Interrupt_nmiHandler)
                  00082a34    00000009     rts2800_fpu32_eabi.lib : _lock.c.obj (.text)
                  00082a3d    00000008                            : copy_decompress_none.c.obj (.text:decompress:none)
                  00082a45    00000008     f28003x_codestartbranch.obj (.text)
                  00082a4d    00000007     device.obj (.text:ASysCtl_lockVREG)
                  00082a54    00000007     driverlib.lib : sysctl.obj (.text:SysCtl_resetMCD)
                  00082a5b    00000007     device.obj (.text:__error__)
                  00082a62    00000006     ADCISR.obj (.text:Interrupt_clearACKGroup)
                  00082a68    00000006     MyCAN.obj (.text:Interrupt_clearACKGroup)
                  00082a6e    00000006     MyInit.obj (.text:Interrupt_clearACKGroup)
                  00082a74    00000006     MyRS485.obj (.text:Interrupt_clearACKGroup)
                  00082a7a    00000006     MyTimers.obj (.text:Interrupt_clearACKGroup)
                  00082a80    00000006     MyCANRx.obj (.text:MyCANRxParse0x20)
                  00082a86    00000006     MyCANRx.obj (.text:MyCANRxParse0x22)
                  00082a8c    00000005     MyCANTx.obj (.text:MyCANTxAll)
                  00082a91    00000002     rts2800_fpu32_eabi.lib : pre_init.c.obj (.text)
                  00082a93    00000001     Main.obj (.text:Control)
                  00082a94    00000001     MyRS485.obj (.text:MyRS485Parse)
                  00082a95    00000001     MyRS485.obj (.text:MyRS485TxAll)
                  00082a96    00000001     rts2800_fpu32_eabi.lib : startup.c.obj (.text)

MODULE SUMMARY

       Module                        code    ro data   rw data
       ------                        ----    -------   -------
    .\
       Main.obj                      54      0         988    
       MyInit.obj                    701     210       0      
       MyTimers.obj                  553     72        0      
       Task.obj                      448     136       5      
       MyRS485.obj                   489     67        0      
       MyADC.obj                     485     67        0      
       ICM42670.obj                  451     67        0      
       Filter.obj                    232     16        0      
       ADCISR.obj                    163     67        0      
       BFADF100.obj                  160     0         0      
    +--+-----------------------------+-------+---------+---------+
       Total:                        3736    702       993    
                                                              
    .\CAN\
       MyCAN.obj                     807     83        0      
       MyCANTx.obj                   65      0         0      
       MyCANRx.obj                   46      0         0      
    +--+-----------------------------+-------+---------+---------+
       Total:                        918     83        0      
                                                              
    .\device\
       device.obj                    383     89        0      
       f28003x_codestartbranch.obj   10      0         0      
    +--+-----------------------------+-------+---------+---------+
       Total:                        393     89        0      
                                                              
    C:/ti/c2000/C2000Ware_5_04_00_00/driverlib/f28003x/driverlib/ccs/Debug/driverlib.lib
       sysctl.obj                    1356    154       0      
       can.obj                       803     151       0      
       flash.obj                     628     155       0      
       gpio.obj                      479     152       0      
       sci.obj                       354     151       0      
       adc.obj                       252     75        0      
       spi.obj                       111     151       0      
       interrupt.obj                 214     0         0      
       memcfg.obj                    57      78        0      
       cputimer.obj                  42      80        0      
       cla.obj                       38      0         0      
    +--+-----------------------------+-------+---------+---------+
       Total:                        4334    1147      0      
                                                              
