CCS/LAUNCHXL-F28379D: endat22 library on a c2000ware project

Ludovico Bonan said:

Hi i want to use the endat22 library with the position manager on my project developed with c2000ware but it causes some problems with the libraries because the endat22 library is from controlSuite.

Please see if this thread applies:

https://e2e.ti.com/support/microcontrollers/c2000/f/171/p/885488/3275550?tisearch=e2e-sitesearch&keymatch=ar2000#3275550

Regards

Lori

I suspect it is the GlobalVariableDefs that is causing the issue. You can remove that object file from the ControlSuite library using the archiver. Refer to the Assembly Tool User's Guide (http://www.ti.com/lit/spru513)  for the archiver options on page 170.  Removal of a file is option -d.    The archiver, ar2000.exe, will be in the CCS/codegen bin directory where your CCS + compiler is installed.

Best regards

Lori

edit: to correct the option from -x to -d.

One correction from my above post.  -d deletes the file from the archive.  (-x extracts it but does not delete it).

Thanks for the fast reply Lori.

I don't find a GlobalVariableDefs library or file object in the ControlSUITE directory.

The closest thing is a F2837xD_GlobalVariableDefs.c file.

I tried to enter "ar2000.exe -x C:\ti\controlSUITE\device_support\F2837xD\v210\F2837xD_headers\source\F2837xD_GlobalVariableDefs.c" but i get the "is not an archive" error.

Regards

Ludovico

ar2000[-]command [options] libname [filename1... filenamen]

Hello,

The command is shown above.  Your libname will be the endat library.  The filename will be the file you want to extract (remove) from the archive (i.e. library) since it is causing a conflict.  Use the option -d to delete the file. 

Best Regards

Lori

Ludovico Bonan said:

but if i try to build the project nothing changed, i still get the same errors.

Please post the errors (screenshot will work).

Thank you

Lori

Hi here you can find some screenshot of the errorf the error

best regards 

Ludovico

Ludovico,

Is the utils.c file one you created or one from TI software?  I've not been able to find it in our SW yet. 

Regards

Lori

Hi Lori,

I created the utils.c file and utils.h as well, it contains some functions for our project.

Regards

Ludovico

In your utils.c file are you #including device header files from both C2000Ware and controlSUITE?  I suggest using the copy that is in C2000Ware.  

Hi Lori this is the utils.h header

#ifndef UTILS_H_
#define UTILS_H_

//includes
#include "epwm_management.h"
#include "math.h"
//#include "F28x_Project.h"     // Device Headerfile and Examples Include File
#include "endat.h"
#include "device.h"
#include "driverlib.h"


//defines
#define M_PI 3.14159265358979323846         //pi 

//prototypes
void fakeRef(double theta_me, float *U_alfa, float *U_beta);

void spaceVectorMod(float U_alfa,float U_beta, float Vdc, float fsw, int * cmp);

#endif

I tried to comment the #include F28x_Project.h and #include the header file from C2000Ware (driverlib.h and device.h) but i still get those same errors.

kind regards

Ludovico

Ludovico,

I'm not able to reproduce the problem.  I took one of our driverlib examples from c2000Ware. 

Added the includes you show except epwm_management.h

(I assumed math.h is the standard library one)

//
// Included Files
//
#include <math.h>
#include "endat.h"
#include "device.h"
#include "driverlib.h"

Modified PM_endat22_Include.h to use "device.h" and "driverlib.h":

//Library of EnDat functions
#include <stdint.h>
//#include "F28x_Project.h"
#include "device.h"
#include "driverlib.h"

#define ENDAT22	1
#define ENDAT21	0

What is in the ePWM management .h file?

Regards

Lori

Hi Lori we have corrected the errors by removing #include "F28x_Project.h" from all parts of the project and modifing PM_endat22_Include.h to use "device.h" and "driverlib.h".

Now we have another issue: most instructions in endat.c are obsolete and we don't know how to replace them.

