I’m trying to use CLA task3 on a TMS320F28069 device. It works properly while debugging using JTAG but not when I power-cycle the target and let it run without JTAG. CPU runs and doesn’t hang but CLA just does nothing
Following Multiday-workshop Lab_12 example, *.cla file program code is copied from flash to RAM using memcpy at CLA initialization
extern Uint32 Cla1funcsRunStart, Cla1funcsLoadStart, Cla1funcsLoadSize;
memcpy(&Cla1funcsRunStart, &Cla1funcsLoadStart, (Uint32)&Cla1funcsLoadSize);
Then CLA program code is mapped from CPU to CLA
Cla1Regs.MMEMCFG.all = CLA_PROG_ENABLE|CLARAM0_ENABLE|CLARAM1_ENABLE|CLARAM2_ENABLE|CLA_RAM1CPUE;
The cmd linker:
CLA_SCRATCHPAD_SIZE = 0x100;
--undef_sym=__cla_scratchpad_end
--undef_sym=__cla_scratchpad_start
MEMORY:
{
PAGE 0:
L3DPSARAM : origin = 0x009000, length = 0x001000 /* CLA program RAM */
…
PAGE 1 : /* Data Memory */
CLA1_MSGRAMLOW : origin = 0x001480, length = 0x000080
CLA1_MSGRAMHIGH : origin = 0x001500, length = 0x000080
/* Load to flash, run from CLA Prog RAM */
Cla1Prog : LOAD = FLASH_ABCDEFGH, PAGE = 0
RUN_START(_Cla1Prog_Start)
RUN = L3DPSARAM, PAGE = 0
LOAD_START(_Cla1funcsLoadStart),
LOAD_SIZE(_Cla1funcsLoadSize)
RUN_START(_Cla1funcsRunStart)
CLAscratch :
{ *.obj(CLAscratch) // Scratchpad memory for the CLA C Compiler
. += CLA_SCRATCHPAD_SIZE;
*.obj(CLAscratch_end)
} > L2DPSARAM, PAGE = 1
For compiler 6.4.2 it is just used the following:
.scratchpad : > L2DPSARAM, PAGE = 1
I guess that the debugger is loading the CLA code to RAM as spruh18e.pdf says, and that is the reason it works fine while debugging:
“During debug the block can also be loaded directly by Code Composer Studio”
When I am debugging, I can see that the variable to control changes while task3 is running. CPU has access to this value to send it to a host (user GUI). I use task8 to reset PI controller variables and it works fine too
Task3 is triggered by PWM3 and task8 is forced by SW when the user stops the control. For testing purposes I’ve changed the SW to force task3 by SW. It works while debugging but after a power-cycle, the CPU hangs and restarts (watchdog) just when the task3 is launched (by the user switch)
The CLA code addresses are fine while debugging and at the map file:
Cla1funcsRunStart = 0x9000
Cla1funcsLoadStart = 0x3D898A
Cla1funcsLoadSize = 0x228
abs 00000228 _Cla1funcsLoadSize
0 003d898a _Cla1funcsLoadStart
0 00009000 _Cla1funcsRunStart
Tasks addresses:
0 00009200 _Cla1Task1
0 00009208 _Cla1Task2
0 00009000 _Cla1Task3
0 00009210 _Cla1Task4
0 00009218 _Cla1Task5
0 00009220 _Cla1Task6
0 000091ce _Cla1Task7
0 000090d2 _Cla1Task8
---------------------------------------------
Test to see what is in the flash memo:
I create a function
void FlashTaskFnc(void){ asm(" RPT #3 || NOP"); }
I which is exactly the same as ClaTask7
interrupt void Cla1Task7 ( void ){ asm(" RPT #3 || NOP");}
Look for their addresses on map output file
003d9d53 _FlashTaskFnc
…
003d8b58 0000000e ControlTasks.obj (Cla1Prog:_Cla1Task7)
I compare their contents at debugger Memo browser:
0x3D9D53 FlashTaskFnc
0x3D9D53 F603 7700 FF69 0006
(0x3D8B58: Cla1Task7 address at flash)
0x3D8B58 0000 7FA0 F603 7700 --- > DIFFERENT !!!
I don’t know why the linker is not saving properly the cla tasks to flash
Something else I don’t understand: building Lab_12 I can see at Lab_12.map file the symbols:
00008c00 230 (00008c00) __cla_scratchpad_start
00008d00 234 (00008d00) __cla_scratchpad_end
but I cannot see them in myapp.map file although they are defined at cmd linker and the same compiler version is used
Another issue: When I connect the debugger to the CLA, CCS says "no source code for 0x09000", even if I compile using -g option
Device: TMS320F28069 MPZT, probleam seen on several devices
CCS v6.0.1.00040
C2000 v6.4.2
custom board
JTAG: XDS100v2
Thanks!
Agus
