Other Parts Discussed in Thread: C2000WARE, MOTORWARE
I'm trying to use the IQmath library from C2000ware v1.00.06.00 with TMS320F28069M and I'm having trouble. Is this library compatible with the 'F28069M device? If not, is there another version of the library that can be used with that device?
I'm testing with the 28069_IQsampleC example project but I updated the linker command file with the '28069M ROM addresses from the TRM for the IQTables regionss. However, the IQ function calls are still not linking to the correct addresses, causing problems at runtime. After debugging this further I think the library has hardcoded "abs" addresses for certain function symbols. For example see the address of the __IQ24mag function in the screenshot below from the map. I am attaching my linker command file and map file for your reference.
/*
//###########################################################################
//
// FILE: 28069_IQmath_lnk.cmd
//
// TITLE: Linker Command File For IQmath examples that run out of RAM
//
// NOTE; The example project uses memory protected by the
// Code Security Module (CSM). Make sure the CSM is
// unlocked before you load the project. One quick way
// to do this on an erased device is to open a memory
// window to the CSM password locations. If these locations
// read back 0xFFFF (or non-zero), then the CSM is unlocked:
//
// Device Password locations
// 28027: 0x3F7FF8 - 0x3F7FFF
//
//
//###########################################################################
// $TI Release: C28x IQmath Library v1.60.01.00 $
// $Release Date: Thu Oct 18 15:53:01 CDT 2018 $
// $Copyright: Copyright (C) 2014-2018 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
*/
MEMORY
{
PAGE 0 :
/* IQTABLES, IQTABLES2 and IQTABLES3 are part of the boot ROM.
The boot ROM is available in both program or
data space so this can be defined on page 0 or page 1
*/
IQTABLES : origin = 0x3FDC30, length = 0x000b50
IQTABLES2 : origin = 0x3FE780, length = 0x00008C
IQTABLES3 : origin = 0x3FE80C, length = 0x0000AA
BEGIN : origin = 0x000000, length = 0x000002
RAMM0 : origin = 0x000002, length = 0x0003FE
RAML0 : origin = 0x008000, length = 0x000800
RAML3 : origin = 0x009000, length = 0x001000
RESET : origin = 0x3FFFC0, length = 0x000002
PAGE 1 :
RAML1L2 : origin = 0x008800, length = 0x000800
BOOT_RSVD : origin = 0x000400, length = 0x000080 /* Part of M1, BOOT rom will use this for stack */
RAMM1 : origin = 0x000480, length = 0x000380 /* on-chip RAM block M1 */
}
SECTIONS
{
/* IQmath inclues the assembly routines in the IQmath library
IQmathTables is used by division, IQsin, IQcos, IQatan, IQatan2
this is in boot ROM so we make it NOLOAD. Using
the ROM version saves space at the cost of 1 cycle
per access (boot ROM is 1 wait).
IQmathTablesRam is used by IQasin, IQacos, and IQexp
Noticed these tables are linked seperatly since they are from
two source files within the library.
*/
IQmath : > RAML3, PAGE = 0
IQmathTables : > IQTABLES, PAGE = 0, TYPE = NOLOAD
IQmathTables2 : > IQTABLES2, PAGE = 0, TYPE = NOLOAD
{
IQmath_fpu32.lib<IQNexpTable.obj> (IQmathTablesRam)
}
IQmathTables3 :> IQTABLES3, PAGE = 0, type = NOLOAD
{
IQmath_fpu32.lib<IQNasinTable.obj> (IQmathTablesRam)
}
codestart : > BEGIN, PAGE = 0
ramfuncs : > RAMM0 PAGE = 0
.text : > RAML0, 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
.cio : > RAML1L2, PAGE = 1
.ebss : > RAML1L2, PAGE = 1
.econst : > RAML1L2, PAGE = 1
.sysmem : > RAML1L2, PAGE = 1
}
/*
//===========================================================================
// End of file.