If we try to build we get these errors

Thank you for your support 

Regards

Ludovico

Hello,

These are defined in F2837xD_GlobalVariableDefs.c located here: C:\ti\c2000\C2000Ware<version>\device_support\f2837xd\headers\source.  Make sure this file is part of your project.

Regards

Lori

Hi Lori I tried to add F2837xD_GlobalVariableDefs.c to the project and i replaced #include F2837xD_Device.h with #include device.h (because it couldn't open the former) and if i try to build i get over 100 errors 

I exported the project in a zip file available at this link https://we.tl/t-mW5W7JRaxJ (expires in a week). If you could take a look at it to find out how to resolve our issue that would be great.
Thanks in advance

best regards

Ludovico

Ludovico,

The TI network won't allow me to access the files.  I suggest starting with the following project - it includes all of the setup for both driverlib and the bit-field structures.  

C:\ti\c2000\C2000Ware_<version>\device_support\f2837xd\examples\cpu1\empty_bitfield_driverlib

Regards

Lori

Hi Lori your suggestion was very helpful, i was able to add the endat22 files to the empty project and build it without errors!

However, there is still one issue: after i tried to add the main code as well i get this error while building

After trying to troubleshot this i notice that the error is caused by the functions in endat.c and endat_commands.c.

This is my main.c file, it's basically identical to the PM_endat22-Main.c in original project.

//#############################################################################
//
// FILE:   empty_bitfield_driverlib_main.c
//
// TITLE:  Empty Example
//
// Empty Bit-Field & Driverlib Example
//
// This example is an empty project setup for Bit-Field and Driverlib 
// development.
//
//#############################################################################
// $TI Release: F2837xD Support Library v3.10.00.00 $
// $Release Date: Tue May 26 17:13:46 IST 2020 $
// $Copyright:
// Copyright (C) 2013-2020 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without 
// modification, are permitted provided that the following conditions 
// are met:
// 
//   Redistributions of source code must retain the above copyright 
//   notice, this list of conditions and the following disclaimer.
// 
//   Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the 
//   documentation and/or other materials provided with the   
//   distribution.
// 
//   Neither the name of Texas Instruments Incorporated nor the names of
//   its contributors may be used to endorse or promote products derived
//   from this software without specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//#############################################################################

//
// Included Files
//
#include "main.h"

//
// Main
//
void main(void)
{
    // Initialize System Control:
    // PLL, WatchDog, enable Peripheral Clocks
    // This example function is found in the F2837xD_SysCtrl.c file.
        InitSysCtrl();
    // Step 3. Clear all interrupts and initialize PIE vector table:
    // Disable CPU interrupts
        DINT;

    // Initialize the PIE control registers to their default state.
    // The default state is all PIE interrupts disabled and flags
    // are cleared.
    // This function is found in the F2837xD_PieCtrl.c file.
        InitPieCtrl();

    // Disable CPU interrupts and clear all CPU interrupt flags:
        IER = 0x0000;
        IFR = 0x0000;

    // Initialize the PIE vector table with pointers to the shell Interrupt
    // Service Routines (ISR).
    // This will populate the entire table, even if the interrupt
    // is not used in this example.  This is useful for debug purposes.
    // The shell ISR routines are found in F2837xD_DefaultIsr.c.
    // This function is found in F2837xD_PieVect.c.
        InitPieVectTable();

    //Initialization routine for endat operation - defined in endat.c
    //Configures the peripherals and enables clocks for required modules
    //Configures GPIO and XBar as needed for EnDat operation
    //Sets up the SPI peripheral in endat data structure and enables interrupt
        EnDat_Init();

    //A template for running all the EnDat21 commands
    //This is optional in real applications.
    //Function defined in endat_commands.c
        endat21_runCommandSet();

        if (ENCODER_TYPE == 22)
        {
    //A template for running all the EnDat22 commands
    //This is optional in real applications.
    //Function defined in endat_commands.c

            endat22_runCommandSet();
        }

    //Enables 2 additional datas in endat22 operation
    //This is also optional in real applications. Function defined in endat.c

        endat22_setupAddlData();

    //Peforms cable propagation delay calculation.
    //This is required for long cable lengths and higher EnDat Clock frequencies
    //Function defined in endat.c