    C:\ti\ccs1250\ccs\tools\compiler\ti-cgt-c2000_22.6.1.LTS\lib\rts2800_fpu32_eabi.lib
       fd_add28.asm.obj              156     0         0      
       fd_div28.asm.obj              139     0         0      
       fs_div28.asm.obj              136     0         0      
       fd_mpy28.asm.obj              131     0         0      
       copy_decompress_lzss.c.obj    48      0         0      
       exit.c.obj                    41      0         6      
       autoinit.c.obj                43      0         0      
       fd_tofsfpu32.asm.obj          35      0         0      
       memcpy.c.obj                  29      0         0      
       fs_tofdfpu32.asm.obj          28      0         0      
       fd_tou28.asm.obj              26      0         0      
       boot28.asm.obj                23      0         0      
       fd_sub28.asm.obj              14      0         0      
       _lock.c.obj                   9       0         4      
       copy_zero_init.c.obj          13      0         0      
       args_main.c.obj               12      0         0      
       copy_decompress_none.c.obj    8       0         0      
       pre_init.c.obj                2       0         0      
       startup.c.obj                 1       0         0      
    +--+-----------------------------+-------+---------+---------+
       Total:                        894     0         10     
                                                              
       Stack:                        0       0         512    
       Linker Generated:             0       38        0      
    +--+-----------------------------+-------+---------+---------+
       Grand Total:                  10275   2059      1515   


LINKER GENERATED COPY TABLES

__TI_cinit_table @ 00082d7a records: 3, size/record: 4, table size: 12
	.data: load addr=00082d60, load size=0000000c bytes, run addr=0000815c, run size=00000010 bytes, compression=lzss
	.bss: load addr=00082d72, load size=00000004 bytes, run addr=00008000, run size=0000015c bytes, compression=zero_init
	ramgs0: load addr=00082d76, load size=00000004 bytes, run addr=0000c000, run size=00000280 bytes, compression=zero_init


LINKER GENERATED HANDLER TABLE

__TI_handler_table @ 00082d6c records: 3, size/record: 2, table size: 6
	index: 0, handler: __TI_zero_init
	index: 1, handler: __TI_decompress_lzss
	index: 2, handler: __TI_decompress_none


GLOBAL DATA SYMBOLS: SORTED BY DATA PAGE

address     data page           name
--------    ----------------    ----
00000400      10 (00000400)     __stack

00008000     200 (00008000)     gIsoInBits
00008001     200 (00008000)     gConfigBits
00008002     200 (00008000)     gUseCAN
00008003     200 (00008000)     gUseRS485
00008004     200 (00008000)     gMainLoopWait
00008005     200 (00008000)     CANTxReadIndex
00008006     200 (00008000)     CANTxWriteIndex
00008007     200 (00008000)     CANTxQueuedIndex
00008008     200 (00008000)     CANRxReadIndex
00008009     200 (00008000)     CANRxWriteIndex
0000800a     200 (00008000)     ADCISRA1Count
0000800c     200 (00008000)     gTargetPosition
0000800e     200 (00008000)     gLastCANError
00008010     200 (00008000)     runTimeMS
00008012     200 (00008000)     cpuTimer0IntCount
00008014     200 (00008000)     cpuTimer2IntCount
00008016     200 (00008000)     CANISRCount
00008018     200 (00008000)     CANTxCount
0000801a     200 (00008000)     CANTxISRCount
0000801c     200 (00008000)     extendForce
0000802c     200 (00008000)     retractForce

00008040     201 (00008040)     measuredForce
00008050     201 (00008040)     pos
00008062     201 (00008040)     gFFOFP

00008080     202 (00008080)     gCal
00008094     202 (00008080)     gPositionPI

000080c0     203 (000080c0)     serialBuf

00008100     204 (00008100)     gIMU
00008138     204 (00008100)     timerCounts

0000814a     205 (00008140)     timerLoad
0000815c     205 (00008140)     __TI_enable_exit_profile_output
0000815e     205 (00008140)     __TI_cleanup_ptr
00008160     205 (00008140)     __TI_dtors_ptr
00008168     205 (00008140)     _lock
0000816a     205 (00008140)     _unlock

