TMS320x2833x, 2823x Boot ROM Reference Guide …

1 TMS320x2833x, 2823xBootROMR eferenceGuideLiteratureNumber:SPRU963 ASeptember2007 RevisedAugust20082 SPRU963A September2007 (GPIO).. ( ).. September2007 September2007 ,Deletions, September2007 RevisedAugust2008 ListofTables5 SubmitDocumentationFeedbackListofTables6 SPRU963A September2007 RevisedAugust2008 SubmitDocumentationFeedbackPrefaceSPRU96 3A September2007 (generalpurposeI/Os) ,suchasSIN/COSwaveforms,foruseinIQmathre latedalgorithmsfoundintheC28x IQMathLibrary-AVirtualFloatingPointEngin e(literaturenumberSPRC087).Floating-poin ttablesforSIN/COSarealsoincludedforusewi ththeTexasInstruments C28xFPUFastRTSL ibrary(SPRC664). ,thefollowingnumberis40hexadecimal(decim al64):40hor0x40. Registersinthisdocumentareshowninfigures anddescribedintables.

2 ,itsbeginningandendingbitnumbersabove, SPRS439 TMS320F28335,TMS320F28334,TMS320F28332,T MS320F28235,TMS320F28234,TMS320F28232 DigitalSignalControllers(DSCs)DataManual containsthepinout,signaldescriptions,asw ellaselectricalandtimingspecificationsfo rtheF2833 TMS320F28335,F28334,F28332,TMS320F28235, F28234,F28232 DigitalSignalControllers(DSCs) 'sGuides SPRU430 TMS320C28xDSPCPUandInstructionSetReferen ceGuidedescribesthecentralprocessingunit (CPU)andtheassemblylanguageinstructionso ftheTMS320C28xfixed-pointdigitalsignalpr ocessors(DSPs). SPRU963A September2007 TMS320x28xx,28xxxPeripheralReferenceGuid edescribestheperipheralreferenceguidesof the28xdigitalsignalprocessors(DSPs).SPRU FB0 TMS320x2833x, 2823xSystemControlandInterr uptsReferenceGuidedescribesthevariousint erruptsandsystemcontrolfeaturesofthe2833 xdigitalsignalcontrollers(DSCs).

3 SPRU812 TMS320x2833x, 2823xAnalog-to-DigitalConve rter(ADC)ReferenceGuidedescribeshowtocon figureandusetheon-chipADCmodule, TMS320x2833x, 2823xExternalInterface(XINT F)User'sGuidedescribestheXINTF,whichisan onmultiplexedasynchronousbus, TMS320x2833x, TMS320x2823xBootROMUser'sGu idedescribesthepurposeandfeaturesofthebo otloader(factory-programmedboot-loadings oftware) TMS320x2833x, 2823xMultichannelBufferedSe rialPort(McBSP)User' TMS320x2833x, 2823xDirectMemoryAccess(DMA ) TMS320x2833x, 2823xEnhancedPulseWidthModu lator(ePWM)ModuleReferenceGuidedescribes themainareasoftheenhancedpulsewidthmodul atorthatincludedigitalmotorcontrol,switc hmodepowersupplycontrol,UPS(uninterrupti blepowersupplies), TMS320x2833x, 2823xHigh-ResolutionPulseWi dthModulator(HRPWM)describestheoperation ofthehigh-resolutionextensiontothepulsew idthmodulator(HRPWM).

4 SPRUFG4 TMS320x2833x, 2823xEnhancedCapture(eCAP) TMS320x2833x, 2823xEnhancedQuadratureEnco derPulse(eQEP)ReferenceGuidedescribesthe eQEPmodule,whichisusedforinterfacingwith alinearorrotaryincrementalencodertogetpo sition,direction, TMS320x2833x, 2823xEnhancedControllerArea Network(eCAN) TMS320F2833x,2823xSerialCommunicationInt erface(SCI)ReferenceGuidedescribestheSCI ,whichisatwo-wireasynchronousserialport, (NRZ) TMS320x2833x, 2823xSerialPeripheralInterf ace(SPI)ReferenceGuidedescribestheSPI-ah igh-speedsynchronousserialinput/output(I /O)port-thatallowsaserialbitstreamofprog rammedlength(onetosixteenbits) TMS320x2833x, 2823xInter-IntegratedCircui t(I2C)ReferenceGuidedescribesthefeatures andoperationoftheinter-integratedcircuit (I2C) SPRU513 TMS320C28xAssemblyLanguageToolsUser'sGui dedescribestheassemblylanguagetools(asse mblerandothertoolsusedtodevelopassemblyl anguagecode),assemblerdirectives,macros, commonobjectfileformat, September2007 TMS320C28xOptimizingCCompilerUser'sGuide describestheTMS320C28x C/C++ ++ TheTMS320C28xInstructionSetSimulatorTech nicalOverviewdescribesthesimulator,avail ablewithintheCodeComposerStudioforTMS320 C2000 IDE,thatsimulatestheinstructionsetoftheC 28x TMS320C28xDSP/BIOSA pplicationProgrammingInterface(API) C28xFPUP rimerprovidesanoverviewofthefloating-poi ntunit(FPU)intheTMS320F28335,TMS320F2833 4,andTMS320F28332 DigitalSignalController(DSC)

