CCS/LAUNCHXL-F28069M: Does InstaSpin use CLA resources

richard payne

Part Number: LAUNCHXL-F28069M
Other Parts Discussed in Thread: MOTORWARE, DRV8305, CONTROLSUITE, C2000WARE

Tool/software: Code Composer Studio

I was wondering Instasin Motion use CLA resources. I have reviewed the SPRUHJ0B and found no reference for using CLA resources.

In this case, I can assign other resources into CLA such as resolver task (See TMDSRSLVR_v1.0 under Resolver_f28035_CLA), in such context the CPU focus on the motor task at 20KHz ISR loop rate while the CLA focus on resolver task at 80Khz or 160KHz PWM rate with ADC12 sample rate (10Khz).

Is there a restriction in sharing ADC12 between CPU and CLA at the same time?

How to export angle results from CLA into Instaspin code.

What do you think?

Added: One approach the ADC12 interrupt can be driven by ISR (conversion done) within COS where it which run the CLA code, or perhaps run both ISR in CPU and CLA together?, how to make that work?

over 5 years ago

0 richard payne over 5 years ago

Genius 4640 points

One approach the ADC12 interrupt can be driven by ISR (conversion done) within COS where it which run the CLA code, or perhaps run both ISR in CPU and CLA together?, how to make that work?

0 Han Zhang6 over 5 years ago in reply to richard payne

TI__Expert 7335 points

The InstaSPIN Motion does not use CLA in F28069M. You can dedicate the CLA to resolver decoding.

The motor control ISR can be triggered by the main output PWM and run on C28x core.

For the resolver software, you can trigger a CLA task from the excitation PWM and run the CLA version of resolver software.

CLA can pass the resolver decoding data to CPU through regular LS ram or utilizing the dedicated CLA-to-CPU Message RAM.

Please let me know if you have further question.

0 richard payne over 5 years ago in reply to Han Zhang6

Genius 4640 points

Thank you for the reply, I just returned from vacation.

What instrument I can use (from CCS10) to measure resource consumption in the performance of CLA and C28x and if possible peripheral use.

0 Han Zhang6 over 5 years ago in reply to richard payne

TI__Expert 7335 points

Richard,

One easy way to measure cycle consumption of your program we normally use is to setup a CPU timer, let it count down from its maximum value. Record the counter value before and after running the code. The difference will roughly the cycle taken to run the control program. Keep in mind there may be a couple of cycle difference caused by compiler optimization.

For CLA program, since CLA doesn't have access to CPU timer, you can use a ePWM module instead.

Han

0 richard payne over 5 years ago in reply to Han Zhang6

Genius 4640 points

I have copied/integrate the demo code in Resolver_f28035_CLA from TMDSRSLVR_v1.0 into my based code with F28069M device

I have read the Resolver_sw_library.pdf and noted the F28069M use float than fixed, so I copied over the Resolver_Lib_CLA_float.lib into local folder with include setup for compiler and linker.

I get this compiler error and warning.

I note there no demo code for F28069_CLA due to difference in FLOAT and FIXED as in F28035_CLA, I'm not sure what to change in Resolver_Cla.h

I can send this code via private file. I'm kinda stuck there for F28069M.

==========================================================================Error.

Description Resource Path Location Type
#10010 errors encountered during linking; "F28069M_RVP_1J_CLA.out" not F28069M_RVP_1J_CLA C/C++ Problem
<a href="file:/C:/ti/ccs1000/ccs/tools/compiler/dmed/HTML/16008.html">#16008-D</a> file F28069M_RVP_1J_CLA C/C++ Problem
gmake: *** [all] Error 2 F28069M_RVP_1J_CLA C/C++ Problem
gmake[1]: *** [F28069M_RVP_1J_CLA.out] Error 1 F28069M_RVP_1J_CLA C/C++ Problem
#10461-D Invalid to call CLA function "_init_resolver_CLA" defined in F28069M_RVP_1J_CLA C/C++ Problem
#10461-D Invalid to call CLA function "_resolver_algo_CLA" defined in F28069M_RVP_1J_CLA C/C++ Problem

0 Han Zhang6 over 5 years ago in reply to richard payne

TI__Expert 7335 points

CLA supports floating point on all C2000 devices. The difference on FPU support is only in C28x CPU.