0000c000     300 (0000c000)     CANRxBuff

0000c140     305 (0000c140)     CANTxBuff


GLOBAL SYMBOLS: SORTED ALPHABETICALLY BY Name 

page  address   name                             
----  -------   ----                             
0     0000800a  ADCISRA1Count                    
0     000817ac  ADC_setINLTrim                   
0     00081628  ADC_setOffsetTrim                
0     00081f3e  ADC_setOffsetTrimAll             
0     00081f66  ADC_setVREF                      
0     00081f15  C$$EXIT                          
0     00008016  CANISRCount                      
0     0000c000  CANRxBuff                        
0     00008008  CANRxReadIndex                   
0     00008009  CANRxWriteIndex                  
0     0000c140  CANTxBuff                        
0     00008018  CANTxCount                       
0     0000801a  CANTxISRCount                    
0     00008007  CANTxQueuedIndex                 
0     00008005  CANTxReadIndex                   
0     00008006  CANTxWriteIndex                  
0     00082173  CAN_Send_0X40                    
0     00082191  CAN_Send_0X42                    
0     00081838  CAN_clearInterruptStatus         
0     0008227d  CAN_initModule                   
0     0008139c  CAN_readMessage                  
0     00081a1b  CAN_readMessageWithID            
0     00081177  CAN_sendMessage                  
0     00081467  CAN_setBitTiming                 
0     00080b01  CAN_setupMessageObject           
0     00081fb4  CLA_setTriggerSource             
0     00082753  CPUTimer_setEmulationMode        
abs   00000000  Cla1ConstLoadSize                
0     00009000  Cla1ConstLoadStart               
0     00009000  Cla1ConstRunStart                
abs   00000050  Cla1ProgLoadSize                 
0     00082a98  Cla1ProgLoadStart                
0     0000a800  Cla1ProgRunStart                 
0     0000a800  Cla1Task1                        
0     0000a818  Cla1Task2                        
0     0000a820  Cla1Task3                        
0     0000a828  Cla1Task4                        
0     0000a830  Cla1Task5                        
0     0000a838  Cla1Task6                        
0     0000a840  Cla1Task7                        
0     0000a848  Cla1Task8                        
0     00082a93  Control                          
0     00080cb7  Device_enableAllPeripherals      
0     00081678  Device_init                      
0     000828cb  Device_initGPIO                  
0     00080a19  FFirstOrderLPFInit               
0     000098b0  Flash_initModule                 
0     000812cb  GPIO_setAnalogMode               
0     00081cf4  GPIO_setControllerCore           
0     00081dd0  GPIO_setDirectionMode            
0     000815d6  GPIO_setPadConfig                
0     00081d2b  GPIO_setPinConfig                
0     00081d62  GPIO_setQualificationMode        
0     00081c4a  GPIO_setQualificationPeriod      
0     00080bdc  ICM42670Init                     
0     00081e01  ICM42670ReadReg                  
0     00081ebf  ICM42670WriteReg                 
0     000811e9  InitCLA                          
0     000816c7  InitDAC                          
0     00081527  InitGPIO                         
0     00081ade  InitGlobs                        
0     00082591  Interrupt_defaultHandler         
0     00081d99  Interrupt_enable                 
0     00082a20  Interrupt_illegalOperationHandler
0     00081b5a  Interrupt_initModule             
0     000821eb  Interrupt_initVectorTable        
0     00082a2a  Interrupt_nmiHandler             
0     000829d7  MainInit                         
0     00081c83  MemCfg_setLSRAMControllerSel     
0     00080f71  MyADCInit                        
0     00081b97  MyADCSOC                         
0     00080d85  MyCANInit                        
0     000820d4  MyCANRxParse                     
0     00082a80  MyCANRxParse0x20                 
0     00082a86  MyCANRxParse0x22                 
0     00082a8c  MyCANTxAll                       
0     00081582  MyInit                           
0     0008125a  MyRS485Init                      
0     00082a94  MyRS485Parse                     
0     00082a95  MyRS485TxAll                     
0     00082d59  RamfuncsLoadEnd                  
abs   00000271  RamfuncsLoadSize                 
0     00082ae8  RamfuncsLoadStart                
0     00009a71  RamfuncsRunEnd                   
abs   00000271  RamfuncsRunSize                  
0     00009800  RamfuncsRunStart                 
0     000818c4  SCI_clearInterruptStatus         