//===========================================================================
*/
******************************************************************************
TMS320C2000 Linker PC v18.1.3
******************************************************************************
>> Linked Tue Dec 18 16:44:00 2018
OUTPUT FILE NAME: <28069_IQsampleC.out>
ENTRY POINT SYMBOL: "code_start" address: 00000000
MEMORY CONFIGURATION
name origin length used unused attr fill
---------------------- -------- --------- -------- -------- ---- --------
PAGE 0:
BEGIN 00000000 00000002 00000002 00000000 RWIX
RAMM0 00000002 000003fe 0000001f 000003df RWIX
RAML0 00008000 00000800 000002d1 0000052f RWIX
RAML3 00009000 00001000 000001c5 00000e3b RWIX
IQTABLES 003fdc30 00000b50 00000000 00000b50 RWIX
IQTABLES2 003fe780 0000008c 00000000 0000008c RWIX
IQTABLES3 003fe80c 000000aa 00000000 000000aa RWIX
RESET 003fffc0 00000002 00000000 00000002 RWIX
PAGE 1:
BOOT_RSVD 00000400 00000080 00000000 00000080 RWIX
RAMM1 00000480 00000380 00000190 000001f0 RWIX
RAML1L2 00008800 00000800 000003ce 00000432 RWIX
SECTION ALLOCATION MAP
output attributes/
section page origin length input sections
-------- ---- ---------- ---------- ----------------
IQmath 0 00009000 000001c5
00009000 0000009d IQmath_fpu32.lib : IQ24log.obj (IQmath)
0000909d 00000088 : IQ24atan2PU.obj (IQmath)
00009125 00000052 : IQ24asin.obj (IQmath)
00009177 0000003d : IQ24exp.obj (IQmath)
000091b4 00000011 : IQ24mpyI32int.obj (IQmath)
codestart
* 0 00000000 00000002
00000000 00000002 CodeStartBranch.obj (codestart)
.cinit 0 00000002 0000001f
00000002 0000000e rts2800_fpu32.lib : exit.c.obj (.cinit)
00000010 00000005 IQsampleSmall.obj (.cinit)
00000015 00000005 rts2800_fpu32.lib : _lock.c.obj (.cinit:__lock)
0000001a 00000005 : _lock.c.obj (.cinit:__unlock)
0000001f 00000002 --HOLE-- [fill = 0]
.text 0 00008000 000002d1
00008000 0000012b IQsampleSmall.obj (.text)
0000812b 00000083 rts2800_fpu32.lib : fd_mpy28.asm.obj (.text)
000081ae 00000056 : boot28.asm.obj (.text)
00008204 00000029 : exit.c.obj (.text)
0000822d 00000024 : cpy_tbl.c.obj (.text)
00008251 0000001f : fd_tol28.asm.obj (.text)
00008270 0000001d : memcpy.c.obj (.text)
0000828d 00000019 : args_main.c.obj (.text)
000082a6 00000017 : u_tofd28.asm.obj (.text)
000082bd 00000009 : _lock.c.obj (.text)
000082c6 00000008 CodeStartBranch.obj (.text)
000082ce 00000002 rts2800_fpu32.lib : pre_init.c.obj (.text)
000082d0 00000001 : startup.c.obj (.text)
.pinit 0 00000002 00000000 UNINITIALIZED
.reset 0 003fffc0 00000002 DSECT
003fffc0 00000002 rts2800_fpu32.lib : boot28.asm.obj (.reset)
.stack 1 00000480 00000190 UNINITIALIZED
00000480 00000190 --HOLE--
.ebss 1 00008800 000003ca UNINITIALIZED
00008800 000003c0 IQsampleSmall.obj (.ebss)
00008bc0 00000006 rts2800_fpu32.lib : exit.c.obj (.ebss)
00008bc6 00000002 : _lock.c.obj (.ebss:__lock)
00008bc8 00000002 : _lock.c.obj (.ebss:__unlock)
.econst 1 00008bca 00000004
00008bca 00000004 IQsampleSmall.obj (.econst)
MODULE SUMMARY
Module code initialized data uninitialized data
------ ---- ---------------- ------------------
.\
IQsampleSmall.obj 299 9 960
CodeStartBranch.obj 10 0 0
+--+---------------------+------+------------------+--------------------+
Total: 309 9 960
C:/TI/c2000/C2000Ware_1_00_06_00/libraries/math/IQmath/c28/lib/IQmath_fpu32.lib
IQ24log.obj 157 0 0
IQ24atan2PU.obj 136 0 0
IQ24asin.obj 82 0 0
IQ24exp.obj 61 0 0
IQ24mpyI32int.obj 17 0 0
+--+---------------------+------+------------------+--------------------+
Total: 453 0 0
C:/TI/ccsv8/tools/compiler/ti-cgt-c2000_18.1.3.LTS/lib/rts2800_fpu32.lib
fd_mpy28.asm.obj 131 0 0
boot28.asm.obj 86 0 0
exit.c.obj 41 14 6
