C2000 CLA _DWork Variable Problem

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Keith Feng
Keith Feng 2021-7-27
回答： Antonin 2021-9-30
I tried the CLA example on TI F28388D (see the first snapshot). Everything worked and the LED blinks as expected. I also changed the Software triggering rate for CLA Task1 to 1ms, it also worked (I checked the LED voltage on an oscilloscope). The cla subsystem blocks are as shown in the 2nd snapshot. However, when I added a first order transfer function to the cla_subsystem (see 3rd snapshot), a compile error stopped the build. I repeated this situation multiple times, every time I added the first order transfer function to the cla_subsystem, it stopped for the same cause (see below). Can anyone help on this? Thank you.
"c28388Dblink_cla_ert_rtw/cla_task.cla", line 38: error: identifier "c28388Dblink_cla_DW" is undefined
### Using toolchain: Texas Instruments Code Composer Studio - EABI (C2000)
### 'C:\workspace\ZOLA_Lyra_Controller\mbd\c1\c28388Dblink_cla_ert_rtw\c28388Dblink_cla.mk' is up to date
### Building 'c28388Dblink_cla': "C:\PROGRA~1\MATLAB\R2021a\bin\win64\gmake" DEPRULES=1 -j5 -f c28388Dblink_cla.mk all
C:\workspace\ZOLA_Lyra_Controller\mbd\c1\c28388Dblink_cla_ert_rtw>cd .
C:\workspace\ZOLA_Lyra_Controller\mbd\c1\c28388Dblink_cla_ert_rtw>if "" == "" ("C:\PROGRA~1\MATLAB\R2021a\bin\win64\gmake" DEPRULES=1 -j5 -f c28388Dblink_cla.mk all ) else ("C:\PROGRA~1\MATLAB\R2021a\bin\win64\gmake" DEPRULES=1 -j5 -f c28388Dblink_cla.mk )
"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/bin/cl2000" --abi=eabi --compile_only --preproc_dependency="MW_c28xx_csl.dep" --preproc_with_compile --large_memory_model --silicon_version=28 --define="LARGE_MODEL" -I"/~SupportFiles/DSP280x_headers" -I"/~SupportFiles/DSP280x_headers/include" -I"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/include" -O2 -DCLA_BLOCK_INCLUDED --cla_support=cla2 -v28 --float_support=fpu64 -ml -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 --tmu_support=tmu0 --fp_mode=relaxed -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DDAEMON_MODE=1 -DXCP_CUSTOM_PLATFORM -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DMW_PIL_SCIFIFOLEN=16 -DF2837X_REG_FORMAT -DMW_F2838X -DSTACK_SIZE=1024 -DRT -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 -DMODEL=c28388Dblink_cla -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/sourceFiles -IC:/PROGRA~1/MATLAB/R2021a/extern/include -IC:/PROGRA~1/MATLAB/R2021a/simulink/include -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/ert -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/inc -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common/include -IC:/ti/c2000/C2000W~2/LIBRAR~1/CALIBR~1/hrpwm/f2838x/include -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1 -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/headers/include -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common -IC:/PROGRA~1/MATLAB/R2021a/toolbox/shared/can/src/scanutil -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/shared/EXTERN~1/include -IC:/PROGRA~1/MATLAB/R2021a/toolbox/rtw/targets/common/can/blocks/tlc_c -IC:/ti/c2000/C2000W~2/libraries/math/CLAmath/c28/include --output_file="MW_c28xx_csl.obj" "C:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw/MW_c28xx_csl.c"
"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/bin/cl2000" --abi=eabi --compile_only --preproc_dependency="MW_c28xx_board.dep" --preproc_with_compile --large_memory_model --silicon_version=28 --define="LARGE_MODEL" -I"/~SupportFiles/DSP280x_headers" -I"/~SupportFiles/DSP280x_headers/include" -I"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/include" -O2 -DCLA_BLOCK_INCLUDED --cla_support=cla2 -v28 --float_support=fpu64 -ml -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 --tmu_support=tmu0 --fp_mode=relaxed -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DDAEMON_MODE=1 -DXCP_CUSTOM_PLATFORM -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DMW_PIL_SCIFIFOLEN=16 -DF2837X_REG_FORMAT -DMW_F2838X -DSTACK_SIZE=1024 -DRT -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 -DMODEL=c28388Dblink_cla -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/sourceFiles -IC:/PROGRA~1/MATLAB/R2021a/extern/include -IC:/PROGRA~1/MATLAB/R2021a/simulink/include -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/ert -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/inc -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common/include -IC:/ti/c2000/C2000W~2/LIBRAR~1/CALIBR~1/hrpwm/f2838x/include -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1 -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/headers/include -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common -IC:/PROGRA~1/MATLAB/R2021a/toolbox/shared/can/src/scanutil -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/shared/EXTERN~1/include -IC:/PROGRA~1/MATLAB/R2021a/toolbox/rtw/targets/common/can/blocks/tlc_c -IC:/ti/c2000/C2000W~2/libraries/math/CLAmath/c28/include --output_file="MW_c28xx_board.obj" "C:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw/MW_c28xx_board.c"
"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/bin/cl2000" --abi=eabi --compile_only --preproc_dependency="MW_c28xx_xbar.dep" --preproc_with_compile --large_memory_model --silicon_version=28 --define="LARGE_MODEL" -I"/~SupportFiles/DSP280x_headers" -I"/~SupportFiles/DSP280x_headers/include" -I"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/include" -O2 -DCLA_BLOCK_INCLUDED --cla_support=cla2 -v28 --float_support=fpu64 -ml -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 --tmu_support=tmu0 --fp_mode=relaxed -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DDAEMON_MODE=1 -DXCP_CUSTOM_PLATFORM -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DMW_PIL_SCIFIFOLEN=16 -DF2837X_REG_FORMAT -DMW_F2838X -DSTACK_SIZE=1024 -DRT -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 -DMODEL=c28388Dblink_cla -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/sourceFiles -IC:/PROGRA~1/MATLAB/R2021a/extern/include -IC:/PROGRA~1/MATLAB/R2021a/simulink/include -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/ert -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/inc -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common/include -IC:/ti/c2000/C2000W~2/LIBRAR~1/CALIBR~1/hrpwm/f2838x/include -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1 -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/headers/include -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common -IC:/PROGRA~1/MATLAB/R2021a/toolbox/shared/can/src/scanutil -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/shared/EXTERN~1/include -IC:/PROGRA~1/MATLAB/R2021a/toolbox/rtw/targets/common/can/blocks/tlc_c -IC:/ti/c2000/C2000W~2/libraries/math/CLAmath/c28/include --output_file="MW_c28xx_xbar.obj" "C:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw/MW_c28xx_xbar.c"
"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/bin/cl2000" --abi=eabi --compile_only --preproc_dependency="c28388Dblink_cla.dep" --preproc_with_compile --large_memory_model --silicon_version=28 --define="LARGE_MODEL" -I"/~SupportFiles/DSP280x_headers" -I"/~SupportFiles/DSP280x_headers/include" -I"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/include" -O2 -DCLA_BLOCK_INCLUDED --cla_support=cla2 -v28 --float_support=fpu64 -ml -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 --tmu_support=tmu0 --fp_mode=relaxed -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DDAEMON_MODE=1 -DXCP_CUSTOM_PLATFORM -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DMW_PIL_SCIFIFOLEN=16 -DF2837X_REG_FORMAT -DMW_F2838X -DSTACK_SIZE=1024 -DRT -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 -DMODEL=c28388Dblink_cla -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/sourceFiles -IC:/PROGRA~1/MATLAB/R2021a/extern/include -IC:/PROGRA~1/MATLAB/R2021a/simulink/include -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/ert -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/inc -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common/include -IC:/ti/c2000/C2000W~2/LIBRAR~1/CALIBR~1/hrpwm/f2838x/include -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1 -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/headers/include -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common -IC:/PROGRA~1/MATLAB/R2021a/toolbox/shared/can/src/scanutil -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/shared/EXTERN~1/include -IC:/PROGRA~1/MATLAB/R2021a/toolbox/rtw/targets/common/can/blocks/tlc_c -IC:/ti/c2000/C2000W~2/libraries/math/CLAmath/c28/include --output_file="c28388Dblink_cla.obj" "C:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw/c28388Dblink_cla.c"