0     00081909  SCI_disableInterrupt             
0     00081993  SCI_enableInterrupt              
0     00081b1c  SCI_setConfig                    
0     000814cb  SPI_setConfig                    
0     00009a6d  SysCtl_delay                     
0     00081402  SysCtl_getClock                  
0     00082304  SysCtl_getLowSpeedClock          
0     0008091b  SysCtl_isPLLValid                
0     00081715  SysCtl_selectOscSource           
0     0008187e  SysCtl_selectXTAL                
0     00082000  SysCtl_selectXTALSingleEnded     
0     000807f8  SysCtl_setClock                  
0     000819d7  TaskIdle                         
0     00081a5e  TaskReadCBits                    
0     00081a9e  TaskReadIsoInBits                
0     00082719  TaskServiceDACs                  
0     00081335  TaskSoftTimers                   
0     00081e91  TimerConfigCPUTimer              
0     00081c0f  TimerInitCPUTimers               
0     000824df  TimerPreMainWait                 
0     00081762  TimersInit                       
0     00082d7a  __TI_CINIT_Base                  
0     00082d86  __TI_CINIT_Limit                 
0     00082d86  __TI_CINIT_Warm                  
0     00082d6c  __TI_Handler_Table_Base          
0     00082d72  __TI_Handler_Table_Limit         
0     00000600  __TI_STACK_END                   
abs   00000200  __TI_STACK_SIZE                  
0     00081eea  __TI_auto_init_nobinit_nopinit   
0     0000815e  __TI_cleanup_ptr                 
0     00081e32  __TI_decompress_lzss             
0     00082a3d  __TI_decompress_none             
0     00008160  __TI_dtors_ptr                   
0     0000815c  __TI_enable_exit_profile_output  
abs   ffffffff  __TI_pprof_out_hndl              
abs   ffffffff  __TI_prof_data_size              
abs   ffffffff  __TI_prof_data_start             
0     000829f1  __TI_zero_init_nomemset          
0     00080e4a  __c28xabi_addd                   
0     00080ee6  __c28xabi_divd                   
0     00080ff9  __c28xabi_divf                   
0     0008206d  __c28xabi_dtof                   
0     0008231e  __c28xabi_dtou                   
0     00082299  __c28xabi_ftod                   
0     00081081  __c28xabi_mpyd                   
0     000829a2  __c28xabi_subd                   
n/a   UNDEFED   __c_args__                       
0     00082a5b  __error__                        
0     00000400  __stack                          
0     000829fe  _args_main                       
0     000824f6  _c_int00                         
0     00008168  _lock                            
0     00082a3c  _nop                             
0     00082a38  _register_lock                   
0     00082a34  _register_unlock                 
0     00082a96  _system_post_cinit               
0     00082a91  _system_pre_init                 
0     0000816a  _unlock                          
0     00081f15  abort                            
0     000098f9  adcC1ISR                         
0     00009800  canAISR                          
0     00080000  code_start                       
0     00009932  cpuTimer0ISR                     
0     00008012  cpuTimer0IntCount                
0     00009a46  cpuTimer1ISR                     
0     00009a5b  cpuTimer2ISR                     
0     00008014  cpuTimer2IntCount                
0     00081f17  exit                             
0     0000801c  extendForce                      
0     00008080  gCal                             
0     00008001  gConfigBits                      
0     00008062  gFFOFP                           
0     00008100  gIMU                             
0     00008000  gIsoInBits                       
0     0000800e  gLastCANError                    
0     00008004  gMainLoopWait                    
0     00008094  gPositionPI                      
0     0000800c  gTargetPosition                  
0     00008002  gUseCAN                          
0     00008003  gUseRS485                        
0     0008290b  main                             
0     00008040  measuredForce                    
0     00082260  memcpy                           
0     00008050  pos                              
0     0000802c  retractForce                     
0     00008010  runTimeMS                        
0     00081bd3  scibRXFIFOISR                    
0     00081cbc  scibTXFIFOISR                    
0     000080c0  serialBuf                        
0     00008138  timerCounts                      
0     0000814a  timerLoad                        