Please check if you have enabled CLA and FPU support in Processor Options tab in your project properties setting.

For more help on debugging the code, you will need to share the project file with us. You can reach out to your TI local support team on sharing the code if you are not willing to share it in public forum. Thanks.

Han

0 richard payne over 5 years ago in reply to Han Zhang6

Genius 4640 points

It the same as F28035_CLA demo code.

How to reach out to TI Support Team?, I just send friendship link

0 Han Zhang6 over 5 years ago in reply to richard payne

TI__Expert 7335 points

I accepted your request.

For floating point support, please try to select FPU32 instead.

0 richard payne over 5 years ago in reply to Han Zhang6

Genius 4640 points

Building target: "F28069M_RVP_1J_CLA.out"
Invoking: C2000 Linker
"C:/ti/ccs1000/ccs/tools/compiler/ti-cgt-c2000_20.2.1.LTS/bin/cl2000" -v28 -ml -mt --cla_support=cla0 --float_support=fpu32 -O3 --opt_for_speed=5 --fp_mode=strict --advice:performance=all --define=LARGE_MODEL --define=_DEBUG --define=FAST_ROM_V1p6 --define=FLASH --define=QEP -g --c11 --diag_warning=225 --display_error_number --abi=coffabi -z -m"F28069M_RVP_1J_CLA.map" --stack_size=0x3B0 --warn_sections -i"E:/010_WorkAOT/011MyGit20/108_F28069M_RVP/controlSUITE/libs/math/CLAmath/v4_02_00_00/lib" -i"E:/010_WorkAOT/011MyGit20/108_F28069M_RVP/controlSUITE/libs/math/IQmath/v160/lib" -i"C:/ti/ccs1000/ccs/tools/compiler/ti-cgt-c2000_20.2.1.LTS/lib" -i"C:/ti/ccs1000/ccs/tools/compiler/ti-cgt-c2000_20.2.1.LTS/include" -i"E:/010_WorkAOT/011MyGit20/108_F28069M_RVP/f2806x/headers/cmd" -i"E:/010_WorkAOT/011MyGit20/108_F28069M_RVP/f2806x/common/cmd" --priority --reread_libs --disable_auto_rts --define=POSITION --diag_suppress=16002 --xml_link_info="F28069M_RVP_1J_CLA_linkInfo.xml" --rom_model -o "F28069M_RVP_1J_CLA.out" "C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/2806xRevB_FastSpinROMSymbols.lib" "C:/ti/motorware/motorware_1_01_00_18/sw/modules/spintac/lib/32b/SpinTAC.lib" "C:/ti/motorware/motorware_1_01_00_18/sw/modules/iqmath/lib/f28x/32b/IQmath.lib" "./F2806x_GlobalVariableDefs.obj" "./040_Debug/Detokeniser.obj" "./040_Debug/UART_Command.obj" "./040_Debug/UART_SCI.obj" "./040_Debug/UART_zPrintf.obj" "./040_Debug/sci.obj" "./100_Startup/RVP_Main.obj" "./110_SystemUtils/RVP_SystemUtils.obj" "./110_SystemUtils/hal.obj" "./130_Resolver/RVP_ResolverCLA.obj" "./190_LogSurvey/RVP_LogSurvey.obj" "./200_RVPApp/RVP_AppManager.obj" "./MotorWareLinks/CodeStartBranch.obj" "./MotorWareLinks/adc.obj" "./MotorWareLinks/clarke.obj" "./MotorWareLinks/clk.obj" "./MotorWareLinks/cpu.obj" "./MotorWareLinks/ctrlQEP.obj" "./MotorWareLinks/drv8305.obj" "./MotorWareLinks/enc.obj" "./MotorWareLinks/filter_fo.obj" "./MotorWareLinks/flash.obj" "./MotorWareLinks/gpio.obj" "./MotorWareLinks/ipark.obj" "./MotorWareLinks/memCopy.obj" "./MotorWareLinks/offset.obj" "./MotorWareLinks/osc.obj" "./MotorWareLinks/park.obj" "./MotorWareLinks/pid.obj" "./MotorWareLinks/pie.obj" "./MotorWareLinks/pll.obj" "./MotorWareLinks/pwm.obj" "./MotorWareLinks/pwr.obj" "./MotorWareLinks/qep.obj" "./MotorWareLinks/slip.obj" "./MotorWareLinks/spi.obj" "./MotorWareLinks/svgen.obj" "./MotorWareLinks/timer.obj" "./MotorWareLinks/traj.obj" "./MotorWareLinks/usDelay.obj" "./MotorWareLinks/user.obj" "./MotorWareLinks/wdog.obj" "../F28069M_CLA_Flash.cmd" "../F2806x_Headers_nonBIOS.cmd" "../130_Resolver/Lib/Resolver_Lib_CLA_float.lib" "../130_Resolver/Lib/cla0_math_library.lib" -llibc.a -lIQmath.lib
<Linking>
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out_FD$$MPY_tmp.ob
j>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C28FPU32" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out_FD$$TOL_tmp.ob
j>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out_FS$$DIV_tmp.ob
j>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out_FS$$TOFD_tmp.o
bj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__CTRL_getVersi
on_tmp.obj>" specifies ISA revision "C2800", which is not compatible with
ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__CTRL_initCtrl
_tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__CTRL_runTraj_
tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__CTRL_setEstPa
rams_tmp.obj>" specifies ISA revision "C2800", which is not compatible with
ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__CTRL_setUserM
otorParams_tmp.obj>" specifies ISA revision "C2800", which is not compatible
with ISA revision "C2700" specified in a previous file or on the command
line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__CTRL_setupCtr
l_tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__CTRL_setupEst
IdleState_tmp.obj>" specifies ISA revision "C2800", which is not compatible
with ISA revision "C2700" specified in a previous file or on the command
line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__CTRL_setupEst
OnLineState_tmp.obj>" specifies ISA revision "C2800", which is not
compatible with ISA revision "C2700" specified in a previous file or on the
command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__CTRL_setupTra
j_tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_doCurrent
Ctrl_tmp.obj>" specifies ISA revision "C2800", which is not compatible with
ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_doSpeedCt
rl_tmp.obj>" specifies ISA revision "C2800", which is not compatible with
ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getAngle_
pu_tmp.obj>" specifies ISA revision "C2800", which is not compatible with
ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getFlux_V
pHz_tmp.obj>" specifies ISA revision "C2800", which is not compatible with
ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getFlux_p
u_tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getFm_pu_
tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getIdRate
d_tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getLs_coa
rse_max_pu_tmp.obj>" specifies ISA revision "C2800", which is not compatible
with ISA revision "C2700" specified in a previous file or on the command
line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getLs_d_H
_tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getLs_d_p
u_tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getLs_q_H
_tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getLs_q_p
u_tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getMaxCur
rentSlope_pu_tmp.obj>" specifies ISA revision "C2800", which is not
compatible with ISA revision "C2700" specified in a previous file or on the
command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getOneOve
rDcBus_pu_tmp.obj>" specifies ISA revision "C2800", which is not compatible
with ISA revision "C2700" specified in a previous file or on the command
line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getRr_Ohm
_tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getRs_Ohm
_tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getSpeed_
krpm_tmp.obj>" specifies ISA revision "C2800", which is not compatible with
ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_getState_
tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_get_krpm_
to_pu_sf_tmp.obj>" specifies ISA revision "C2800", which is not compatible
with ISA revision "C2700" specified in a previous file or on the command
line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_get_pu_to
_krpm_sf_tmp.obj>" specifies ISA revision "C2800", which is not compatible
with ISA revision "C2700" specified in a previous file or on the command
line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_isError_t
mp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_isIdle_tm
p.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_isLockRot
or_tmp.obj>" specifies ISA revision "C2800", which is not compatible with
ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_isMotorId
entified_tmp.obj>" specifies ISA revision "C2800", which is not compatible
with ISA revision "C2700" specified in a previous file or on the command
line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_isOnLine_
tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_run_tmp.o
bj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_setFlag_e
nableForceAngle_tmp.obj>" specifies ISA revision "C2800", which is not