"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/bin/cl2000" --abi=eabi --compile_only --preproc_dependency="c2838xBoard_Realtime_Support.dep" --preproc_with_compile --large_memory_model --silicon_version=28 --define="LARGE_MODEL" -I"/~SupportFiles/DSP280x_headers" -I"/~SupportFiles/DSP280x_headers/include" -I"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/include" -O2 -DCLA_BLOCK_INCLUDED --cla_support=cla2 -v28 --float_support=fpu64 -ml -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 --tmu_support=tmu0 --fp_mode=relaxed -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DDAEMON_MODE=1 -DXCP_CUSTOM_PLATFORM -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DMW_PIL_SCIFIFOLEN=16 -DF2837X_REG_FORMAT -DMW_F2838X -DSTACK_SIZE=1024 -DRT -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 -DMODEL=c28388Dblink_cla -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/sourceFiles -IC:/PROGRA~1/MATLAB/R2021a/extern/include -IC:/PROGRA~1/MATLAB/R2021a/simulink/include -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/ert -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/inc -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common/include -IC:/ti/c2000/C2000W~2/LIBRAR~1/CALIBR~1/hrpwm/f2838x/include -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1 -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/headers/include -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common -IC:/PROGRA~1/MATLAB/R2021a/toolbox/shared/can/src/scanutil -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/shared/EXTERN~1/include -IC:/PROGRA~1/MATLAB/R2021a/toolbox/rtw/targets/common/can/blocks/tlc_c -IC:/ti/c2000/C2000W~2/libraries/math/CLAmath/c28/include --output_file="c2838xBoard_Realtime_Support.obj" "C:/ProgramData/MATLAB/SupportPackages/R2021a/toolbox/target/supportpackages/tic2000/src/c2838xBoard_Realtime_Support.c"
"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/bin/cl2000" --abi=eabi --compile_only --preproc_dependency="MW_c28xGlobalInterrupts.dep" --preproc_with_compile --large_memory_model --silicon_version=28 --define="LARGE_MODEL" -I"/~SupportFiles/DSP280x_headers" -I"/~SupportFiles/DSP280x_headers/include" -I"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/include" -O2 -DCLA_BLOCK_INCLUDED --cla_support=cla2 -v28 --float_support=fpu64 -ml -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 --tmu_support=tmu0 --fp_mode=relaxed -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DDAEMON_MODE=1 -DXCP_CUSTOM_PLATFORM -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DMW_PIL_SCIFIFOLEN=16 -DF2837X_REG_FORMAT -DMW_F2838X -DSTACK_SIZE=1024 -DRT -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 -DMODEL=c28388Dblink_cla -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/sourceFiles -IC:/PROGRA~1/MATLAB/R2021a/extern/include -IC:/PROGRA~1/MATLAB/R2021a/simulink/include -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/ert -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/inc -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common/include -IC:/ti/c2000/C2000W~2/LIBRAR~1/CALIBR~1/hrpwm/f2838x/include -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1 -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/headers/include -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common -IC:/PROGRA~1/MATLAB/R2021a/toolbox/shared/can/src/scanutil -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/shared/EXTERN~1/include -IC:/PROGRA~1/MATLAB/R2021a/toolbox/rtw/targets/common/can/blocks/tlc_c -IC:/ti/c2000/C2000W~2/libraries/math/CLAmath/c28/include --output_file="MW_c28xGlobalInterrupts.obj" "C:/ProgramData/MATLAB/SupportPackages/R2021a/toolbox/shared/supportpackages/tic2000/src/MW_c28xGlobalInterrupts.c"
