28035 cla 第一次上电运行异常！！

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Susan Yang：

若是可以的话，请您私信一下工程，我们具体看一下，谢谢

另外您现在的boot模式以及是从哪里运行的RAM/FLASH?

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binjie wang：

boot是在flash，我用的是这个例程测试，也是这种情况C:\ti\controlSUITE\development_kits\HVMotorCtrl+PfcKit_v2.1\HVPM_Sensorless_CLA_F2803x

我发现好像是所有调用库函数的第一次上电运行计算都不正确。（CLAsinPU、CLAcosPU、CLAatan2PU、CLAsqrt、CLAexp）。其他计算都是正确的。

库我也是使用了cla0_math.lib、CLAmath.lib、cla0_math_library.lib、cla0_math_library_datarom.lib，结果都是一样的。结果是比较随机的数。

谢谢！

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binjie wang：

而且只要是在仿真器下重新烧录，再运行就正常了。

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Susan Yang：

请问您是自己修改例程在flash运行的？

因为HVPM_Sensorless_CLA_F2803x例程是没有在flash运行的示例的，需要您自己来修改设置的。

另外CLA自带的数学函数，用到一个cla math表，这个表需要用户自己配置在flash中。在cmd文件中添加如下类似代码：

CLA1mathTables：LOAD = FLASHH，PAGE = 0RUN = RAML2，PAGE = 1LOAD_START（_Cla1mathTablesLoadStart），LOAD_END（_Cla1mathTablesLoadEnd），RUN_START（_Cla1mathTablesRunStart）

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binjie wang：

多谢您的回复，我尝试在例程的cmd中加入以下：

CLAmathTables : LOAD = FLASHC,PAGE = 0 RUN = CLARAM1,PAGE = 1 LOAD_START(_ClamathTablesLoadStart), LOAD_END(_ClamathTablesLoadEnd), RUN_START(_ClamathTablesRunStart), LOAD_SIZE(_ClamathTablesLoadSize) CLA1mathTables : LOAD = FLASHC,PAGE = 0 RUN = CLARAM1,PAGE = 1 LOAD_START(_Cla1mathTablesLoadStart), LOAD_END(_Cla1mathTablesLoadEnd), RUN_START(_Cla1mathTablesRunStart), LOAD_SIZE(_Cla1mathTablesLoadSize)

