DSP28377D学习记录——（CLA配置）

前言

本项目基于TI官方例程进行学习

例程位于ti\c2000\C2000Ware_5_02_00_00\device_support\f2837xd\examples\cpu1

参考资料

TMS320F2837xD Dual-Core Microcontrollers Technical Reference Manual （第六章）

https://www.ti.com.cn/cn/lit/pdf/spruhm8?keyMatch=TMS320F2837xD%20Dual-Core%20Microcontrollers%20Technical%20Reference%20Manual

调试参考

CLA Hands On Workshop - Part 4 Debugging on the CLA | Video | TI.com

一、配置cmd文件

可直接调用ti\c2000\C2000Ware_5_02_00_00\device_support\f2837xd\common\cmd文件夹中的2837xD_RAM_CLA_lnk_cpu1.cmd文件

对cmd文件中涉及的有关CLA模块的内容稍加解释

1.文件开头定义

  定义 CLA 暂存器区域的大小

CLA_SCRATCHPAD_SIZE = 0x100;

2.MEMORY  PAGE 0中

  分配RAM用于CLA的程序空间

RAMLS4_5         : origin = 0x00A000,   length = 0x001000

3.MEMORY  PAGE 1中

（1）分配RAMLS0-5用于CLA的数据空间

RAMLS0          	: origin = 0x008000,   length = 0x000800
RAMLS1          	: origin = 0x008800,   length = 0x000800
RAMLS2      		: origin = 0x009000,   length = 0x000800
RAMLS3      		: origin = 0x009800,   length = 0x000800

（2）分配内存空间用于CLA与CPU交互

CLA1_MSGRAMLOW     : origin = 0x001480, length = 0x000080

CLA1_MSGRAMHIGH    : origin = 0x001500, length = 0x000080

4.SECTION中

CLA1mathTables    : LOAD = FLASHL,             

                    RUN = RAMLS3,

                    LOAD_START(_Cla1mathTablesLoadStart),

                    LOAD_END(_Cla1mathTablesLoadEnd),

                    LOAD_SIZE(_Cla1mathTablesLoadSize),

                    RUN_START(_Cla1mathTablesRunStart),

                    PAGE = 1


Cla1Prog         : > RAMLS4_5, PAGE=0         //cla程序空间

CLADataLS0		: > RAMLS0, PAGE=1
CLADataLS1		: > RAMLS1, PAGE=1

Cla1ToCpuMsgRAM        : > CLA1_MSGRAMLOW,          PAGE = 1
CpuToCla1MsgRAM        : > CLA1_MSGRAMHIGH,         PAGE = 1

#ifdef CLA_C
   /* CLA C compiler sections */
   //
   // Must be allocated to memory the CLA has write access to
   //CLA存储临时数据
   CLAscratch       :
                     { *.obj(CLAscratch)
                     . += CLA_SCRATCHPAD_SIZE;
                     *.obj(CLAscratch_end) } >  RAMLS1,  PAGE = 1

   .scratchpad      : > RAMLS1,       PAGE = 1
   .bss_cla		    : > RAMLS1,       PAGE = 1
   .const_cla	    : > RAMLS1,       PAGE = 1
#endif //CLA_C

二、在工程项目的APP/CLA文件夹中创建include、lib、rom_symbol_libs文件夹

include中添加clamath.h

文件路径： ti\c2000\C2000Ware_2_01_00_00\libraries\math\CLAmath\c28\include

lib中添加cla1_math_library_datarom_fpu32.lib及cla1_math_library_fpu32.lib

文件路径： ti\c2000\C2000Ware_2_01_00_00\libraries\math\CLAmath\c28\lib

rom_symbol_lib中添加F2837xRevB_c1bootROM_CLADataROMSymbols_fpu32.lib

文件路径：ti\c2000\C2000Ware_2_01_00_00\libraries\boot_rom\f2837xd\rev0\rom_symbol_libs

三、修改项目属性

1.定义CLA_C=1

properties→Build→C2000 Linker→Advanced Options→Command File Prepocessing中定义CLA_C=1，如图所示