"C:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw/c28388Dblink_cla.c", line 176: warning: conversion from pointer to smaller integer
"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/bin/cl2000" --abi=eabi --compile_only --preproc_dependency="profiler_Support.dep" --preproc_with_compile --large_memory_model --silicon_version=28 --define="LARGE_MODEL" -I"/~SupportFiles/DSP280x_headers" -I"/~SupportFiles/DSP280x_headers/include" -I"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/include" -O2 -DCLA_BLOCK_INCLUDED --cla_support=cla2 -v28 --float_support=fpu64 -ml -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 --tmu_support=tmu0 --fp_mode=relaxed -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DDAEMON_MODE=1 -DXCP_CUSTOM_PLATFORM -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DMW_PIL_SCIFIFOLEN=16 -DF2837X_REG_FORMAT -DMW_F2838X -DSTACK_SIZE=1024 -DRT -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 -DMODEL=c28388Dblink_cla -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/sourceFiles -IC:/PROGRA~1/MATLAB/R2021a/extern/include -IC:/PROGRA~1/MATLAB/R2021a/simulink/include -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/ert -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/inc -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common/include -IC:/ti/c2000/C2000W~2/LIBRAR~1/CALIBR~1/hrpwm/f2838x/include -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1 -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/headers/include -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common -IC:/PROGRA~1/MATLAB/R2021a/toolbox/shared/can/src/scanutil -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/shared/EXTERN~1/include -IC:/PROGRA~1/MATLAB/R2021a/toolbox/rtw/targets/common/can/blocks/tlc_c -IC:/ti/c2000/C2000W~2/libraries/math/CLAmath/c28/include --output_file="profiler_Support.obj" "C:/ProgramData/MATLAB/SupportPackages/R2021a/toolbox/target/supportpackages/tic2000/src/profiler_Support.c"
"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/bin/cl2000" --abi=eabi --compile_only --preproc_dependency="MW_c28xGPIO.dep" --preproc_with_compile --large_memory_model --silicon_version=28 --define="LARGE_MODEL" -I"/~SupportFiles/DSP280x_headers" -I"/~SupportFiles/DSP280x_headers/include" -I"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/include" -O2 -DCLA_BLOCK_INCLUDED --cla_support=cla2 -v28 --float_support=fpu64 -ml -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 --tmu_support=tmu0 --fp_mode=relaxed -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DDAEMON_MODE=1 -DXCP_CUSTOM_PLATFORM -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DMW_PIL_SCIFIFOLEN=16 -DF2837X_REG_FORMAT -DMW_F2838X -DSTACK_SIZE=1024 -DRT -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 -DMODEL=c28388Dblink_cla -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/sourceFiles -IC:/PROGRA~1/MATLAB/R2021a/extern/include -IC:/PROGRA~1/MATLAB/R2021a/simulink/include -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/ert -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/inc -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common/include -IC:/ti/c2000/C2000W~2/LIBRAR~1/CALIBR~1/hrpwm/f2838x/include -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1 -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/headers/include -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common -IC:/PROGRA~1/MATLAB/R2021a/toolbox/shared/can/src/scanutil -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/shared/EXTERN~1/include -IC:/PROGRA~1/MATLAB/R2021a/toolbox/rtw/targets/common/can/blocks/tlc_c -IC:/ti/c2000/C2000W~2/libraries/math/CLAmath/c28/include --output_file="MW_c28xGPIO.obj" "C:/ProgramData/MATLAB/SupportPackages/R2021a/toolbox/shared/supportpackages/tic2000/src/MW_c28xGPIO.c"