GLOBAL SYMBOLS: SORTED BY Symbol Address 

page  address   name                             
----  -------   ----                             
0     00000400  __stack                          
0     00000600  __TI_STACK_END                   
0     00008000  gIsoInBits                       
0     00008001  gConfigBits                      
0     00008002  gUseCAN                          
0     00008003  gUseRS485                        
0     00008004  gMainLoopWait                    
0     00008005  CANTxReadIndex                   
0     00008006  CANTxWriteIndex                  
0     00008007  CANTxQueuedIndex                 
0     00008008  CANRxReadIndex                   
0     00008009  CANRxWriteIndex                  
0     0000800a  ADCISRA1Count                    
0     0000800c  gTargetPosition                  
0     0000800e  gLastCANError                    
0     00008010  runTimeMS                        
0     00008012  cpuTimer0IntCount                
0     00008014  cpuTimer2IntCount                
0     00008016  CANISRCount                      
0     00008018  CANTxCount                       
0     0000801a  CANTxISRCount                    
0     0000801c  extendForce                      
0     0000802c  retractForce                     
0     00008040  measuredForce                    
0     00008050  pos                              
0     00008062  gFFOFP                           
0     00008080  gCal                             
0     00008094  gPositionPI                      
0     000080c0  serialBuf                        
0     00008100  gIMU                             
0     00008138  timerCounts                      
0     0000814a  timerLoad                        
0     0000815c  __TI_enable_exit_profile_output  
0     0000815e  __TI_cleanup_ptr                 
0     00008160  __TI_dtors_ptr                   
0     00008168  _lock                            
0     0000816a  _unlock                          
0     00009000  Cla1ConstLoadStart               
0     00009000  Cla1ConstRunStart                
0     00009800  RamfuncsRunStart                 
0     00009800  canAISR                          
0     000098b0  Flash_initModule                 
0     000098f9  adcC1ISR                         
0     00009932  cpuTimer0ISR                     
0     00009a46  cpuTimer1ISR                     
0     00009a5b  cpuTimer2ISR                     
0     00009a6d  SysCtl_delay                     
0     00009a71  RamfuncsRunEnd                   
0     0000a800  Cla1ProgRunStart                 
0     0000a800  Cla1Task1                        
0     0000a818  Cla1Task2                        
0     0000a820  Cla1Task3                        
0     0000a828  Cla1Task4                        
0     0000a830  Cla1Task5                        
0     0000a838  Cla1Task6                        
0     0000a840  Cla1Task7                        
0     0000a848  Cla1Task8                        
0     0000c000  CANRxBuff                        
0     0000c140  CANTxBuff                        
0     00080000  code_start                       
0     000807f8  SysCtl_setClock                  
0     0008091b  SysCtl_isPLLValid                
0     00080a19  FFirstOrderLPFInit               
0     00080b01  CAN_setupMessageObject           
0     00080bdc  ICM42670Init                     
0     00080cb7  Device_enableAllPeripherals      
0     00080d85  MyCANInit                        
0     00080e4a  __c28xabi_addd                   
0     00080ee6  __c28xabi_divd                   
0     00080f71  MyADCInit                        
0     00080ff9  __c28xabi_divf                   
0     00081081  __c28xabi_mpyd                   
0     00081177  CAN_sendMessage                  
0     000811e9  InitCLA                          
0     0008125a  MyRS485Init                      
0     000812cb  GPIO_setAnalogMode               
0     00081335  TaskSoftTimers                   
0     0008139c  CAN_readMessage                  
0     00081402  SysCtl_getClock                  
0     00081467  CAN_setBitTiming                 
0     000814cb  SPI_setConfig                    
0     00081527  InitGPIO                         
0     00081582  MyInit                           
0     000815d6  GPIO_setPadConfig                
0     00081628  ADC_setOffsetTrim                
0     00081678  Device_init                      
0     000816c7  InitDAC                          
0     00081715  SysCtl_selectOscSource           