2.CPU1预定义

properties→Build→C2000 Compiler→Predefined Symbols中预定义CPU1，如图所示

四、创建cla_init.h头文件、cla_init.c初始化、cla_share.cla

cla_init.h

/*
 * cla_init.h
 *
 *  Created on: 2024年5月7日
 *      Author: cmy
 */

#ifndef APP_CLA_CLA_INIT_H_
#define APP_CLA_CLA_INIT_H_

//
// Included Files
//

#include <F28x_Project.h>
#include "F2837xD_Cla_defines.h"
#include <stdint.h>
#include <LED/LED.h>


#ifdef __cplusplus
extern "C" {
#endif


//
//Task 1 (C) Variables
//事件一交互变量
extern float fVal; //input
extern float fVal1; //
extern float fVal2; //input
extern float fResult;  //Estimated result

//
//Task 2 (C) Variables
//

//
//Task 3 (C) Variables
//

//
//Task 4 (C) Variables
//

//
//Task 5 (C) Variables
//

//
//Task 6 (C) Variables
//

//
//Task 7 (C) Variables
//

//
//Task 8 (C) Variables
//

//
//Common (C) Variables
//

//
// Function Prototypes
//
// The following are symbols defined in the CLA assembly code
// Including them in the shared header file makes them
// .global and the main CPU can make use of them.
//CLA事件
__interrupt void Cla1Task1();
__interrupt void Cla1Task2();
__interrupt void Cla1Task3();
__interrupt void Cla1Task4();
__interrupt void Cla1Task5();
__interrupt void Cla1Task6();
__interrupt void Cla1Task7();
__interrupt void Cla1Task8();


void CLA_init(void);
void CLA_configClaMemory(void);
void CLA_initCpu1Cla1(void);
void CLA_runTest(void);

#define WAITSTEP     asm(" RPT #255 || NOP")

//cla事件处理结束之后触发相应中断
__interrupt void cla1Isr1();
__interrupt void cla1Isr2();
__interrupt void cla1Isr3();
__interrupt void cla1Isr4();
__interrupt void cla1Isr5();
__interrupt void cla1Isr6();
__interrupt void cla1Isr7();
__interrupt void cla1Isr8();



#ifdef __cplusplus
}
#endif // extern "C"

#endif //end of _CLA_SQRT_SHARED_H_ definition

cla_init.c

/*
 * cla_init.c
 *
 *  Created on: 2024年5月7日
 *      Author: cmy
 */

#include <CLA/cla_init.h>


//
//Task 1 (C) Variables
// NOTE: Do not initialize the Message RAM variables globally, they will be
// reset during the message ram initialization phase in the CLA memory
// configuration routine
//将变量放置在指定的共享内存段中，以便两个模块访问
#ifdef __cplusplus
#pragma DATA_SECTION("CpuToCla1MsgRAM");
float fVal;
#pragma DATA_SECTION("Cla1ToCpuMsgRAM");
float fResult;
#else
#pragma DATA_SECTION(fVal,"CpuToCla1MsgRAM");
float fVal;
#pragma DATA_SECTION(fVal1,"CpuToCla1MsgRAM");
float fVal1;
#pragma DATA_SECTION(fVal2,"CpuToCla1MsgRAM");
float fVal2;
#pragma DATA_SECTION(fResult,"Cla1ToCpuMsgRAM");
float fResult;
#endif //__cplusplus
//float y[BUFFER_SIZE];

//
//Task 2 (C) Variables
//

//
//Task 3 (C) Variables
//

//
//Task 4 (C) Variables
//

//
//Task 5 (C) Variables
//

//
//Task 6 (C) Variables
//

//
//Task 7 (C) Variables
//

//
//Task 8 (C) Variables
//

//
//Common (C) Variables
//
uint16_t pass=0;
uint16_t fail=0;

void CLA_init(void)
{
    //EALLOW;

    CLA_configClaMemory();

    CLA_initCpu1Cla1();

    //EDIS;
}

void CLA_configClaMemory(void)
{
    extern uint32_t Cla1funcsRunStart, Cla1funcsLoadStart, Cla1funcsLoadSize;
    EALLOW;

