Texas Instruments C2000 Workshop Guide And Lab Manual

Control Law Accelerator (CLA)
C2000 Microcontroller Workshop - Control Law Accelerator 10 - 3
Control Law Accelerator (CLA)
Control Law Accelerator (CLA)
 An independent 32-bit floating-point math
accelerator
 Executes algorithms independently and in
parallel with the main CPU
 Direct access to ePWM / HRPWM, eCAP, eQEP,
ADC result and comparator registers
 Responds to peripheral interrupts
independent of the CPU
 Frees up the CPU for other tasks
(communications and diagnostics)
C28x CPU
CLA
PWM
ADC
&
CMP
CLA Block Diagram
CLA Block Diagram
MPERINT1-8
CLA_INT1-8
LVF, LUF
PIE
C28x
CPU
INT11
INT12
CLA
Control & Execution
Registers
CLA Program Bus
CLA Data Bus
MSG RAMs
CPU to CLA
CLA to CPU
Program
RAM
Data
RAM0
Data
RAM1
Data
RAM2
Task Triggers
(Peripheral Interrupts)
ADCINT1 to
ADCINT8
EPWM1_INT to
EPWM8_INT
ECAP1_INT to
ECAP3_INT
EQEP1_INT to
EQEP2_INT
CPU Timer 0
Periph. Regs
ADC Results
ePWM
HRPWM
Comparator
eCAP
eQEP

Texas Instruments C2000 Specifications

General

Brand	Texas Instruments
Model	C2000
Category	Microcontrollers
Language	English