omap l138 boot error

Our DSP application sometimes gets stuck booting after a code change. The DSP will run through c_int00, call main, and during TSK_create, a br instruction jumps to an invalid address and the DSP resets. I have noticed that in some cases adding or removing one line of code in the main application can cause or cure the issue. The line of code never has a chance to run before the error happens, but does change the link map a bit. In particular I have notice that several .cinit destination addresses change, all of which are related to DSP/BIOS.

Any ideas on what could cause this?

#include "platform.h"
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>
#include <std.h>
#include <gbl.h>
#include <clk.h>
#include <tsk.h>

#define LOAD_WINDOW_IN_MS (500)

#pragma DATA_SECTION(__main_args__,".args");
uint8_t __main_args__[1024];


static uint32_t minIdleFxnTime = 0xFFFFFFFF;
static uint32_t loadWindowTime = 0;
static int32_t  currLoad = 0;

int32_t GetLoad( void )
{
  return currLoad;
}

void UpdateDspToArmTick();
unsigned int GetUsTime();

void IdleFunction( void )
{
  static uint32_t idleCount = 0;
  static uint32_t totalTime = 0;
  static uint32_t t0 = 0;
  uint32_t        t1 = 0;
  uint32_t        delta;

  // Keep track of times through this function
  GetUsTime();
  UpdateDspToArmTick();
  idleCount++;

  // Compute the time difference since the last call this function
  t1 = CLK_gethtime();
  delta = t1 - t0;
  t0 = t1;

  // Accumulate totalIdleTime
  totalTime += delta;

  /*
   * 'minloop' keeps track of the shortest time thru the IDL loop.
   * Note that we check to make sure delta is not zero (delta
   * will be zero during IDL loop calibration)
   */
  if (delta != 0 && delta < minIdleFxnTime)
  {
    minIdleFxnTime = delta;
  }

  // Compute the CPU load as 100 - "percent time idle"
  // "percent time idle" = 100 * (idleCount * minIdleFxnTime)/totalTime
  if (totalTime > loadWindowTime)
  {
    currLoad = (int32_t) (100 - ( (100 * idleCount * minIdleFxnTime) / totalTime));
    idleCount = 0;
    totalTime = 0;
  }
}

// Replacement clock function to use in place of RTS lib version
_CODE_ACCESS clock_t clock(void)
{
  clock_t result;

  // Calculate absolute time in microseconds
  result = (clock_t) ((CLK_gethtime() *  CLK_cpuCyclesPerHtime() * 1000) / GBL_getFrequency());

  return result;
}

void Initialize( );

extern void exit(), _auto_init();
extern void IDL_loop();
extern void BIOS_start();
extern far void BCACHE_bootInit();
extern far void auto_init(const void *cinit, const unsigned int dp);
/*---------------------------------------------------------------------------*/
/* ALLOCATE THE MEMORY FOR THE SYSTEM STACK.  THIS SECTION WILL BE SIZED     */
/* BY THE LINKER.                                                            */
/*---------------------------------------------------------------------------*/
asm(" .global __STACK_SIZE");
asm(" .global __stack");

/*
 * Define special symbol to guarantee that this boot file gets linked
 * instead of boot file from rts.lib (SDSsq24217). The GBL_config macro
 * will reference this symbol forcing a linker error if non-bios boot.obj
 * has been linked with application.
 */
asm(" .def GBL_boot");
asm("GBL_boot .set 1");

asm("__stack: .usect   .stack, 0, 8");


/*
 * Put c_int00 in the .sysinit section.
 */
asm(" .sect \".sysinit\"");

#pragma CODE_SECTION(c_int00,".sysinit")
extern void interrupt c_int00()
{
//    volatile int debugDummy = 0;
//
//    while(debugDummy == 0);
    /*
    * Clear IER register.  This is necessary to prohibit left-over
    * interrupts from being serviced.  This is not necessary if users
    * reset the part before reload or restart but ...
    */
    asm("        zero b0");
    asm("        mvc b0,ier");

    /*------------------------------------------------------------------------*/
    /* SET UP THE STACK POINTER IN B15.                                       */
    /* THE STACK POINTER POINTS 1 WORD PAST THE TOP OF THE STACK, SO SUBTRACT */
    /* 1 WORD FROM THE SIZE.                                                  */
    /*------------------------------------------------------------------------*/
    asm("      mvkl __stack,SP");
    asm("      mvkh __stack,SP");
    asm("      mvkl __STACK_SIZE - 4,B0");
    asm("      mvkh __STACK_SIZE - 4,B0");
    asm("      add  B0,SP,SP");