"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/bin/cl2000" --abi=eabi --compile_only --preproc_dependency="c2838xSchedulerTimer0.dep" --preproc_with_compile --large_memory_model --silicon_version=28 --define="LARGE_MODEL" -I"/~SupportFiles/DSP280x_headers" -I"/~SupportFiles/DSP280x_headers/include" -I"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/include" -O2 -DCLA_BLOCK_INCLUDED --cla_support=cla2 -v28 --float_support=fpu64 -ml -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 --tmu_support=tmu0 --fp_mode=relaxed -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DDAEMON_MODE=1 -DXCP_CUSTOM_PLATFORM -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DMW_PIL_SCIFIFOLEN=16 -DF2837X_REG_FORMAT -DMW_F2838X -DSTACK_SIZE=1024 -DRT -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 -DMODEL=c28388Dblink_cla -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/sourceFiles -IC:/PROGRA~1/MATLAB/R2021a/extern/include -IC:/PROGRA~1/MATLAB/R2021a/simulink/include -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/ert -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/inc -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common/include -IC:/ti/c2000/C2000W~2/LIBRAR~1/CALIBR~1/hrpwm/f2838x/include -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1 -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/headers/include -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common -IC:/PROGRA~1/MATLAB/R2021a/toolbox/shared/can/src/scanutil -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/shared/EXTERN~1/include -IC:/PROGRA~1/MATLAB/R2021a/toolbox/rtw/targets/common/can/blocks/tlc_c -IC:/ti/c2000/C2000W~2/libraries/math/CLAmath/c28/include --output_file="c2838xSchedulerTimer0.obj" "C:/ProgramData/MATLAB/SupportPackages/R2021a/toolbox/target/supportpackages/tic2000/src/c2838xSchedulerTimer0.c"
"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/bin/cl2000" --abi=eabi --compile_only --preproc_dependency="cla_task.dep" --preproc_with_compile --large_memory_model --silicon_version=28 --define="LARGE_MODEL" -I"/~SupportFiles/DSP280x_headers" -I"/~SupportFiles/DSP280x_headers/include" -I"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/include" -O2 -DCLA_BLOCK_INCLUDED --cla_support=cla2 -v28 --float_support=fpu64 -ml -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 --tmu_support=tmu0 --fp_mode=relaxed -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DDAEMON_MODE=1 -DXCP_CUSTOM_PLATFORM -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DMW_PIL_SCIFIFOLEN=16 -DF2837X_REG_FORMAT -DMW_F2838X -DSTACK_SIZE=1024 -DRT -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 -DMODEL=c28388Dblink_cla -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/sourceFiles -IC:/PROGRA~1/MATLAB/R2021a/extern/include -IC:/PROGRA~1/MATLAB/R2021a/simulink/include -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/ert -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/inc -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common/include -IC:/ti/c2000/C2000W~2/LIBRAR~1/CALIBR~1/hrpwm/f2838x/include -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1 -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/headers/include -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common -IC:/PROGRA~1/MATLAB/R2021a/toolbox/shared/can/src/scanutil -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/shared/EXTERN~1/include -IC:/PROGRA~1/MATLAB/R2021a/toolbox/rtw/targets/common/can/blocks/tlc_c -IC:/ti/c2000/C2000W~2/libraries/math/CLAmath/c28/include --output_file="cla_task.obj" "C:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw/cla_task.cla"
"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/include/stdbool.h", line 45: warning: incompatible redefinition of macro "false" (declared at line 22 of "C:\workspace\ZOLA_Lyra_Controller\mbd\c1\c28388Dblink_cla_ert_rtw\rtwtypes.h")
"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/include/stdbool.h", line 46: warning: incompatible redefinition of macro "true" (declared at line 26 of "C:\workspace\ZOLA_Lyra_Controller\mbd\c1\c28388Dblink_cla_ert_rtw\rtwtypes.h")