#ifdef _FLASH
    //
    // Copy over code from FLASH to RAM
    //
    memcpy((uint32_t *)&Cla1funcsRunStart, (uint32_t *)&Cla1funcsLoadStart,
           (uint32_t)&Cla1funcsLoadSize);
#endif //_FLASH



    //
    // Initialize and wait for CLA1ToCPUMsgRAM
    //
    MemCfgRegs.MSGxINIT.bit.INIT_CLA1TOCPU = 1;//RAM初始化控制
    while(MemCfgRegs.MSGxINITDONE.bit.INITDONE_CLA1TOCPU != 1){};//=1 is done

    //
    // Initialize and wait for CPUToCLA1MsgRAM
    //
    MemCfgRegs.MSGxINIT.bit.INIT_CPUTOCLA1 = 1;
    while(MemCfgRegs.MSGxINITDONE.bit.INITDONE_CPUTOCLA1 != 1){};

    //
    // Select LS4RAM and LS5RAM to be the programming space for the CLA
    // First configure the CLA to be the master for LS4 and LS5 and then
    // set the space to be a program block
    //
    MemCfgRegs.LSxMSEL.bit.MSEL_LS4 = 1;//将存储器所有权分配给CLA
    MemCfgRegs.LSxCLAPGM.bit.CLAPGM_LS4 = 1;

    MemCfgRegs.LSxMSEL.bit.MSEL_LS5 = 1;
    MemCfgRegs.LSxCLAPGM.bit.CLAPGM_LS5 = 1;



    //
    // Next configure LS0RAM and LS1RAM as data spaces for the CLA
    // First configure the CLA to be the master for LS0(1) and then
    // set the spaces to be code blocks
    //
    MemCfgRegs.LSxMSEL.bit.MSEL_LS0 = 1;
    MemCfgRegs.LSxCLAPGM.bit.CLAPGM_LS0 = 0;

    MemCfgRegs.LSxMSEL.bit.MSEL_LS1 = 1;
    MemCfgRegs.LSxCLAPGM.bit.CLAPGM_LS1 = 0;


    EDIS;
}

void CLA_initCpu1Cla1(void)
{
    //
    // Compute all CLA task vectors
    // On Type-1 CLAs the MVECT registers accept full 16-bit task addresses as
    // opposed to offsets used on older Type-0 CLAs
    //
    EALLOW;
    Cla1Regs.MVECT1 = (uint16_t)(&Cla1Task1);
    Cla1Regs.MVECT2 = (uint16_t)(&Cla1Task2);
    Cla1Regs.MVECT3 = (uint16_t)(&Cla1Task3);
    Cla1Regs.MVECT4 = (uint16_t)(&Cla1Task4);
    Cla1Regs.MVECT5 = (uint16_t)(&Cla1Task5);
    Cla1Regs.MVECT6 = (uint16_t)(&Cla1Task6);
    Cla1Regs.MVECT7 = (uint16_t)(&Cla1Task7);
    Cla1Regs.MVECT8 = (uint16_t)(&Cla1Task8);

    //CLA触发源设置：软件触发
    //DmaClaSrcSelRegs.CLA1TASKSRCSEL1.all=0;
    //DmaClaSrcSelRegs.CLA1TASKSRCSEL2.all=0;

    //
    // Enable the IACK instruction to start a task on CLA in software
    // for all  8 CLA tasks. Also, globally enable all 8 tasks (or a
    // subset of tasks) by writing to their respective bits in the
    // MIER register
    //
    Cla1Regs.MCTL.bit.IACKE = 1;
    Cla1Regs.MIER.all = 0x00FF;

    //
    // Configure the vectors for the end-of-task interrupt for all
    // 8 tasks
    //
    PieVectTable.CLA1_1_INT = &cla1Isr1;
    PieVectTable.CLA1_2_INT = &cla1Isr2;
    PieVectTable.CLA1_3_INT = &cla1Isr3;
    PieVectTable.CLA1_4_INT = &cla1Isr4;
    PieVectTable.CLA1_5_INT = &cla1Isr5;
    PieVectTable.CLA1_6_INT = &cla1Isr6;
    PieVectTable.CLA1_7_INT = &cla1Isr7;
    PieVectTable.CLA1_8_INT = &cla1Isr8;

