Urgent: CLAsin function Issue

Frank H Zhang

Expert 1515 points

Other Parts Discussed in Thread: CONTROLSUITE, TMS320F28035

Hi,

The CLAsin function from CLAmath library didn't work properly in my project, so I did a few simple experiments.

Here is the testing conditions:

Note: I only used Task1 in my experiments, and CLA_isr was triggered by EPWM1A

========================================================================================

In the Main source file:

#pragma DATA_SECTION(sineStep, "CpuToCla1MsgRAM");
float sineStep;

#pragma DATA_SECTION(SinePointCounter, "Cla1DataRAM");
Uint16 SinePointCounter;

Main ( )

{

Initialize the system and everything necessary.

.............................................

SinePointCounter = 1;

.............................................

Initialize CLA registers

( note: Cla1Regs.MMEMCFG.bit.RAM1E = 1; )

.............................................

sineStep = 0.0138396;

..............................................

Enable the things necessary.

}

=============================================================================================

In the "CLAShared.h" file:

extern Uint16 SinePointCounter;

extern float sineStep;

................................

==============================================================================================

In the "CLA.asm" file:

.cdecls C,LIST,"CLAShared.h"

      .include   "CLAmathLib_type0.inc"

CLA_DEBUG .set 1

      .sect    "Cla1Prog"
      .align 2

_Cla1Prog_Start:

_Cla1Task1:
    .if CLA_DEBUG == 1
        MDEBUGSTOP
    .endif

..................................................................................................

Experiments Content ---- See bottom

.................................................................................................

    MSTOP                                           ; end of task                                               (20)
   MNOP
   MNOP
   MNOP
_Cla1T1End:

===================================================================================================

Experiments Content

experiment1:

MMOV32 MR0, @_SinePointCounter

CLAsin result, sineStep

.......................................................

In the watch window, SinePointCounter is equal to 1 ( correct), and result is also correct.

experiment2:

MMOV32 MR0, @_SinePointCounter

MMOV32 @_SinePointCounter, MR0

CLAsin result, sineStep

.........................................................................................

In the watch window, SinePointCounter is equal to 1 ( correct), and result is also correct.

experiment3:

MMOV32 MR0, @_SinePointCounter

CLAsin result, sineStep

MMOV32 @_SinePointCounter, MR0

.........................................................................................

In the watch window, SinePointCounter is equal to 0 ( Wrong ) , and result is correct.

I hope someone could help me understand why Experiment #3 didn't work.

Thank you.

over 13 years ago

0 Frank H Zhang over 13 years ago

Expert 1515 points

Hi,

Here is my Linker file.

Note: It is a modifed version of the linker from the Cla_Adc example in ControlSUITE. (By the way, I am using TMS320F28035)

//*************************************************************************************************

MEMORY
{
PAGE 0 :
   /* BEGIN is used for the "boot to SARAM" bootloader mode   */

   BEGIN               : origin = 0x000000, length = 0x000002
   RAMM0                  : origin = 0x000050, length = 0x0003B0
   RAML0L1              : origin = 0x008000, length = 0x000C00
   RAML3               : origin = 0x009000, length = 0x001000
   RESET                : origin = 0x3FFFC0, length = 0x000002
   IQTABLES             : origin = 0x3FE000, length = 0x000B50     /* IQ Math Tables in Boot ROM */
   IQTABLES2           : origin = 0x3FEB50, length = 0x00008C     /* IQ Math Tables in Boot ROM */
   IQTABLES3           : origin = 0x3FEBDC, length = 0x0000AA   /* IQ Math Tables in Boot ROM */

   BOOTROM            : origin = 0x3FF27C, length = 0x000D44

PAGE 1 :

   BOOT_RSVD             : origin = 0x000002, length = 0x00004E     /* Part of M0, BOOT rom will use this for stack */
   RAMM1                      : origin = 0x000480, length = 0x000380     /* on-chip RAM block M1 */
   RAML2                 : origin = 0x008C00, length = 0x000400
   CLA1_MSGRAMLOW       : origin = 0x001480, length = 0x000080
   CLA1_MSGRAMHIGH      : origin = 0x001500, length = 0x000080
}

