# What can the TI LAUNCHXL-F2800137 and LAUNCHXL-F28P65X LaunchPad development kits do, measured from a Mac terminal? > Disclosure: Fox Red Labs is an independent lab run by a TI employee on personal time. Contributors' projects are their own. Not affiliated with, sponsored by, or endorsed by Texas Instruments or any other manufacturer. **Short answer.** It builds, loads and runs TI's examples from a Mac terminal with no board changes: 138 of 139 C2000Ware examples for this chip build by script. Do two things first: check the onboard probe's firmware with `xdsdfu -e` and update it if it is older than 3.0.0.43, and use a connection file (`.ccxml`, the file that tells TI's tools which probe and chip to use) that sets the 2-pin cJTAG mode. The motor-control number: a PWM-triggered sample, motor-control step and PWM update takes 2.3 to 2.6 µs. Terms: [docs/vocab.md](../docs/vocab.md). Every problem hit on this bench, with its cause and fix: [FAQ](FAQ.md). 1 kB = 1,024 bytes. The **probe** is the XDS110 debugger built into the board; **cJTAG** is the 2-wire debug link it uses; the **TMU** is the chip's trig and divide hardware. **CCStudio** is TI's IDE (only its command-line scripting runner was used), **UniFlash** TI's flashing tool, **SysConfig** TI's tool that writes the pin and clock setup code, **C2000Ware** TI's software kit for C2000 chips, and **`ESTOP0`** the C28x instruction where TI's examples stop for a debugger. ## What is in this folder, and what is not **In this folder:** this README; `AGENTS.md` (notes for an AI assistant, every line from a run); `FAQ.md` and `FAQ-f28p65x.md` (every error hit, with its exact text and the fix); `tools/` (build, load, back-up and restore scripts for these boards, and the two connection files). Results are rows in `data/results/f2800137.csv` and `data/results/f28p65x.csv` at the top of the repository. **Not in this folder:** TI's SDK, CCStudio, SysConfig and the compilers (you install them; the versions are under "Where these facts come from"); built images (`.out`, `.hex`, `.bin`, `.elf`), which are not cleared for redistribution, so you build them with the command below; raw run logs, which are lab records and not something to run or flash. **Taking this folder alone:** the commands in this README run from the top of a clone and call `tools/` and `data/`. A sparse clone fetches only those, about 10 to 60 MB, instead of the whole repository (about 500 MB): ```bash git clone --depth 1 --filter=blob:none --sparse https://github.com/Fox-Red-Labs/fox-red-labs.git cd fox-red-labs git sparse-checkout add c2000-launchpad tools data ``` `docs/` is left out on purpose (236 MB, mostly pictures). Read a page a link points to there with `git show HEAD:docs/`, for example `git show HEAD:docs/vocab.md`. ## The board | Part | LAUNCHXL-F2800137 | LAUNCHXL-F28P65X | |---|---|---| | Chip | TMS320F2800137 (marked `X F2800137PM`, silicon revision B): C28x CPU at 120 MHz with a floating-point unit and the TMU (trig and divide hardware) | TMS320F28P650DK9: dual-core C28x at 200 MHz, one CLA (control law accelerator) per CPU | | Memory | 256 kB flash, 36 kB RAM | 1.28 MB flash, 248 kB RAM | | Peripherals | Two 12-bit ADCs, 14 PWM channels, CAN, one motor-encoder input | Not listed here | | Debugger | Onboard XDS110, 2-pin cJTAG only as shipped | Onboard XDS110 | | LED | GPIO20 | LED4 on GPIO12 | | Where to buy | | Not listed here | | Not on the chip | Not listed here | No radio, no camera interface, no video block | Sources: `../docs/boards/launchxl-f2800137.json`; user guide SPRUJ32 (); data sheet SPRSP63B (); `AGENTS.md` for the F28P65X rows; `FAQ-f28p65x.md`. ### What was found on the board, and the setting to change - **The F2800137 probe arrived on firmware 3.0.0.19, and TI's tools would not connect until it was on 3.0.0.43. Tag: Tool or docs.