    //
    // Enable CLA interrupts at the group and subgroup levels
    //
    PieCtrlRegs.PIEIER11.all = 0xFFFF;
    IER |= (M_INT11 );
}

void CLA_runTest(void)
{
    fVal = 45;

    Cla1ForceTask1andWait();
    //WAITSTEP;


#if 0
    Cla1ForceTask2andWait();
    WAITSTEP;

    Cla1ForceTask3andWait();
    WAITSTEP;

    Cla1ForceTask4andWait();
    WAITSTEP;

    Cla1ForceTask5andWait();
    WAITSTEP;

    Cla1ForceTask6andWait();
    WAITSTEP;

    Cla1ForceTask7andWait();
    WAITSTEP;
#endif
}


//
// cla1Isr1 - CLA1 ISR 1
//
__interrupt void cla1Isr1 ()
{
    //
    // Acknowledge the end-of-task interrupt for task 1
    //
    PieCtrlRegs.PIEACK.all = M_INT11;

    LED1_TOGGLE;

    //
    // Uncomment to halt debugger and stop here
    //
//    asm(" ESTOP0");
}

//
// cla1Isr1 - CLA1 ISR 2
//
__interrupt void cla1Isr2 ()
{
    asm(" ESTOP0");
}

//
// cla1Isr1 - CLA1 ISR 3
//
__interrupt void cla1Isr3 ()
{
    asm(" ESTOP0");
}

//
// cla1Isr1 - CLA1 ISR 4
//
__interrupt void cla1Isr4 ()
{
    asm(" ESTOP0");
}

//
// cla1Isr1 - CLA1 ISR 5
//
__interrupt void cla1Isr5 ()
{
    asm(" ESTOP0");
}

//
// cla1Isr1 - CLA1 ISR 6
//
__interrupt void cla1Isr6 ()
{
    asm(" ESTOP0");
}

//
// cla1Isr1 - CLA1 ISR 7
//
__interrupt void cla1Isr7 ()
{
    asm(" ESTOP0");
}

//
// cla1Isr1 - CLA1 ISR 8
//
__interrupt void cla1Isr8 ()
{
    //
    // Acknowledge the end-of-task interrupt for task 8
    //
    PieCtrlRegs.PIEACK.all = M_INT11;

    //
    // Uncomment to halt debugger and stop here
    //
//    asm(" ESTOP0");
}

//
// End of file
//

cla_share.cla

#include <CLA/cla_init.h>
#include "CLAmath.h"


extern float fVal;
extern float fResult;

__interrupt void Cla1Task1 ( void )
{
    //__mdebugstop();
    fResult = CLAsin(fVal);
    //__mdebugstop();


}

interrupt void Cla1Task2 ( void )
{
    //fResult = CLAdiv_inline(fVal1, fVal2);

}

interrupt void Cla1Task3 ( void )
{

}

interrupt void Cla1Task4 ( void )
{

}

interrupt void Cla1Task5 ( void )
{

}

interrupt void Cla1Task6 ( void )
{

}

interrupt void Cla1Task7 ( void )
{

}

interrupt void Cla1Task8 ( void )
{

}

五、CLA调试步骤

1.进入Debug模式

2.连接CPU1

3.连接CLA1

4.选中CPU1，选择Run->load->load Program，下载.out文件

5.选中CLA1，选择Run->load->load Symbols，下载.out文件

6.选中CPU1，开始运行程序

六、注意事项

1.在.cla文件中无法使用断点进行程序调试，只能使用__mdebugstop();进行中断

2.CLA模块不支持中断嵌套，所以尽量用CLA本身自带的8个任务中断；

3.CLA不支持函数指针的调用，尽量避免在CLA中调用函数指针；

4.CLA中用到sin、cos等三角函数运算时，尽量用其CLA自带的数学库