compatible with ISA revision "C2700" specified in a previous file or on the
command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_setFlag_e
nableRsRecalc_tmp.obj>" specifies ISA revision "C2800", which is not
compatible with ISA revision "C2700" specified in a previous file or on the
command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_setId_ref
_pu_tmp.obj>" specifies ISA revision "C2800", which is not compatible with
ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_setIdle_t
mp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_setIdle_a
ll_tmp.obj>" specifies ISA revision "C2800", which is not compatible with
ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_setIq_ref
_pu_tmp.obj>" specifies ISA revision "C2800", which is not compatible with
ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_setLs_d_p
u_tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_setLs_qFm
t_tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_setLs_q_p
u_tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_setMaxCur
rentSlope_pu_tmp.obj>" specifies ISA revision "C2800", which is not
compatible with ISA revision "C2700" specified in a previous file or on the
command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_setRs_pu_
tmp.obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_updateId_
ref_pu_tmp.obj>" specifies ISA revision "C2800", which is not compatible
with ISA revision "C2700" specified in a previous file or on the command
line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_updateSta
te_tmp.obj>" specifies ISA revision "C2800", which is not compatible with
ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__EST_useZeroIq
_ref_tmp.obj>" specifies ISA revision "C2800", which is not compatible with
ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/spintac/lib/32b/SpinTAC.lib
<spintac_pos_conv.obj>" specifies ISA revision "C2800", which is not
compatible with ISA revision "C2700" specified in a previous file or on the
command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/spintac/lib/32b/SpinTAC.lib
<spintac_vel_ctl.obj>" specifies ISA revision "C2800", which is not
compatible with ISA revision "C2700" specified in a previous file or on the
command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/spintac/lib/32b/SpinTAC.lib
<spintac_vel_id.obj>" specifies ISA revision "C2800", which is not
compatible with ISA revision "C2700" specified in a previous file or on the
command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/spintac/lib/32b/SpinTAC.lib
<spintac_vel_move.obj>" specifies ISA revision "C2800", which is not
compatible with ISA revision "C2700" specified in a previous file or on the
command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out_L$$DIV_tmp.obj
>" specifies ISA revision "C2800", which is not compatible with ISA revision
"C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/spintac/lib/32b/SpinTAC.lib
<spintac_vel_plan.obj>" specifies ISA revision "C2800", which is not
compatible with ISA revision "C2700" specified in a previous file or on the
command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/spintac/lib/32b/SpinTAC.lib
<spintac_pos_roadd.obj>" specifies ISA revision "C2800", which is not
compatible with ISA revision "C2700" specified in a previous file or on the
command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/spintac/lib/32b/SpinTAC.lib
<spintac_version.obj>" specifies ISA revision "C2800", which is not
compatible with ISA revision "C2700" specified in a previous file or on the
command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/iqmath/lib/f28x/32b/IQmath.
lib<IQ20div.obj>" specifies ISA revision "C2800", which is not compatible
with ISA revision "C2700" specified in a previous file or on the command
line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/iqmath/lib/f28x/32b/IQmath.
lib<IQmathTables.obj>" specifies ISA revision "C2800", which is not
compatible with ISA revision "C2700" specified in a previous file or on the
command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/iqmath/lib/f28x/32b/IQmath.
lib<IQ24cosPU.obj>" specifies ISA revision "C2800", which is not compatible