    /*------------------------------------------------------------------------*/
    /* THE SP MUST BE ALIGNED ON AN 8-BYTE BOUNDARY.                          */
    /*------------------------------------------------------------------------*/
    asm("      and  ~7,SP,SP");

    /*------------------------------------------------------------------------*/
    /* SET UP THE GLOBAL PAGE POINTER IN B14.                                 */
    /*------------------------------------------------------------------------*/
    asm("      .global $bss");
    asm("      mvkl $bss,DP");
    asm("      mvkh $bss,DP");

    /*------------------------------------------------------------------------*/
    /* SET UP FLOATING POINT REGISTERS FOR C67 ONLY                           */
    /*------------------------------------------------------------------------*/
  #ifdef _TMS320C6700
    asm("      mvk   0,B3");     /* round to nearest */
    asm("      mvc   B3,FADCR");
    asm("      mvc   B3,FMCR");
  #endif

    /*------------------------------------------------------------------------*/
    /* INITIALIZE CONTROL REGISTERS (FOR BIOS ONLY)                           */
    /*------------------------------------------------------------------------*/
    asm("      mvk     0,B3");
    asm("      mvc     B3,AMR");          /* addressing mode register */
    asm("      mvc     B3,CSR");          /* control status register */

    /*------------------------------------------------------------------------*/
    /* CALL BCACHE_bootInit function.  This function is determined by config  */
    /* and bound in the generated linker command file.                        */
    /*------------------------------------------------------------------------*/
    BCACHE_bootInit();

    /*------------------------------------------------------------------------*/
    /* GET THE POINTER TO THE AUTOINITIALIZATION TABLES INTO THE FIRST        */
    /* ARGUMENT REGISTER (A4)                                                 */
    /*------------------------------------------------------------------------*/
    asm("      .global cinit");
    asm("      mvkl cinit,A4");
    asm("      mvkh cinit,A4");

    /*------------------------------------------------------------------------*/
    /* PASS THE CURRENT DP TO THE AUTOINITIALIZATION ROUTINE.                 */
    /*------------------------------------------------------------------------*/
    asm("      mv   DP,B4");

    /*------------------------------------------------------------------------*/
    /* CALL THE AUTOINITIALIZATION ROUTINE.                                   */
    /*------------------------------------------------------------------------*/
    asm("      .global __auto_init");
    asm("      mvkl __auto_init, B0");
    asm("      mvkh __auto_init, B0");
    asm("      mvkl boot_ret, B3");
    asm("      mvkh boot_ret, B3");
    asm("      b    B0");
    asm("      nop  5");
    asm("boot_ret:");

    asm("      .global ___main_args__");
   asm("      mvkl ___main_args__,A0");
   asm("      mvkh ___main_args__,A0");
   asm("      ldw *+A0[2],A6");          /* envp */
   asm("      ldw *+A0[1],B4");          /* argv */
   asm("      ldw *+A0[0],A4");          /* argc */

    /*------------------------------------------------------------------------*/
    /* CALL THE USER'S PROGRAM.                                               */
    /*------------------------------------------------------------------------*/
    //   main();                 /* main(A4, B4, A6); */
    asm("      .global _main");
    asm("      mvkl _main, B0");
    asm("      mvkh _main, B0");
    asm("      b    B0");
    asm("      mvkl main_ret, B3");
    asm("      mvkh main_ret, B3");
    asm("      nop  3");
    asm("main_ret:");

    /*------------------------------------------------------------------------*/
    /* START RUNTIME FOR BIOS.                                                */
    /* The call to BIOS_start does not return if the Task Manager is enabled  */
    /*------------------------------------------------------------------------*/
    BIOS_start();

    /*------------------------------------------------------------------------*/
    /* FALL INTO THE BIOS IDLE LOOP, NEVER RETURN.                            */
    /*------------------------------------------------------------------------*/
    IDL_loop();
}

TSK_Handle g_InitializeTask;

void main( void )
{
    TSK_Attrs  attrs = TSK_ATTRS;

    volatile int debugDummy = 0;

    if(g_pSharedMemory->dspInitParams.debugLevel & DSP_CODE_COMPOSER_CONNECT)
        while(debugDummy == 0);

    // Start Control task
    attrs.stacksize = 4 * 1024;
    attrs.priority  = TSK_MAXPRI;
    attrs.name = "Initialize";

    g_InitializeTask = TSK_create( (Fxn)Initialize, &attrs );

    return;
}


/************************************************************
* Local Function Definitions                                *
************************************************************/


/***********************************************************
* End file                                                 *
***********************************************************/