SECTIONS
{
   /* Setup for "boot to SARAM" mode:
      The codestart section (found in DSP28_CodeStartBranch.asm)
      re-directs execution to the start of user code. */
   codestart          : > BEGIN,     PAGE = 0
   ramfuncs         : > RAMM0      PAGE = 0
   .text             : > RAML0L1,   PAGE = 0
   .cinit            : > RAMM0,     PAGE = 0
   .pinit           : > RAMM0,     PAGE = 0
   .switch           : > RAMM0,     PAGE = 0
   .reset            : > RESET,     PAGE = 0, TYPE = DSECT /* not used, */

   .stack            : > RAMM1,     PAGE = 1
   .ebss             : > RAML0L1,     PAGE = 0
   .econst        : > RAML0L1,     PAGE = 0
   .esysmem         : > RAML0L1,     PAGE = 0

   CLAmathTables    : > RAML2,     PAGE = 1

   IQmath          : > RAML0L1,   PAGE = 0
   IQmathTables     : > IQTABLES, PAGE = 0, TYPE = NOLOAD

   Cla1Prog         : LOAD = RAML0L1,
                      RUN = RAML3,
                      LOAD_START(_Cla1funcsLoadStart),
                      LOAD_END(_Cla1funcsLoadEnd),
                      RUN_START(_Cla1funcsRunStart),
                      PAGE = 0

   Cla1ToCpuMsgRAM : > CLA1_MSGRAMLOW,   PAGE = 1
   CpuToCla1MsgRAM : > CLA1_MSGRAMHIGH, PAGE = 1

    Cla1DataRAM           : > RAML2, PAGE = 1

}

0 Vishal_Coelho over 13 years ago

TI__Mastermind 20850 points

Frank,

The macro CLAsin does not do a context save/restore operation on the registers MR0-MR3. It changes MR0 which is why you are seeing an incorrect value when you write to SinePointCounter

0 Frank H Zhang over 13 years ago in reply to Vishal_Coelho

Expert 1515 points

Hi Vishal,

Thank you for pointing that out. That is really important for me to know. But the question now is how I can use CLAsin in the middle of my code ?

Is that the limitation of using CLAsin or other functions from CLAmath library? only at the beginning or at the end of the task?

Could you maybe show me an example which is little bit more complicated than the example in ControlSUITE? The existing CLAmath examples are too simple, and there is only one operation in each task, so it would never reveal this kind of issue.

Thank you.

0 Vishal_Coelho over 13 years ago in reply to Frank H Zhang

TI__Mastermind 20850 points

Frank,

You can save and restore the registers in code as follows. In the CLA.asm file:

;declare these at the top of the file

_sin_tmp1 .usect "Cla1DataRAM",2
_sin_tmp2 .usect "Cla1DataRAM",2

_sin_tmp3 .usect "Cla1DataRAM",2
_sin_tmp4 .usect "Cla1DataRAM",2

;define the following macros

CONTEXT_SAVE .macro

MMOV32 @_sin_tmp1,MR0

MMOV32 @_sin_tmp2,MR1

MMOV32 @_sin_tmp3,MR2

MMOV32 @_sin_tmp4,MR3

.endm

CONTEXT_RESTORE .macro

MMOV32 MR0,@_sin_tmp1

MMOV32 MR1,@_sin_tmp2

MMOV32 MR2,@_sin_tmp3

MMOV32 MR3,@_sin_tmp4

.endm

;You can wrap these macros around the CLAsin macro

CONTEXT_SAVE

CLAsin result,SinePointer

CONTEXT_RESTORE

The new compiler, 6.1.0 supports C code on the CLA and is currently available through CCS. In the next few days, v400 of the CLAmath library will be releasing on controlSUITE. It provides C wrappers for all the routines and allows them to be called from within a task.

0 Frank H Zhang over 13 years ago in reply to Vishal_Coelho

Expert 1515 points

Hi Vishal,

Thank you so much for your help.

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Urgent: CLAsin function Issue