with ISA revision "C2700" specified in a previous file or on the command
line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/iqmath/lib/f28x/32b/IQmath.
lib<IQ24div.obj>" specifies ISA revision "C2800", which is not compatible
with ISA revision "C2700" specified in a previous file or on the command
line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/iqmath/lib/f28x/32b/IQmath.
lib<IQ24sinPU.obj>" specifies ISA revision "C2800", which is not compatible
with ISA revision "C2700" specified in a previous file or on the command
line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/iqmath/lib/f28x/32b/IQmath.
lib<IQ24sqrt.obj>" specifies ISA revision "C2800", which is not compatible
with ISA revision "C2700" specified in a previous file or on the command
line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/iqmath/lib/f28x/32b/IQmath.
lib<IQ30toF.obj>" specifies ISA revision "C2800", which is not compatible
with ISA revision "C2700" specified in a previous file or on the command
line
error #16008-D: file
"../130_Resolver/Lib/Resolver_Lib_CLA_float.lib<Resolver_CLA_Source.obj>"
specifies ISA revision "C28FPU32", which is not compatible with ISA revision
"C2700" specified in a previous file or on the command line
error #16008-D: file "atol.c.obj in
C:\ti\ccs1000\ccs\tools\compiler\ti-cgt-c2000_20.2.1.LTS\lib\rts2800_fpu32.l
ib" specifies ISA revision "C28FPU32", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__log_tmp.obj>"
specifies ISA revision "C2800", which is not compatible with ISA revision
"C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out_I$$DIV_tmp.obj
>" specifies ISA revision "C2800", which is not compatible with ISA revision
"C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out_I$$MOD_tmp.obj
>" specifies ISA revision "C2800", which is not compatible with ISA revision
"C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__pow_tmp.obj>"
specifies ISA revision "C2800", which is not compatible with ISA revision
"C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__s0_calc_tmp.o
bj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__s0_conf_tmp.o
bj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__s2_calc_tmp.o
bj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__s4_calc_tmp.o
bj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__s4_conf_tmp.o
bj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__s4_reset_tmp.
obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__s8_calc_tmp.o
bj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__s8_cfg_tmp.ob
j>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__s8_get_tmp.ob
j>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__s8_reset_tmp.
obj>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out_I$$TOFD_tmp.ob
j>" specifies ISA revision "C2800", which is not compatible with ISA
revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out_L$$MOD_tmp.obj
>" specifies ISA revision "C2800", which is not compatible with ISA revision
"C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__errno_tmp.obj
>" specifies ISA revision "C2800", which is not compatible with ISA revision
"C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__spintac_rom_v
er_tmp.obj>" specifies ISA revision "C2800", which is not compatible with
ISA revision "C2700" specified in a previous file or on the command line
error #16008-D: file
"C:/ti/motorware/motorware_1_01_00_18/sw/modules/fast/lib/32b/f28x/f2806x/28
06xRevB_FastSpinROMSymbols.lib<TMS320x2806x_REVB_boot_rom_out__ldexp_tmp.obj
>" specifies ISA revision "C2800", which is not compatible with ISA revision
"C2700" specified in a previous file or on the command line
warning #10461-D: Invalid to call CLA function "_resolver_algo_CLA" defined in
"../130_Resolver/Lib/Resolver_Lib_CLA_float.lib<Resolver_CLA_Source.obj>"
from C28 file "./130_Resolver/RVP_ResolverCLA.obj"
warning #10461-D: Invalid to call CLA function "_init_resolver_CLA" defined in
"../130_Resolver/Lib/Resolver_Lib_CLA_float.lib<Resolver_CLA_Source.obj>"
from C28 file "./130_Resolver/RVP_ResolverCLA.obj"
error #10010: errors encountered during linking; "F28069M_RVP_1J_CLA.out" not
built