** UniFlash's command line printed `A firmware update is required for the XDS110 probe` and stopped with `Failed: Timed out after 45 seconds`; there is no Update button on the command line. - **A connection file that leaves the debug mode to the device default fails with error -2131, `Unable to access device register`. Tag: Unknown (suspected: Tool or docs).** Set `SWD Mode Settings` = 4 (cJTAG 2-pin advanced), as TI's `TMS320F2800137_LaunchPad.ccxml` in C2000Ware does; `tools/F2800137_CL371081.ccxml` is that file plus the test probe's serial number. - **4-pin JTAG does not work on this board as shipped. Tag: Setup or handling.** The board wires the probe for 2-pin cJTAG only; TDI and TDO need resistors R44 and R45 fitted (user guide SPRUJ32, section 3.2.1). - **The chip** is marked `X F2800137PM` and reads back as a TMS320F2800137, silicon revision B (`data/chip-id-0x5D008.bin`). It arrived running TI's out-of-box demo; the flash as received is saved in `data/flash-as-received.bin`, read twice with identical hashes. - **TI's tool warns `Configuring Debugger (may take a few minutes on first launch)...`.** On this bench that step took 1.8 s; the first launch was not timed, so give the first connection a long timeout. Details and commands for each: [FAQ, Connecting](FAQ.md#connecting). ## Ten-minute path (from a Mac terminal) The `tools/` scripts are in this repo's `c2000-launchpad/` folder, and they expect CCStudio in `/Applications/ti/ccs2101` and C2000Ware in `/Applications/ti/c2000ware_core_26_02_00_00`; edit the paths at the top of each script if yours differ. 1. **Install CCStudio 21.0.1** with every device family, which brings the C2000 compiler and SysConfig: [`../mac-setup/README.md`](../mac-setup/README.md), steps 1 to 5 (about 10 GB of disk). 2. **Get C2000Ware** from TI's public GitHub repo (), only the parts this chip needs. These commands give the same files as the checkout used here (its remote, tag and folder list read back with `git`; an earlier list also named `kernel/freertos_tool`, which does not exist at this tag): ```bash git clone --filter=blob:none --depth 1 --sparse --branch REL_C2000Ware_v26.02.00.00.LTS https://github.com/TexasInstruments/c2000ware-core-sdk.git /Applications/ti/c2000ware_core_26_02_00_00 ``` ```bash git -C /Applications/ti/c2000ware_core_26_02_00_00 sparse-checkout set .metadata boards device_support/f280013x driverlib/.meta driverlib/f280013x libraries utilities/clb_tool/clb_syscfg utilities/cmd_tool utilities/dcsm_tool/dcsm_syscfg utilities/transfer ``` 3. **Plug in the board and update the probe** if `xdsdfu -e` shows firmware older than 3.0.0.43: the two commands are in the [FAQ](FAQ.md#why-does-tis-software-refuse-to-connect-to-my-launchxl-f2800137-and-how-do-i-update-the-probe). Then put your probe's serial number in place of `CL371081` in `tools/F2800137_CL371081.ccxml`. 4. **Copy TI's blink example and build it for RAM**, from the `c2000-launchpad/` folder (the build goes into the copy's `build-RAM-Ooff/` folder): ```bash cp -R /Applications/ti/c2000ware_core_26_02_00_00/driverlib/f280013x/examples/led /tmp/led_ex1_blinky ``` ```bash tools/c2kbuild.sh /tmp/led_ex1_blinky RAM ``` 5. **Load it and watch the LED pin** (GPIO20, sampled 8 times 250 ms apart): ```bash /Applications/ti/ccs2101/ccs/scripting/run.sh tools/c2krun.js /tmp/led_ex1_blinky/build-RAM-Ooff/led_ex1_blinky.out blink ``` This is a RAM load: the program is gone at power-off. To keep it, build with `FLASH` in place of `RAM` and run the same command on `build-FLASH-Ooff/led_ex1_blinky.out`; the debugger then writes it to flash. That is how the