        EnDat_initDelayComp();

    //Switch to high frequency - 8.3MHz (=200/4*ENDAT_RUNTIME_FREQ_DIVIDER)
        PM_endat22_setFreq(ENDAT_RUNTIME_FREQ_DIVIDER);
        DELAY_US(800L);     //Delay 800us

        while(1)
        {
            if (ENCODER_TYPE == 22)
            {
    //Read position data in EnDat22 mode with 2 additional data enabled
    //earlier by endat22_setupAddlData function call.
    //Function defined in endat.c
                endat22_readPositionWithAddlData();
            }
            else
            {
    //Read position data in EnDat21 mode. Function defined in endat.c
                endat21_readPosition();
            }
        }
}




//
// End of File
//

Kind regards

Ludovico

The unresolved symbol is in the VCU library located in C:\ti\c2000\C2000Ware<version>\libraries\dsp\VCU  This library needs to be added to your project. 

Regards

Lori

Hi Lori i tried to add the library using the linker options but that didn't resolve neither the "unresolved symbol" error, nor the "program will not fit into available memory" error.

I dont know what to do at this point, could you perhaps take a look at the linker map and tell me if there is something wrong?

I get the error "line 62: error #10099-D: program will not fit into available memory, or the section contains a call site that requires a trampoline that can't be generated for this section. placement with alignment/blocking fails for section ".text" size 0x279apage 0.  Available memory ranges:" at line 62.

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

   BEGIN            : origin = 0x000000, length = 0x000002
   RAMM0            : origin = 0x000123, length = 0x0002DD
   RAMD0            : origin = 0x00B000, length = 0x000800
   RAMLS0           : origin = 0x008000, length = 0x000800
   RAMLS1           : origin = 0x008800, length = 0x000800
   RAMLS2           : origin = 0x009000, length = 0x000800
   RAMLS3           : origin = 0x009800, length = 0x000800
   RAMLS4           : origin = 0x00A000, length = 0x000800
   RESET            : origin = 0x3FFFC0, length = 0x000002

PAGE 1 :

   BOOT_RSVD       : origin = 0x000002, length = 0x000121     /* Part of M0, BOOT rom will use this for stack */
   RAMM1           : origin = 0x000400, length = 0x0003F8     /* on-chip RAM block M1 */
//   RAMM1_RSVD      : origin = 0x0007F8, length = 0x000008     /* Reserve and do not use for code as per the errata advisory "Memory: Prefetching Beyond Valid Memory" */
   RAMD1           : origin = 0x00B800, length = 0x000800

   RAMLS5      : origin = 0x00A800, length = 0x000800

   RAMGS0      : origin = 0x00C000, length = 0x001000
   RAMGS1      : origin = 0x00D000, length = 0x001000
   RAMGS2      : origin = 0x00E000, length = 0x001000
   RAMGS3      : origin = 0x00F000, length = 0x001000
   RAMGS4      : origin = 0x010000, length = 0x001000
   RAMGS5      : origin = 0x011000, length = 0x001000
   RAMGS6      : origin = 0x012000, length = 0x001000
   RAMGS7      : origin = 0x013000, length = 0x001000
   RAMGS8      : origin = 0x014000, length = 0x001000
   RAMGS9      : origin = 0x015000, length = 0x001000
   RAMGS10     : origin = 0x016000, length = 0x001000

//   RAMGS11     : origin = 0x017000, length = 0x000FF8   /* Uncomment for F28374D, F28376D devices */

//   RAMGS11_RSVD : origin = 0x017FF8, length = 0x000008    /* Reserve and do not use for code as per the errata advisory "Memory: Prefetching Beyond Valid Memory" */