现象是一样的，我也是怀疑库函数载入的不对，却又不知哪里不对，又找了例子cmd“F28035_CLA_C.cmd”，能编译通过并下载，重新上电后还是不对。

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binjie wang：

F28035_CLA_C.txt

/*
//###########################################################################
//
// FILE:	F28035_CLA_C.cmd
//
// TITLE:	Linker Command File For F28035 Device
//
//###########################################################################
// $TI Release: F2803x C/C++ Header Files and Peripheral Examples V130 $
// $Release Date: May8, 2015 $
// $Copyright: Copyright (C) 2009-2015 Texas Instruments Incorporated -
//https://www.ti2k.com/wp-content/uploads/ti2k/DeyiSupport_C2000_ ALL RIGHTS RESERVED $
//###########################################################################
*//* ======================================================
// For Code Composer Studio V2.2 and later
// ---------------------------------------
// In addition to this memory linker command file,
// add the header linker command file directly to the project.
// The header linker command file is required to link the
// peripheral structures to the proper locations within
// the memory map.
//
// The header linker files are found in <base>\DSP2803x_Headers\cmd
//
// For BIOS applications add:DSP2803x_Headers_BIOS.cmd
// For nonBIOS applications add:DSP2803x_Headers_nonBIOS.cmd
========================================================= *//* ======================================================
// For Code Composer Studio prior to V2.2
// --------------------------------------
// 1) Use one of the following -l statements to include the
// header linker command file in the project. The header linker
// file is required to link the peripheral structures to the proper
// locations within the memory map*//* Uncomment this line to include file only for non-BIOS applications */
/* -l DSP2803x_Headers_nonBIOS.cmd *//* Uncomment this line to include file only for BIOS applications */
/* -l DSP2803x_Headers_BIOS.cmd *//* 2) In your project add the path to <base>\DSP2803x_headers\cmd to thelibrary search path under project->build options, linker tab,library search path (-i).
/*========================================================= *//* Define the memory block start/length for the F28035PAGE 0 will be used to organize program sectionsPAGE 1 will be used to organize data sectionsNotes:Memory blocks on F2803x are uniform (ie samephysical memory) in both PAGE 0 and PAGE 1.That is the same memory region should not bedefined for both PAGE 0 and PAGE 1.Doing so will result in corruption of programand/or data.L0 memory block is mirrored - that isit can be accessed in high memory or low memory.For simplicity only one instance is used in thislinker file.Contiguous SARAM memory blocks or flash sectors can bebe combined if required to create a larger memory block.
*/
_Cla1Prog_Start = _Cla1funcsRunStart;
-heap 0x200
-stack 0x200// Define a size for the CLA scratchpad area that will be used
// by the CLA compiler for local symbols and temps
// Also force references to the special symbols that mark the
// scratchpad are.CLA_SCRATCHPAD_SIZE = 0x100;
--undef_sym=__cla_scratchpad_end
--undef_sym=__cla_scratchpad_startMEMORY
{
PAGE 0:/* Program Memory *//* Memory (RAM/FLASH/OTP) blocks can be moved to PAGE1 for data allocation */RAMM0: origin = 0x000050, length = 0x0003B0/* on-chip RAM block M0 */RAML3: origin = 0x009000, length = 0x001000/* on-chip RAM block L3 */OTP: origin = 0x3D7800, length = 0x000400/* on-chip OTP */FLASHH: origin = 0x3E8000, length = 0x002000/* on-chip FLASH */FLASHG: origin = 0x3EA000, length = 0x002000/* on-chip FLASH */FLASHF: origin = 0x3EC000, length = 0x002000/* on-chip FLASH */FLASHE: origin = 0x3EE000, length = 0x002000/* on-chip FLASH */FLASHD: origin = 0x3F0000, length = 0x002000/* on-chip FLASH */FLASHC: origin = 0x3F2000, length = 0x002000/* on-chip FLASH */FLASHA: origin = 0x3F6000, length = 0x001F80/* on-chip FLASH */CSM_RSVD: origin = 0x3F7F80, length = 0x000076/* Part of FLASHA.Program with all 0x0000 when CSM is in use. */BEGIN: origin = 0x3F7FF6, length = 0x000002/* Part of FLASHA.Used for "boot to Flash" bootloader mode. */CSM_PWL_P0: origin = 0x3F7FF8, length = 0x000008/* Part of FLASHA.CSM password locations in FLASHA */IQTABLES: origin = 0x3FE000, length = 0x000B50/* IQ Math Tables in Boot ROM */IQTABLES2: origin = 0x3FEB50, length = 0x00008C/* IQ Math Tables in Boot ROM */IQTABLES3: origin = 0x3FEBDC, length = 0x0000AA/* IQ Math Tables in Boot ROM */ROM: origin = 0x3FF27C, length = 0x000D44/* Boot ROM */RESET: origin = 0x3FFFC0, length = 0x000002/* part of boot ROM*/VECTORS: origin = 0x3FFFC2, length = 0x00003E/* part of boot ROM*/PAGE 1 :/* Data Memory *//* Memory (RAM/FLASH/OTP) blocks can be moved to PAGE0 for program allocation *//* Registers remain on PAGE1*/BOOT_RSVD: origin = 0x000000, length = 0x000050/* Part of M0, BOOT rom will use this for stack */RAMM1: origin = 0x000400, length = 0x000400/* on-chip RAM block M1 */RAML0: origin = 0x008000, length = 0x000800/* on-chip RAM block L0 */CLARAM0: origin = 0x008800, length = 0x000400CLARAM1: origin = 0x008C00, length = 0x000400CLA1_MSGRAMLOW: origin = 0x001480, length = 0x000080CLA1_MSGRAMHIGH: origin = 0x001500, length = 0x000080FLASHB: origin = 0x3F4000, length = 0x002000/* on-chip FLASH */}/* Allocate sections to memory blocks.Note:codestart user defined section in DSP28_CodeStartBranch.asm used to redirect codeexecution when booting to flashramfuncsuser defined section to store functions that will be copied from Flash into RAM
*/SECTIONS
{/* Allocate program areas: */.cinit: > FLASHAPAGE = 0.pinit: > FLASHA,PAGE = 0.text: >> FLASHC | FLASHEPAGE = 0codestart: > BEGINPAGE = 0ramfuncs: LOAD = FLASHD,RUN = RAMM0,LOAD_START(_RamfuncsLoadStart),LOAD_SIZE(_RamfuncsLoadSize),LOAD_END(_RamfuncsLoadEnd),RUN_START(_RamfuncsRunStart),PAGE = 0csmpasswds: > CSM_PWL_P0PAGE = 0csm_rsvd: > CSM_RSVDPAGE = 0/* Allocate uninitalized data sections: */.stack: > RAMM1PAGE = 1.cio: >> RAML0 | RAMM1PAGE = 1.sysmem: > RAMM1PAGE = 1.ebss: > RAML0PAGE = 1.esysmem: > RAML0PAGE = 1ramdata: > RAML0,PAGE = 1/* Initalized sections go in Flash *//* For SDFlash to program these, they must be allocated to page 0 */.econst: > FLASHAPAGE = 0.switch: > FLASHAPAGE = 0/* Allocate IQ math areas: */IQmath: > FLASHAPAGE = 0/* Math Code */IQmathTables: > IQTABLES,PAGE = 0, TYPE = NOLOAD.bss_cla: > CLARAM0,PAGE = 1.scratchpad: > CLARAM0,PAGE = 1Cla1Prog: LOAD = FLASHD,RUN = RAML3,LOAD_START(_Cla1funcsLoadStart),LOAD_END(_Cla1funcsLoadEnd),RUN_START(_Cla1funcsRunStart),LOAD_SIZE(_Cla1funcsLoadSize),PAGE = 0Cla1ToCpuMsgRAM: > CLA1_MSGRAMLOW,PAGE = 1CpuToCla1MsgRAM: > CLA1_MSGRAMHIGH,PAGE = 1Cla1DataRam0: > CLARAM0,PAGE = 1Cla1DataRam1: > CLARAM1,PAGE = 1GROUP: LOAD = FLASHB,RUN = CLARAM1,LOAD_START(_Cla1mathTablesLoadStart),LOAD_END(_Cla1mathTablesLoadEnd),RUN_START(_Cla1mathTablesRunStart),LOAD_SIZE(_Cla1mathTablesLoadSize),PAGE = 1{CLA1mathTables.const_cla}CLAscratch:{ *.obj(CLAscratch). += CLA_SCRATCHPAD_SIZE;*.obj(CLAscratch_end) } > CLARAM0,PAGE = 1/* Uncomment the section below if calling the IQNexp() or IQexp()functions from the IQMath.lib library in order to utilize therelevant IQ Math table in Boot ROM (This saves space and Boot ROMis 1 wait-state). If this section is not uncommented, IQmathTables2will be loaded into other memory (SARAM, Flash, etc.) and will takeup space, but 0 wait-state is possible.*//*IQmathTables2: > IQTABLES2, PAGE = 0, TYPE = NOLOAD{IQmath.lib<IQNexpTable.obj> (IQmathTablesRam)}*//* Uncomment the section below if calling the IQNasin() or IQasin()functions from the IQMath.lib library in order to utilize therelevant IQ Math table in Boot ROM (This saves space and Boot ROMis 1 wait-state). If this section is not uncommented, IQmathTables2will be loaded into other memory (SARAM, Flash, etc.) and will takeup space, but 0 wait-state is possible.*//*IQmathTables3: > IQTABLES3, PAGE = 0, TYPE = NOLOAD{IQmath.lib<IQNasinTable.obj> (IQmathTablesRam)}*//* .reset is a standard section used by the compiler.It contains the *//* the address of the start of _c_int00 for C Code./*/* When using the boot ROM this section and the CPU vector *//* table is not needed.Thus the default type is set here to*//* DSECT*/.reset: > RESET,PAGE = 0, TYPE = DSECTvectors: > VECTORSPAGE = 0, TYPE = DSECT}/*
//===========================================================================
// End of file.
//===========================================================================
*/

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Susan Yang：

若是可以的话，请您私信一下工程，谢谢

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binjie wang：

初始化时增加了 MemCopy(&Cla1mathTablesLoadStart, &Cla1mathTablesLoadEnd, &Cla1mathTablesRunStart);就可以了。多谢了，应该就是这个原因。

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Susan Yang：

很高兴您能解决问题，谢谢分享！是的，CLA MATH TABLE是需要放在flash的