cpy_tbl.c.obj 36 0 0
fd_tol28.asm.obj 31 0 0
memcpy.c.obj 29 0 0
args_main.c.obj 25 0 0
_lock.c.obj 9 10 4
u_tofd28.asm.obj 23 0 0
pre_init.c.obj 2 0 0
startup.c.obj 1 0 0
+--+---------------------+------+------------------+--------------------+
Total: 414 24 10
Stack: 0 0 400
+--+---------------------+------+------------------+--------------------+
Grand Total: 1176 33 1370
GLOBAL DATA SYMBOLS: SORTED BY DATA PAGE
address data page name
-------- ---------------- ----
00000480 12 (00000480) __stack
00008800 220 (00008800) _GlobalQ
00008802 220 (00008800) _Step
00008840 221 (00008840) _Dlog
00008bc0 22f (00008bc0) ___TI_enable_exit_profile_output
00008bc2 22f (00008bc0) ___TI_cleanup_ptr
00008bc4 22f (00008bc0) ___TI_dtors_ptr
00008bc6 22f (00008bc0) __lock
00008bc8 22f (00008bc0) __unlock
GLOBAL SYMBOLS: SORTED ALPHABETICALLY BY Name
page address name
---- ------- ----
0 00008000 .text
0 00008204 C$$EXIT
0 0000812b FD$$MPY
0 00008251 FD$$TOL
0 000082a6 U$$TOFD
1 00008840 _Dlog
1 00008800 _GlobalQ
abs 003feadc _IQasinTable
abs 003fe724 _IQatan2HalfPITable
abs 003fe762 _IQatan2Table
abs 003fe410 _IQdivTable
abs 003feac8 _IQexpTableCoeff
abs 003fea50 _IQexpTableMinMax
1 00008802 _Step
0 00009125 __IQ24asin
0 0000909d __IQ24atan2PU
abs 003fef83 __IQ24div
0 00009177 __IQ24exp
0 00009000 __IQ24log
abs 003fee35 __IQ24mag
0 000091b4 __IQ24mpyI32int
abs 003ff2c2 __IQ24sin
abs 003ff1ec __IQ29sqrt
1 00000610 __STACK_END
abs 00000190 __STACK_SIZE
1 00008bc2 ___TI_cleanup_ptr
1 00008bc4 ___TI_dtors_ptr
1 00008bc0 ___TI_enable_exit_profile_output
abs ffffffff ___TI_pprof_out_hndl
abs ffffffff ___TI_prof_data_size
abs ffffffff ___TI_prof_data_start
abs ffffffff ___binit__
abs ffffffff ___c_args__
0 00000002 ___cinit__
0 000082d1 ___etext__
abs ffffffff ___pinit__
0 00008000 ___text__
0 0000828d __args_main
1 00008bc6 __lock
0 000082c5 __nop
0 000082c1 __register_lock
0 000082bd __register_unlock
1 00000480 __stack
0 000082d0 __system_post_cinit
0 000082ce __system_pre_init
1 00008bc8 __unlock
0 00008204 _abort
0 000081ae _c_int00
0 0000822d _copy_in
0 00008206 _exit
0 00008000 _main
0 00008270 _memcpy
abs ffffffff binit
0 00000002 cinit
0 00000000 code_start
0 000082d1 etext
abs ffffffff pinit
GLOBAL SYMBOLS: SORTED BY Symbol Address
page address name
---- ------- ----
0 00000000 code_start
0 00000002 ___cinit__
0 00000002 cinit
0 00008000 .text
0 00008000 ___text__
0 00008000 _main
0 0000812b FD$$MPY
0 000081ae _c_int00
0 00008204 C$$EXIT
0 00008204 _abort
0 00008206 _exit
0 0000822d _copy_in
0 00008251 FD$$TOL
0 00008270 _memcpy
0 0000828d __args_main
0 000082a6 U$$TOFD
0 000082bd __register_unlock
0 000082c1 __register_lock
0 000082c5 __nop
0 000082ce __system_pre_init
0 000082d0 __system_post_cinit
0 000082d1 ___etext__
0 000082d1 etext
0 00009000 __IQ24log
0 0000909d __IQ24atan2PU
0 00009125 __IQ24asin
0 00009177 __IQ24exp
0 000091b4 __IQ24mpyI32int
1 00000480 __stack
1 00000610 __STACK_END
1 00008800 _GlobalQ
1 00008802 _Step
1 00008840 _Dlog
1 00008bc0 ___TI_enable_exit_profile_output
1 00008bc2 ___TI_cleanup_ptr
1 00008bc4 ___TI_dtors_ptr
1 00008bc6 __lock
1 00008bc8 __unlock
abs 00000190 __STACK_SIZE
abs 003fe410 _IQdivTable
abs 003fe724 _IQatan2HalfPITable
abs 003fe762 _IQatan2Table
abs 003fea50 _IQexpTableMinMax
abs 003feac8 _IQexpTableCoeff
abs 003feadc _IQasinTable
abs 003fee35 __IQ24mag
abs 003fef83 __IQ24div
abs 003ff1ec __IQ29sqrt
abs 003ff2c2 __IQ24sin
abs ffffffff ___TI_pprof_out_hndl
abs ffffffff ___TI_prof_data_size
abs ffffffff ___TI_prof_data_start
abs ffffffff ___binit__
abs ffffffff ___c_args__
abs ffffffff ___pinit__
abs ffffffff binit
abs ffffffff pinit
[57 symbols]