0     00081762  TimersInit                       
0     000817ac  ADC_setINLTrim                   
0     00081838  CAN_clearInterruptStatus         
0     0008187e  SysCtl_selectXTAL                
0     000818c4  SCI_clearInterruptStatus         
0     00081909  SCI_disableInterrupt             
0     00081993  SCI_enableInterrupt              
0     000819d7  TaskIdle                         
0     00081a1b  CAN_readMessageWithID            
0     00081a5e  TaskReadCBits                    
0     00081a9e  TaskReadIsoInBits                
0     00081ade  InitGlobs                        
0     00081b1c  SCI_setConfig                    
0     00081b5a  Interrupt_initModule             
0     00081b97  MyADCSOC                         
0     00081bd3  scibRXFIFOISR                    
0     00081c0f  TimerInitCPUTimers               
0     00081c4a  GPIO_setQualificationPeriod      
0     00081c83  MemCfg_setLSRAMControllerSel     
0     00081cbc  scibTXFIFOISR                    
0     00081cf4  GPIO_setControllerCore           
0     00081d2b  GPIO_setPinConfig                
0     00081d62  GPIO_setQualificationMode        
0     00081d99  Interrupt_enable                 
0     00081dd0  GPIO_setDirectionMode            
0     00081e01  ICM42670ReadReg                  
0     00081e32  __TI_decompress_lzss             
0     00081e91  TimerConfigCPUTimer              
0     00081ebf  ICM42670WriteReg                 
0     00081eea  __TI_auto_init_nobinit_nopinit   
0     00081f15  C$$EXIT                          
0     00081f15  abort                            
0     00081f17  exit                             
0     00081f3e  ADC_setOffsetTrimAll             
0     00081f66  ADC_setVREF                      
0     00081fb4  CLA_setTriggerSource             
0     00082000  SysCtl_selectXTALSingleEnded     
0     0008206d  __c28xabi_dtof                   
0     000820d4  MyCANRxParse                     
0     00082173  CAN_Send_0X40                    
0     00082191  CAN_Send_0X42                    
0     000821eb  Interrupt_initVectorTable        
0     00082260  memcpy                           
0     0008227d  CAN_initModule                   
0     00082299  __c28xabi_ftod                   
0     00082304  SysCtl_getLowSpeedClock          
0     0008231e  __c28xabi_dtou                   
0     000824df  TimerPreMainWait                 
0     000824f6  _c_int00                         
0     00082591  Interrupt_defaultHandler         
0     00082719  TaskServiceDACs                  
0     00082753  CPUTimer_setEmulationMode        
0     000828cb  Device_initGPIO                  
0     0008290b  main                             
0     000829a2  __c28xabi_subd                   
0     000829d7  MainInit                         
0     000829f1  __TI_zero_init_nomemset          
0     000829fe  _args_main                       
0     00082a20  Interrupt_illegalOperationHandler
0     00082a2a  Interrupt_nmiHandler             
0     00082a34  _register_unlock                 
0     00082a38  _register_lock                   
0     00082a3c  _nop                             
0     00082a3d  __TI_decompress_none             
0     00082a5b  __error__                        
0     00082a80  MyCANRxParse0x20                 
0     00082a86  MyCANRxParse0x22                 
0     00082a8c  MyCANTxAll                       
0     00082a91  _system_pre_init                 
0     00082a93  Control                          
0     00082a94  MyRS485Parse                     
0     00082a95  MyRS485TxAll                     
0     00082a96  _system_post_cinit               
0     00082a98  Cla1ProgLoadStart                
0     00082ae8  RamfuncsLoadStart                
0     00082d59  RamfuncsLoadEnd                  
0     00082d6c  __TI_Handler_Table_Base          
0     00082d72  __TI_Handler_Table_Limit         
0     00082d7a  __TI_CINIT_Base                  
0     00082d86  __TI_CINIT_Limit                 
0     00082d86  __TI_CINIT_Warm                  
abs   00000000  Cla1ConstLoadSize                
abs   00000050  Cla1ProgLoadSize                 
abs   00000200  __TI_STACK_SIZE                  
abs   00000271  RamfuncsLoadSize                 
abs   00000271  RamfuncsRunSize                  
abs   ffffffff  __TI_pprof_out_hndl              
abs   ffffffff  __TI_prof_data_size              
abs   ffffffff  __TI_prof_data_start             
n/a   UNDEFED   __c_args__                       

