TMS320F28069M: Motorware with fp32 and tmu support

Hi Yanming,

thanks for the comment. 

I am a little further as I was investigating this. Using Lab5b with softlib side by side with Lab5b with fpu32, I found some obvious places early on where the fpu32 case fails. One case is in HAL_setParams()

_iq current_sf = _IQ(pUserParams->current_sf);

Here current_sf in the user param structure is defined as 

float_t current_sf; //!< Defines the current scale factor for the system

The actual value is 1.964... in float format.

This gets then converted by _IQ()

For "softlib" case after _IQ() conversion the value is 1.964.... in Q24 format as expected. This works.

However for the "fpu32" case the _IQ conversion leads to a value of 0.0 (zero) in Q24 format.

What am I missing?

Also for various .c files there is a header file called IQmathLib.h being included. Could you also explain the need for FLOAT_MATH vs IQ_MATH. Right now as far as I can tell everything is defined for IQ_MATH.

#define FLOAT_MATH 1
#define IQ_MATH 0

#ifndef MATH_TYPE
#define MATH_TYPE IQ_MATH
#endif

We talked to Witney Dewey, and we think this could be important.

Thanks!
--Gunter

Hi Yanming,

I made another interesting observation:

Building and running Lab5g seems to work, when executing over the questionable _IQ() functions. Lab5g is build with FPU32.

When using the Lab5b with my FPU32 support, there are distinct differences in the .map file, where I think there are some functions missing that are supposed to be linked in from the rts2800_fpu32.lib

The hal.c is the SAME between the two labs, but in case Lab5g it is causing the link of the symbols, in the other case Lab5b it does not.

Lab5g working .map file

Lab5b failing .map file

the fd_mpy and fd_tol functions are missing! There are some others missing.

Hi Yanming,

more testing.

First the linker command is this

Building target: "proj_lab05b.out"

Invoking: C2000 Linker

"C:/TI/ccsv8/tools/compiler/c2000_6.2.11/bin/cl2000" -v28 -ml -mt --float_support=fpu32 -O2 -g --define=FAST_ROM_V1p6 --define=FLASH --diag_warning=225 --display_error_number -z -m"proj_lab05b.map" --stack_size=0x3B0 --warn_sections -i"C:/TI/ccsv8/tools/compiler/c2000_6.2.11/lib" -i"C:/TI/ccsv8/tools/compiler/c2000_6.2.11/include" --reread_libs --priority --disable_auto_rts --diag_suppress=16002 --xml_link_info="proj_lab05b_linkInfo.xml" --rom_model -o "proj_lab05b.out" "./CodeStartBranch.obj" "./adc.obj" "./clarke.obj" "./clk.obj" "./cpu.obj" "./ctrl.obj" "./drv8305.obj" "./filter_fo.obj" "./flash.obj" "./gpio.obj" "./hal.obj" "./ipark.obj" "./memCopy.obj" "./offset.obj" "./osc.obj" "./park.obj" "./pid.obj" "./pie.obj" "./pll.obj" "./proj_lab05b.obj" "./pwm.obj" "./pwr.obj" "./spi.obj" "./svgen.obj" "./timer.obj" "./traj.obj" "./usDelay.obj" "./user.obj" "./wdog.obj" "C:/TI/motorware/motorware_1_01_00_18_05/sw/modules/fast/lib/32b/f28x/f2806x/2806xRevB_FastSpinROMSymbols_fpu32.lib" "C:/TI/motorware/motorware_1_01_00_18/sw/ide/ccs/cmd/f2806x/F28069F.cmd" "C:/TI/motorware/motorware_1_01_00_18_05/sw/modules/iqmath/lib/f28x/float/IQmath_fpu32.lib"  -lrts2800_fpu32.lib

You can see that the 2806xRevB_FastSpinROMSymbols get linked before the rts2800_fpu32 symbols.

Listing the symbols from 2806xRevB_FastSpinROMSymbols_fpu32.lib

$ ./nm2000.exe -a 2806xRevB_FastSpinROMSymbols_fpu32.lib |grep "TOL"
003f853d A FD$$TOL
00000000 f TMS320x2806x_REVB_boot_rom_out_FD$$TOL_tmp.asm
003f84cd A FS$$TOL
00000000 f TMS320x2806x_REVB_boot_rom_out_FS$$TOL_tmp.asm

This is an absolute symbol with an address, which gets linked first. Exactly what we are seeing. It points to a ROM symbol.

a0192896@LTA0192896 /cygdrive/c/TI/ccsv8/tools/compiler/c2000_6.2.11/bin
$ ./nm2000.exe rts2800_fpu32.lib |grep "TOL"
00000000 U FD$$TOL
00000000 U FD$$TOL
00000000 U FD$$TOL
00000000 T FD$$TOL
00000000 T FD$$TOLL
00000000 T FS$$TOL
00000000 T FS$$TOLL

These are all relative symbols, so I think it would force the code to get linked in.

Now what I am seeing when looking at the location via the Disassembly Window, there are only ITRAP0 instructions

003f853d A FD$$TOL

3f853d: 0000 ITRAP0
3f853e: 0000 ITRAP0
3f853f: 0000 ITRAP0
3f8540: 0000 ITRAP0
3f8541: 0000 ITRAP0
3f8542: 0000 ITRAP0

Do we have the wrong ROM symbols in the library?

Or do I have the wrong device, i.e. with a different ROM? I am using the TMS320F28069M Launchpad.

Thanks,

--Gunter

Hi,

since the Lab5g was working, I double checked the linker command line for that lab

Building target: "proj_lab05g.out"

Invoking: C2000 Linker

"C:/TI/ccsv8/tools/compiler/c2000_6.2.11/bin/cl2000" -v28 -ml -mt --float_support=fpu32 -O2 -g --define=FAST_ROM_V1p6 --diag_warning=225 --display_error_number -z -m"proj_lab05g.map" --stack_size=0x3B0 --warn_sections -i"C:/TI/ccsv8/tools/compiler/c2000_6.2.11/lib" -i"C:/TI/ccsv8/tools/compiler/c2000_6.2.11/include" --reread_libs --priority --disable_auto_rts --diag_suppress=16002 --xml_link_info="proj_lab05g_linkInfo.xml" --rom_model -o "proj_lab05g.out" -lrts2800_fpu32.lib "C:/TI/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/2806xRevB_FastSpinROMSymbols_fpu32.lib" "C:/TI/motorware/motorware_1_01_00_18/sw/modules/iqmath/lib/f28x/float/IQmath_fpu32.lib" "./CodeStartBranch.obj" "./adc.obj" "./clarke.obj" "./clk.obj" "./cpu.obj" "./ctrl.obj" "./drv8305.obj" "./filter_fo.obj" "./flash.obj" "./gpio.obj" "./hal.obj" "./ipark.obj" "./offset.obj" "./osc.obj" "./park.obj" "./pid.obj" "./pie.obj" "./pll.obj" "./proj_lab05g.obj" "./pwm.obj" "./pwr.obj" "./spi.obj" "./svgen.obj" "./timer.obj" "./traj.obj" "./usDelay.obj" "./user.obj" "./wdog.obj" "C:/TI/motorware/motorware_1_01_00_18/sw/ide/ccs/cmd/f2806x/f28069F_ram_lnk.cmd"  

<Linking>

Here the rts2800_fpu32.lib gets linked before 2806xRevB_FastSpinROMSymbols_fpu32.lib

This is exactly the opposite to what I have in Lab5b.

Is this a lib ordering issue?

Thanks!

--Gunter