"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/bin/cl2000" --abi=eabi --compile_only --preproc_dependency="ert_main.dep" --preproc_with_compile --large_memory_model --silicon_version=28 --define="LARGE_MODEL" -I"/~SupportFiles/DSP280x_headers" -I"/~SupportFiles/DSP280x_headers/include" -I"C:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/3P778C~1.INS/TIC200~1.INS/TI-CGT~1.LTS/include" -O2 -DCLA_BLOCK_INCLUDED --cla_support=cla2 -v28 --float_support=fpu64 -ml -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 --tmu_support=tmu0 --fp_mode=relaxed -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DDAEMON_MODE=1 -DXCP_CUSTOM_PLATFORM -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DMW_PIL_SCIFIFOLEN=16 -DF2837X_REG_FORMAT -DMW_F2838X -DSTACK_SIZE=1024 -DRT -DF28388D -DCPU1 -DBOOT_FROM_FLASH=1 -DMODEL=c28388Dblink_cla -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1 -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw -IC:/workspace/ZOLA_Lyra_Controller/mbd/c1/sourceFiles -IC:/PROGRA~1/MATLAB/R2021a/extern/include -IC:/PROGRA~1/MATLAB/R2021a/simulink/include -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2021a/rtw/c/ert -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/inc -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/shared/SUPPOR~1/tic2000/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common/include -IC:/ti/c2000/C2000W~2/LIBRAR~1/CALIBR~1/hrpwm/f2838x/include -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1 -IC:/ti/c2000/C2000W~2/DRIVER~1/f2838x/DRIVER~1/inc -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/headers/include -IC:/ti/c2000/C2000W~2/DEVICE~1/f2838x/common -IC:/PROGRA~1/MATLAB/R2021a/toolbox/shared/can/src/scanutil -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/SUPPOR~1/tic2000/src -IC:/PROGRA~3/MATLAB/SUPPOR~1/R2021a/toolbox/target/shared/EXTERN~1/include -IC:/PROGRA~1/MATLAB/R2021a/toolbox/rtw/targets/common/can/blocks/tlc_c -IC:/ti/c2000/C2000W~2/libraries/math/CLAmath/c28/include --output_file="ert_main.obj" "C:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw/ert_main.c"
"C:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw/cla_task.cla", line 38: error: identifier "c28388Dblink_cla_DW" is undefined
1 error detected in the compilation of "C:/workspace/ZOLA_Lyra_Controller/mbd/c1/c28388Dblink_cla_ert_rtw/cla_task.cla".
>> Compilation failure
gmake: *** [cla_task.obj] Error 1
gmake: *** Waiting for unfinished jobs....
C:\workspace\ZOLA_Lyra_Controller\mbd\c1\c28388Dblink_cla_ert_rtw>echo The make command returned an error of 2
The make command returned an error of 2
C:\workspace\ZOLA_Lyra_Controller\mbd\c1\c28388Dblink_cla_ert_rtw>exit /B 1
### Creating HTML report file c28388Dblink_cla_codegen_rpt.html
### Build procedure for c28388Dblink_cla aborted due to an error.
Build Summary 1
Elapsed: 0.3 sec
0 of 1 models built (1 models already up to date)
Build duration: 0h 0m 8.985s
Error(s) encountered while building "c28388Dblink_cla"
Component: Simulink | Category: Block diagram error

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采纳的回答

Antonin
Antonin 2021-9-30
Hi Keith,
The solution to your problem is explained on this page:
https://www.mathworks.com/help/releases/R2021a/supportpkg/texasinstrumentsc2000/ug/using-the-control-law-accelerator-cla.html
Look at this paragraph:
Discrete State Variables
All discrete state variables used inside CLA function-call subsystems must be stored in Cla1DataRam. For example, delay blocks and integrators must be set to use the Cla1DataRam storage class for state variables. See the 'State Attributes' of the Delay block inside cla_subsystem for an example.
The integrator block uses Discrete variables. By default, Simulink will create these discrete variables in the global RAM which will go on the CPU accessible memory. This memory can't be seen by the CLA. So you have to specifically assign all discrete variables as described in the paragraph above. Blocks using discrete variables usually have a "State Attributes" tab on their mask. That's where you need to assign the discrete variable to CLA RAM, you can just copy what we have done for the unit delay block in the CLA example that you have used.
We are working on trying to automate this, but in the meantime, you have to do it manually for all blocks that use discrete variables.
I hope it helps,
Thanks,
Antonin.

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