5 GettingStartedWithTMS320C28x ,software, andnon- ProgrammingTMS320x28xxand28xxxPeripheral sinC/C++exploresahardwareabstractionlaye rimplementationtomakeC/C++ # UsingPWMO utputasaDigital-to-AnalogConverteronaTMS 320F280xpresentsamethodforutilizingtheon -chippulsewidthmodulated(PWM)signalgener atorsontheTMS320F280xfamilyofdigitalsign alcontrollersasadigital-to-analogconvert er(DAC).SPRAA91 UsingtheEnhancedQuadratureEncoderPulse(e QEP)ModuleprovidesaguidefortheuseoftheeQ EPmoduleasadedicatedcaptureunitandisappl icabletotheTMS320x280x, UsingEnhancedPulseWidthModulator(ePWM)Mo dulefor0-100%DutyCycleControlprovidesagu idefortheuseoftheePWMmoduletoprovide0%to 100% September2007 OnlineStackOverflowDetectionontheTMS320C 28xDSPpresentsthemethodologyforonlinesta ckoverflowdetectionontheTMS320C28x andnon- September2007 RevisedAugust2008 SubmitDocumentationFeedbackChapter1 SPRU963A September2007 September2007 spaceProgram spaceIQ math tablesFPU math tablesReservedBoot loader functionsReservedROM versionROM checksumReset vectorCPU vector table3F E0003F EBDC3F F27C3F F34C3F F9EE3F FFB93F FFC03F IQMathLibrary-AVirtualFloatingPointEngin e(SPRC087)andtheC28xFPUFastRTSL ibrary(SPRC664).

6 Chapter4containsthecodeforeachofthefollo wingitems: Bootloaderfunctions Versionnumber,releasedateandchecksum Resetvector Illegaltrapvector(ITRAP) CPUvectortable(Usedfortestpurposesonly) IQmathTables Floating-pointunit(FPU) September2007 C28xFPUFastRTSL ibrary(SPRC664). + ,usethebootROMmemoryaddressesandlabelthe sectionas NOLOAD : Sine/CosineTable,Single-precisionFloatin g-point Tablesize:1282words Contents:32-bitfloating-pointsamplesforo neandaquarterperiodsinewave NormalizedArctanTable,Single-PrecisionFl oatingPoint TableSize:388words Contents:32-bitsecondordercoefficientsfo rlineofbestfit. ExpCoefficientTable,Single-PrecisionFloa tingPoint Tablesize:20words Contents:32-bitcoefficientsforcalculatin gexp(X) {PAGE0:..FPUTABLES:origin=0x3 FEBDC,length= }SECTIONS{.}

7 FPUmathTables:>FPUTABLES,PAGE=0,TYPE= }Thefixed-pointmathtablesincludedinthebo otROMareusedbytheTexasInstruments C28x IQMathLibrary-AVirtualFloatingPointEngin e(SPRC087).The28xIQmathLibraryisacollect ionofhighlyoptimizedandhighprecisionmath ematicalfunctionsforC/C++ ,byprovidingready-to-usehighprecisionfun ctions, ,usethebootROMmemoryaddressesandlabelthe sectionsas NOLOAD September2007 {PAGE0:..IQTABLES(R):origin=0x3FE000,len gth=0x000b50 IQTABLES2(R):origin=0x3 FEB50,length= }SECTIONS{..IQmathTables:load=IQTABLES,t ype=NOLOAD,PAGE=0 IQmathTables2>IQTABLES2,type=NOLOAD,PAGE =0{ < >(IQmathTablesRam)}IQmathTablesRam:load=D RAML1,PAGE= }ThefollowingmathtablesareincludedintheB ootROM: Sine/CosineTable,IQMathTable Tablesize:1282words Qformat:Q30 ,justskipovereverysecondvalue.

