TMS320F28035: 28035基于can在线升级后，APP程序运行错误

不明白为啥经过BootLoader跳转到APP之后会影响APP程序的运行，直接启动APP程序不受影响

APP收到升级指令之后，则是启动看门狗复位

BootLoader的CMD配置

MEMORY
{
PAGE 0:    /* Program Memory */
   RAML00      : origin = 0x008000, length = 0x000100     /* on-chip RAM block L2 */
   OTP         : origin = 0x3D7800, length = 0x000400     /* on-chip OTP */

   BOOT_CODE   : origin = 0x3F4000, length = 0x003F80     /* 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 */                                              */
   BOOT_RSVD   : origin = 0x000000, length = 0x000050     /* Part of M0, BOOT rom will use this for stack */
   RAMM0       : origin = 0x000050, length = 0x0003B0     /* on-chip RAM block M0 */
   RAMM1       : origin = 0x000400, length = 0x000400     /* on-chip RAM block L2 */
}


SECTIONS
{
   /* Allocate program areas: */
   .cinit              : > BOOT_CODE      	PAGE = 0			/* 初始化的全局变量和static变量表*/
   .pinit              : > BOOT_CODE,     	PAGE = 0			/* 全局对象的构造函数表  C++范畴*/
   .text               : > BOOT_CODE      	PAGE = 0			/* 可执行代码和常数段 */
   codestart           : > BEGIN       		PAGE = 0			/* 代码启动段 */

//   Flash28_API:
//   {
//        -l Flash2803x_API_V100.lib(.econst)
//        -l Flash2803x_API_V100.lib(.text)
//   }                   LOAD = BOOT_CODE,
//                       RUN = RAML0,
//                       LOAD_START(_Flash28_API_LoadStart),
//                       LOAD_END(_Flash28_API_LoadEnd),
//                       RUN_START(_Flash28_API_RunStart),
//                       PAGE = 0

   ramfuncs            : LOAD = BOOT_CODE,						/* 将定义到段ramfuncs上的代码，载入到BOOT_CODE */
                         RUN = RAML00,							/* 定义到ramfuncs上的代码，复制到RAML0上运行 */
                         LOAD_START(_RamfuncsLoadStart),		/* 所要加载程序在Flash里的初始地址 */
                         LOAD_END(_RamfuncsLoadEnd),			/* 所要加载程序在Flash里的结束地址 */
                         RUN_START(_RamfuncsRunStart),			/* 程序运行的起始地址 */
                         PAGE = 0   

   csmpasswds          : > CSM_PWL_P0  		PAGE = 0			/* 密码段 */
   csm_rsvd            : > CSM_RSVD    		PAGE = 0			/* 使用代码安全模块时，需要预留的段  */

   /* Allocate uninitalized data sections: 未初始化数据段 */
   .stack              : > RAMM0      		PAGE = 1			/* 栈空间*/
   .ebss               : > RAMM1       		PAGE = 1			/* 长调用的全局或static变量,初始化和未初始化变量*/
   .esysmem            : > RAMM0       		PAGE = 1

   /* Initalized sections go in Flash   已初始化的段*/
   .econst             : > BOOT_CODE      	PAGE = 0			/* 字符串常量和far const定义的全局和静态变量（static const）*/
   .switch             : > BOOT_CODE      	PAGE = 0			/* 存放switch语句产生的常数表格*/

   /* Allocate IQ math areas: 分配 IQ 数学表区域 */
   IQmath              : > BOOT_CODE     	PAGE = 0            /* Math Code */
   IQmathTables        : > IQTABLES,   		PAGE = 0, TYPE = NOLOAD



   .reset              : > RESET,      PAGE = 0, TYPE = DSECT
   vectors             : > VECTORS     PAGE = 0, TYPE = DSECT
}

APP的CMD配置

_Cla1Prog_Start = _Cla1funcsRunStart;
-heap  0x200
-stack 0x400


 CLA_SCRATCHPAD_SIZE = 0x100;
--undef_sym=__cla_scratchpad_end
--undef_sym=__cla_scratchpad_start


MEMORY
{
PAGE 0:    /* Program Memory */
   RAML00      : origin = 0x008000, length = 0x000100     /* on-chip RAM block L0 */
   RAML2       : origin = 0x008C00, length = 0x000400     /* on-chip RAM block L2 */
   RAML3       : origin = 0x009000, length = 0x000400     /* on-chip RAM block L3 */

   OTP         : origin = 0x3D7800, length = 0x000400     /* on-chip OTP */

   APP_INFO_ADDR  :origin = 0x3EE000, length = 0x000006
   APP_BEGIN   : origin = 0x3EE006, length = 0x000002
   APP_CODE    : origin = 0x3EE200, length = 0x005E00