>> Compilation failure
makefile:205: recipe for target 'F28069M_RVP_1J_CLA.out' failed
gmake[1]: *** [F28069M_RVP_1J_CLA.out] Error 1
makefile:201: recipe for target 'all' failed
gmake: *** [all] Error 2

**** Build Finished ****

I have found the link

https://e2e.ti.com/support/microcontrollers/c2000/f/171/p/460314/1661162?tisearch=e2e-sitesearch&keymatch=TMDSRSLVR#1661162

So I adjusted the CMD and memcopy to reflect his last comment.

NB: Later on I going to add PLAN and MOVE from instaspin (from Lab 13c or 15c I think). I note the InstaSpin use GLOBALQ in Q24 while the resolver use GLOBALQ in Q20. I going to default GLOBALQ to Q24 and change resolver code from _IQ() to _IQ20(), would that work?

Posted Zipped file, thanks.

0 Han Zhang6 over 5 years ago in reply to richard payne

TI__Expert 7335 points

Richard,

Please also share the project folder with me. The project setting doesn't seem to be latest. A lot of include files are missing and cannot compile. Maybe you have your project copied to workspace when importing to CCS.

Please check the location of your project folder from CCS project property resources tab. Thanks.

Han

0 richard payne over 5 years ago in reply to Han Zhang6

Genius 4640 points

Hi Han

I'm not sure how, but I use exports from CCS, but it does not include a local copy of controlsuite and C2000Ware

I resend to file kit under export method.

0 richard payne over 5 years ago in reply to richard payne

Genius 4640 points

Any luck?

0 Han Zhang6 over 5 years ago in reply to richard payne

TI__Expert 7335 points

I tried hard but still not able to compile the project you sent me. There are many dependent files that needs to be resolved int included in the project definition.

If you are unable to extract the project setting, can you please send a screenshot of the include option screen in your project setting? Thanks.

0 richard payne over 5 years ago in reply to Han Zhang6

Genius 4640 points

0 richard payne over 5 years ago in reply to richard payne

Genius 4640 points

CCS_Setup.docx

Resent in word document, the previous post paste picture did not work.

Can you send me complier/linker error so I can help to fix it. You can use riscy00 at gmail dot com.

0 richard payne over 5 years ago in reply to richard payne

Genius 4640 points

How it goes?

0 richard payne over 5 years ago in reply to richard payne

Genius 4640 points

How it goes?

0 richard payne over 5 years ago in reply to richard payne

Genius 4640 points

How it goes?

0 Han Zhang6 over 5 years ago in reply to richard payne

TI__Expert 7335 points

Hi,

I get the below error when compile your project. Can you please share if you have seen similar issue? Thanks.

Error: #80 expected a type specifier

on the lines below in IQMathLib.h file(lines 3330-3359)

extern    int _IQ30toa(char *A, const char *B, long C);
extern    int _IQ29toa(char *A, const char *B, long C);
extern    int _IQ28toa(char *A, const char *B, long C);
extern    int _IQ27toa(char *A, const char *B, long C);
extern    int _IQ26toa(char *A, const char *B, long C);
extern    int _IQ25toa(char *A, const char *B, long C);
extern    int _IQ24toa(char *A, const char *B, long C);
extern    int _IQ23toa(char *A, const char *B, long C);
extern    int _IQ22toa(char *A, const char *B, long C);
extern    int _IQ21toa(char *A, const char *B, long C);
extern    int _IQ20toa(char *A, const char *B, long C);
extern    int _IQ19toa(char *A, const char *B, long C);
extern    int _IQ18toa(char *A, const char *B, long C);
extern    int _IQ17toa(char *A, const char *B, long C);
extern    int _IQ16toa(char *A, const char *B, long C);
extern    int _IQ15toa(char *A, const char *B, long C);
extern    int _IQ14toa(char *A, const char *B, long C);
extern    int _IQ13toa(char *A, const char *B, long C);
extern    int _IQ12toa(char *A, const char *B, long C);
extern    int _IQ11toa(char *A, const char *B, long C);
extern    int _IQ10toa(char *A, const char *B, long C);
extern    int _IQ9toa(char *A, const char *B, long C);
extern    int _IQ8toa(char *A, const char *B, long C);
extern    int _IQ7toa(char *A, const char *B, long C);
extern    int _IQ6toa(char *A, const char *B, long C);
extern    int _IQ5toa(char *A, const char *B, long C);
extern    int _IQ4toa(char *A, const char *B, long C);
extern    int _IQ3toa(char *A, const char *B, long C);
extern    int _IQ2toa(char *A, const char *B, long C);
extern    int _IQ1toa(char *A, const char *B, long C);

0 richard payne over 5 years ago in reply to Han Zhang6

Genius 4640 points

I need to finish PCB layout task next week, after that, I get back to this.

Today, I have recently compiled the code and found no error, not sure what I have done after a long absence. Can you send me the name of the zip file so I can restore it from here and check, otherwise I can send you an updated zip file.

I note the Motor eval use Q24 while the resolver use Q20, the defaults was set to Q24 (via Motor), so I have change the default type to specific Q20 in the resolver code, correct?

It still on softlib. When I switch to fpu32, it has errors related to RTS. I did a lot of work on F28835 but that was 3-4 year ago, I went to another project MSP430 and TM4C, it gets a little rusty when I get back to C2000 !!!

C2000™︎ microcontrollers

C2000 microcontrollers forum

CCS/LAUNCHXL-F28069M: Does InstaSpin use CLA resources