   RAMGS11     : origin = 0x017000, length = 0x001000     /* Only Available on F28379D, F28377D, F28375D devices. Remove line on other devices. */
   RAMGS12     : origin = 0x018000, length = 0x001000     /* Only Available on F28379D, F28377D, F28375D devices. Remove line on other devices. */
   RAMGS13     : origin = 0x019000, length = 0x001000     /* Only Available on F28379D, F28377D, F28375D devices. Remove line on other devices. */
   RAMGS14     : origin = 0x01A000, length = 0x001000     /* Only Available on F28379D, F28377D, F28375D devices. Remove line on other devices. */
   RAMGS15     : origin = 0x01B000, length = 0x000FF8     /* Only Available on F28379D, F28377D, F28375D devices. Remove line on other devices. */
   
   RAMGS15_RSVD : origin = 0x01BFF8, length = 0x000008    /* Reserve and do not use for code as per the errata advisory "Memory: Prefetching Beyond Valid Memory" */
                                                            /* Only on F28379D, F28377D, F28375D devices. Remove line on other devices. */

   CPU2TOCPU1RAM   : origin = 0x03F800, length = 0x000400
   CPU1TOCPU2RAM   : origin = 0x03FC00, length = 0x000400

   CANA_MSG_RAM     : origin = 0x049000, length = 0x000800
   CANB_MSG_RAM     : origin = 0x04B000, length = 0x000800
}


SECTIONS
{
   codestart        : > BEGIN,     PAGE = 0
   .text            : >> RAMM0 | RAMD0 |  RAMLS0 | RAMLS1 | RAMLS2 | RAMLS3 | RAMLS4,   PAGE = 0
   .cinit           : > RAMM0,     PAGE = 0
   .switch          : > RAMM0,     PAGE = 0
   .reset           : > RESET,     PAGE = 0, TYPE = DSECT /* not used, */
   .stack           : > RAMM1,     PAGE = 1

#if defined(__TI_EABI__)
   .bss             : > RAMLS5,    PAGE = 1
   .bss:output      : > RAMLS3,    PAGE = 0
   .init_array      : > RAMM0,     PAGE = 0
   .const           : > RAMLS5,    PAGE = 1
   .data            : > RAMLS5,    PAGE = 1
   .sysmem          : > RAMLS5,    PAGE = 1
#else
   .pinit           : > RAMM0,     PAGE = 0
   .ebss            : > RAMLS5,    PAGE = 1
   .econst          : > RAMLS5,    PAGE = 1
   .esysmem         : > RAMLS5,    PAGE = 1
#endif

   Filter_RegsFile  : > RAMGS0,    PAGE = 1


   ramgs0           : > RAMGS0,    PAGE = 1
   ramgs1           : > RAMGS1,    PAGE = 1

#ifdef __TI_COMPILER_VERSION__
   #if __TI_COMPILER_VERSION__ >= 15009000
    .TI.ramfunc : {} > RAMM0,      PAGE = 0
   #else
    ramfuncs    : > RAMM0      PAGE = 0   
   #endif
#endif

   /* The following section definitions are required when using the IPC API Drivers */
    GROUP : > CPU1TOCPU2RAM, PAGE = 1
    {
        PUTBUFFER
        PUTWRITEIDX
        GETREADIDX
    }

    GROUP : > CPU2TOCPU1RAM, PAGE = 1
    {
        GETBUFFER :    TYPE = DSECT
        GETWRITEIDX :  TYPE = DSECT
        PUTREADIDX :   TYPE = DSECT
    }

    /* The following section definition are for SDFM examples */
   Filter1_RegsFile : > RAMGS1, PAGE = 1, fill=0x1111
   Filter2_RegsFile : > RAMGS2, PAGE = 1, fill=0x2222
   Filter3_RegsFile : > RAMGS3, PAGE = 1, fill=0x3333
   Filter4_RegsFile : > RAMGS4, PAGE = 1, fill=0x4444
   Difference_RegsFile : >RAMGS5,   PAGE = 1, fill=0x3333
}

/*
//===========================================================================
// End of file.
//===========================================================================
*/

also here is the project .zip files, if it's of any help.

endat22_encoder_project_empty_bitfield.zip

Kind regards 

Ludovico

Hello Lori
Your answer was extremely helpful and we successfully resolved our issue.
Thank you for your patience and your support.
Best wishes

Ludovico