8 NormalizedInverseTable,IQMathTable Tablesize:528words Qformat:Q29 NormalizedSquareRootTable,IQMathTable Tablesize:274words Qformat:Q30 NormalizedArctanTable,IQMathTable Tablesize:452words Qformat:Q30 RoundingandSaturationTable,IQMathTable Tablesize:360words Qformat:Q30 Contents:32-bitroundingandsaturationlimi tsforvariousQvalues ExpMin/MaxTable,IQMathTable Tablesize:120words Qformat:Q1-Q30 Contents:32-bitMinandMaxvaluesforeachQva lueBootROMO verview14 SPRU963A September2007 tablesand functionsBootloaderfunctionsReset vectorCPU vector table64 x 160x3F E0000x3F FFFF0x3F FFC0 Reset fetched from here whenVMAP=1 Other vectors fetched from here whenVMAP=1, ENPIE= ExpCoefficientTable,IQMathTable Tablesize:20words Qformat:Q31 Contents:32-bitcoefficientsforcalculatin gexp(X) ,ENPIE=0(PIEvectortabledisabled).

9 (ST1). ,howeverthenormaloperatingmodewillbetole aveVMAP= ,whichdisablesthePeripheralInterruptExpa nsionblock(PIE). (GPIOI/O) ,youshouldinitializethePeripheralInterru ptExpansion(PIE) ,allvectors,exceptreset, September2007 , ( ,pointsto)VectorBootROM( ,pointsto)RESET0x3 FFFC0 InitBootRTOSINT0x3 FFFE00x000060 INT10x3 FFFC20x000042 Reserved0x3 FFFE20x000062 INT20x3 FFFC40x000044 NMI0x3 FFFE40x000064 INT30x3 FFFC60x000046 ILLEGAL0x3 FFFE6 ITRAPIsrINT40x3 FFFC80x000048 USER10x3 FFFE80x000068 INT50x3 FFFCA0x00004 AUSER20x3 FFFEA0x00006 AINT60x3 FFFCC0x00004 CUSER30x3 FFFEC0x00006 CINT70x3 FFFCE0x00004 EUSER40x3 FFFEE0x00006 EINT80x3 FFFD00x000050 USER50x3 FFFF00x000070 INT90x3 FFFD20x000052 USER60x3 FFFF20x000072 INT100x3 FFFD40x000054 USER70x3 FFFF40x000074 INT110x3 FFFD60x000056 USER80x3 FFFF60x000076 INT120x3 FFFD80x000058 USER90x3 FFFF80x000078 INT130x3 FFFDA0x00005 AUSER100x3 FFFFA0x00007 AINT140x3 FFFDC0x00005 CUSER110x3 FFFFC0x00007 CDLOGINT0x3 FFFDE0x00005 EUSER120x3 FFFFE0x00007E16

10 BootROMO verviewSPRU963A September2007 RevisedAugust2008 SubmitDocumentationFeedbackChapter2 SPRU963A September2007 RevisedAugust2008 BootloaderFeaturesThissectiondescribesin detailthebootmodeselectionprocess, (GPIO).. September2007 ROMR eset vector fetched from boot ROMaddress 0x3F FFC0 Jump to InitBoot function to startboot processBoot determined by the state of I/O pinsSelectBootMode functionCall ADC_cal routine inTI reserved memoryPIE disabled (ENPIE 0)VMAP=1 OBJMODE=0 AMODE=0 MOM1 MAP=1 Reset(power-on reset or warm reset)Silicon sets the following:PLLSTS[DIVSEL] = 2 Begin execution at Entry Point asdetermined by selected boot , :jumptoflash,jumptoOTP,jumptoSARAM,jumpt oXINTF, , , ,instead,youchoosetobootdirectlytoflash, OTP,XINTForSARAM, September2007 ,any28x CPU-baseddeviceisin27x ,whenbootingfromtheinternalbootROM, ,ifyourapplicationincludesC2xLP source, (Reset)28xModeCompatibleModeOBJMODE011 AMODE001 PAGE0000M0M1 MAP(1)111 OtherSettingsSXM=1,C=1,SPM=0(1)Normallyf orC27xcompatibility, ,however,itistiedoffhighinternally;there fore,atreset, (PLLCR)anddivider(PLLSTS[DIVSEL])bitsasf ollows: XINTF parallelloader:PLLCRandPLLSTS[DIVSEL]are specifiedbytheuseraspartoftheincomingdat astream.