bench and sweep loaded their flash images; the blink example from flash was not timed. `c2kbuild.sh` runs SysConfig, compiles with TI's projectspec flags (CPU1_LAUNCHXL configuration) and links. Separate UniFlash command-line calls each reconnect, so they cannot watch a running program; use the scripting runner for that. For the LAUNCHXL-F28P65X, the same steps use `tools/c2kbuild_f28p65x.sh RAM` (CPU1 only) and `tools/c2krun_f28p65x.js .out blink`, which samples GPIO12 (LED4); its connection file is `tools/F28P650DK9_CL650001.ccxml`. The F28P65X blink was built and seen changed by eye, not timed (results in `data/results/f28p65x.csv`). ## One-command build From the `c2000-launchpad/` folder, one script runs SysConfig, compiles with TI's projectspec flags (CPU1_LAUNCHXL configuration) and links the copied example (steps 4 and 5 above give the copy and the load): ```bash tools/c2kbuild.sh /tmp/led_ex1_blinky RAM ``` It took 4.6 s for TI's blink on the F2800137 (observed 2026-10-06; not saved). It does not load the program: use the scripting runner in step 5, because separate UniFlash command-line calls each reconnect and cannot watch a running program. To build every C2000Ware example for the chip, loop `tools/c2kbuild.sh` over the example folders: 138 of 139 build. ## Putting it back on TI's demo To return the LAUNCHXL-F2800137 to TI's out-of-box demo, write the saved flash image back with `tools/c2kflashback.js` and reset. This was done twice; the flash read back identical to the saved image each time (steps in the [FAQ](FAQ.md#how-do-i-put-the-launchxl-f2800137-back-on-tis-out-of-box-demo-and-how-do-i-know-it-worked)). ## What was measured LAUNCHXL-F2800137 unless the row says F28P65X. 120 MHz; RAM means code in zero-wait RAM, flash means 2 wait states with TI's prefetch and cache. Cycle counts for math functions include the benchmark loop's own overhead. Sources are rows in `data/results/f2800137.csv` and `data/results/f28p65x.csv`. | What | Number | Conditions | Level | Source row | |---|---|---|---|---| | Blink, TI's `led_ex1_blinky`, terminal build and RAM load | 4.6 s build, 3.9 s load | Observed 2026-10-06, output not saved. Sweep: 4.1 s load and the LED pin seen toggling. Box to blink with a flash write: not measured | measured | `blink_build`, `blink_flash` | | sinf, atan2f, divide, cycles per loop iteration, TMU flags | 8.0, 17.0, 8.0 from RAM; 12.0, 20.0, 12.0 from flash | Includes 7 (RAM) or 9 (flash) cycles of loop overhead | measured | `math_divide`, `foc_step`, `control_loop`, `isr_entry` | | sinf, atan2f, divide, C library | 82.0, 697.0, 241.2 from RAM | Same loop | measured | `math_divide`, `foc_step`, `control_loop`, `isr_entry` | | One field-oriented control (FOC) step, the standard motor-control math, float | 194 cycles with TMU flags (RAM), 221 (flash); 349 without them (RAM) | Per loop iteration | measured | `math_divide`, `foc_step`, `control_loop`, `isr_entry` | | PWM trigger to new PWM value, FOC step in between | 2.3 to 2.6 µs (means), 12 to 13% of a 50 kHz period; 3.7 to 4.1 µs without the TMU flags | End-of-conversion interrupt; across RAM, flash, and flash with the loop copied to RAM | measured | `math_divide`, `foc_step`, `control_loop`, `isr_entry` | | CoreMark, patched for the 16-bit byte (**unofficial**) | From flash 141.0 per second, 1.175 per MHz (51% of the MSPM0G3507's 2.30, also from flash); from RAM 155.3, 1.294 per MHz | Unmodified, it does not validate | measured | `coremark`, `dhrystone` | | Dhrystone 2.1 | 0.362 DMIPS per MHz from flash (50% of the MSPM0L1306's 0.731, also from flash); 0.442 from RAM | Rules followed | measured | `coremark`, `dhrystone` | | Room-occupancy models occ_cnn_500, 2k, 8k, 30k (636 to 32.8k