   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 */                                         
   BOOT_RSVD   : origin = 0x000000, length = 0x000050     /* Part of M0, BOOT rom will use this for stack */
   RAMM0       : origin = 0x000050, length = 0x0007B0     /* on-chip RAM block M0 */

   RAML01      : origin = 0x008100, length = 0x000700     /* on-chip RAM block L0 */

   CLA_DATA    : origin = 0x3EE008, length = 0x0001F8

   CLARAM0     : origin = 0x008800, length = 0x000400
   CLARAM1     : origin = 0x009800, length = 0x000400

   CLA1_MSGRAMLOW   : origin = 0x001480, length = 0x000080
   CLA1_MSGRAMHIGH  : origin = 0x001500, length = 0x000080
}

SECTIONS
{
   /* Allocate program areas: */
   .cinit              : > APP_CODE                 PAGE = 0
   .pinit              : > APP_CODE,     			PAGE = 0
   .text               : > APP_CODE       			PAGE = 0
   codestart           : > APP_BEGIN       			PAGE = 0
   ramfuncs            : LOAD = APP_CODE,
                         RUN = RAML2,
                         LOAD_START(_RamfuncsLoadStart),
                         LOAD_SIZE(_RamfuncsLoadSize),
                         RUN_START(_RamfuncsRunStart),
                         PAGE = 0

   /* Allocate uninitalized data sections: */
   .stack              : > RAMM0             PAGE = 1
   .ebss               : > RAML01             PAGE = 1
   .esysmem            : > RAMM0       		 PAGE = 1

   /* Initalized sections go in Flash */
   .econst             : > APP_CODE      	PAGE = 0
   .switch             : > APP_CODE      	PAGE = 0

   InfoData            : > APP_INFO_ADDR  	PAGE = 0

   /* Allocate IQ math areas: */
   IQmath              : > APP_CODE      	PAGE = 0            /* Math Code */
   IQmathTables        : > IQTABLES,   		PAGE = 0, TYPE = NOLOAD

   .bss_cla		       : > CLARAM0,   PAGE = 1
   .scratchpad         : > CLARAM0,   PAGE = 1

   Cla1Prog            : LOAD = APP_CODE,
                         RUN  = RAML3,
                         LOAD_START(_Cla1funcsLoadStart),
                         LOAD_END(_Cla1funcsLoadEnd),
                         RUN_START(_Cla1funcsRunStart),
                         LOAD_SIZE(_Cla1funcsLoadSize),
                         PAGE = 0

   Cla1ToCpuMsgRAM     : > CLA1_MSGRAMLOW,   PAGE = 1
   CpuToCla1MsgRAM     : > CLA1_MSGRAMHIGH,  PAGE = 1
   Cla1DataRam0		   : > CLARAM0,		  PAGE = 1
   Cla1DataRam1		   : > CLARAM1,		  PAGE = 1

   GROUP	           : LOAD = CLA_DATA,
                         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

   /* DSECT  */
   .reset              : > RESET,      PAGE = 0, TYPE = DSECT
   vectors             : > VECTORS     PAGE = 0, TYPE = DSECT
}

有谁帮忙看一下吗

xiang li 说：

发现pwm输出不正确（发现两路PWM输出占空比不同）

能不能上传一下PWM的波形？占空比不同会相差多少？相差的值固定吗？

其中一路波形固定的占空比接近100%，不受设置的占空比控制，另一路PWM正确的，会受到设置的占空比控制

我设置两路了PWM相同的占空比，上位机读取出来的占空比也是相同的，示波器测量发现波形不对

方便使用调试器在不加载代码的情况下，在复位后看一下相关寄存器的变化情况吗？

你好，想问一下使用调试器在不加载代码怎么弄，没试过

在（1）处调用跳转程序就正常了，在IsNeedUpdata函数内部（2）处调用PWM占空比就不正常

（1）到（2）之间初始化了InitFlash和MemCopy，会是这个影响了吗

更改debug选项，把load program改为load symbol only

这个是正确的波形，直接从BootLoader程序跳转到app

这是错误的波形，右边是启动时的EPWM1、EPWM2、EPWM3、EPWM4寄存器的变化情况

好的，我看一下

xiang li 说：

这个是正确的波形，直接从BootLoader程序跳转到app

你之前说的是不经过bootloader时波形是正常的，而从bootloader跳到APP的时候波形是不正常的。这里再确认一下；

xiang li 说：

这是错误的波形，右边是启动时的EPWM1、EPWM2、EPWM3、EPWM4寄存器的变化情况

示波器上的波形对应的分别是哪两路信号？