[178 symbols]
0 Matt Kukucka 3 months ago in reply to DTruex
TI__Genius 11675 points
Hello,
Your application's map file looks fine. I'm assuming the application works fine if you program and run it in a debug session?
DTruex said:
0x81ef9
Was this address for the codestartbranch.asm? It's not showing up in the map file, but I'm assuming you changed your project since you first posted.
Can you follow Section 5.3 in this C2000 Bootloading User's Guide and see where the device is executing in the boot ROM? Does the device successfully boot to flash address 0x80000?
Best,
Matt
0 DTruex 3 months ago in reply to Matt Kukucka
Intellectual 790 points
"I'm assuming the application works fine if you program and run it in a debug session?"
No, everything I've described happens in a debug session.
Yeah, I've changed the code since the original post. I look at address 0x80000 to get the address for code start branch, it's always correct.
I'll try to look at the bootloader tomorrow.
Thanks
Don
0 DTruex 3 months ago in reply to Matt Kukucka
Intellectual 790 points
I'm not sure what was expected but it runs to an ESTOP at 0x3f8B9. FWIW, when I single-step through the disassembly, the source code doesn't match, much of the time its stepping through comments.
Reset goes here:
0 Matt Kukucka 3 months ago in reply to DTruex
TI__Genius 11675 points
Hello,
It seems like the boot ROM symbols are outdated in the C2000Ware release, I've taken action to have this resolved.
Can you check the following register for me after hitting resume and hitting the ESTOP?
Boot ROM Status at address 0x2
Boot ROM health and booting status is written to a 32-bit address in M0RAM. You can refer to Section 4.8.12.1 Booting Status in the TRM to see the details of this register.
Also, can you check the "CPU1BROM_bootMode" variable to see what boot mode is decoded?
Best,
Matt
0 Matt Kukucka 2 months ago in reply to Matt Kukucka
TI__Genius 11675 points
Hello,
Do you have any updates?
I was able find the latest source for the F28003x boot ROM library, using these files along with the *.out symbols provided in C2000Ware fixes the symbol discrepancy you observed:
bootROM.zip
Best,
Matt
0 DTruex 2 months ago in reply to Matt Kukucka
Intellectual 790 points
I'm working on another project right now, I'll take a look in the next few days and let you know what I find. Thanks for the follow-up.
0 Matt Kukucka 2 months ago in reply to DTruex
TI__Genius 11675 points
No problem, please don't hesitate any follow-up questions on this thread.
C2000™︎ microcontrollers

C2000 microcontrollers forum

TMS320F280037C: disable boot mode pins and boot from flash