weights), plain C, from flash | 1.8, 4.8, 17.6, 65.4 ms per inference | 20 of 20 test vectors right in every build | measured | `ai_occ_latency` | | Same models built by TI's Neural Network Compiler (NNC), from flash | 1.12, 2.60, 9.05, 30.8 ms; 38 to 53% fewer cycles than the fastest plain-C build from flash | 20 of 20 test vectors right | measured | `ai_occ_latency` | | Float FFT, TI's FPU DSP library | Complex 256 points 0.107 ms; 1,024 points 0.52 ms from RAM, 0.52 to 0.60 ms from flash | | measured | `fft256`, `adc_max_rate` | | Embench-IoT | 19 of 19 fit and run; 15 pass their own check | | measured | `embench_fit` | | ADC rate, no wiring | 2.10 million samples a second (Msps) at TI's sample window; 3.98 Msps at 9 cycles | 9 cycles (75 ns) is the data sheet's minimum | measured | `fft256`, `adc_max_rate` | | TI's C2000Ware examples | 138 of 139 build from a terminal | TI's own flags plus three additions the projects do not list. Running is not passing; most need wiring to show they work | measured | the example build count in this README | | TI's examples that report fail | 4 clock-check (DCC) examples fail as shipped; all 4 pass with a define or one SysConfig line. All 11 AI examples pass their golden-vector check | | measured | [FAQ](FAQ.md) | | F28P65X CoreMark, patched | 258.86 per second from RAM (1.294 per MHz); 211.79 from flash (1.059 per MHz) | 200 MHz | measured | `coremark`, `coremark_per_mhz` in `data/results/f28p65x.csv` | | F28P65X Dhrystone | 0.444 DMIPS per MHz from RAM; 0.279 from flash | TI C2000 compiler -O3, no inlining | measured | `dhrystone` in `data/results/f28p65x.csv` | | F28P65X room-occupancy models | 0.893 ms (occ_cnn_500) to 47.9 ms (occ_cnn_30k, from flash) | 20 of 20 vectors; occ_cnn_30k did not fit the shared RAM layout | measured | `ai_occ_latency` in `data/results/f28p65x.csv` | | F28P65X serial port loopback | Clean to 12.5 Mbaud | Internal loopback | measured | `uart_max_clean` in `data/results/f28p65x.csv` | ## If you see this - If you see `A firmware update is required for the XDS110 probe` and then `Failed: Timed out after 45 seconds` from UniFlash's command line, update the probe with `xdsdfu` (the board arrived on 3.0.0.19; TI's tools need 3.0.0.43). Check first with `xdsdfu -e`. The two update commands are in the [FAQ](FAQ.md#why-does-tis-software-refuse-to-connect-to-my-launchxl-f2800137-and-how-do-i-update-the-probe). - If you see `Error -2131 @ 0x0) Unable to access device register` from a hand-written connection file, put the property `SWD Mode Settings` = 4 (cJTAG 2-pin advanced) in its connection section, or start from `tools/F2800137_CL371081.ccxml`. - If you see `Failed: An invalid processor ID has been found.` on the LAUNCHXL-F28P65X, start from C2000Ware's own `device_support/f28p65x/common/targetConfigs/TMS320F28P650DK9.ccxml`, copy it and add only the probe's serial number ([FAQ-f28p65x.md](FAQ-f28p65x.md)). The rest of the errors, with causes: [FAQ.md](FAQ.md) (F2800137) and [FAQ-f28p65x.md](FAQ-f28p65x.md) (F28P65X). ## Where to look next 1. [FAQ.md](FAQ.md): every error, with its cause and fix. 2. `data/results/f2800137.csv` and `data/results/f28p65x.csv`: every number on this page, with its conditions. ## Where these facts come from Checked 2026-10-06 (F2800137) and 2026-10-08 (F28P65X) on an Intel Mac, macOS 15.7.9: CCStudio 21.0.1 (C2000 compiler 25.11.1.LTS, SysConfig 1.28.1, scripting), UniFlash 9.6.0, C2000Ware 26.02.00.00 LTS core from TI's public GitHub repo (427 MB on disk including its 87 MB git folder; no myTI login), probe firmware 3.0.0.43. Files: `data/results/f2800137.csv`, `data/results/f28p65x.csv`, `c2000-launchpad/AGENTS.md`, `c2000-launchpad/FAQ.md`, `c2000-launchpad/FAQ-f28p65x.md`.