Texas Instruments C2000 Workshop Guide And Lab Manual

Control Law Accelerator (CLA)
10 - 4 C2000 Microcontroller Workshop - Control Law Accelerator
CLA Memory and Register Access
CLA Memory and Register Access
 Contains CLA program code
 Mapped to the CPU at reset
 Initialized by the CPU
CLA Program Memory
 Used to pass data between
the CPU and CLA

Always mapped to both
the CPU and CLA
Message RAMs
 Contains variables and coefficients
used by the CLA program code
 Mapped to the CPU at reset
 Initialized by CPU
CLA Data Memory
L3 DPSARAM L1 DPSARAM L2 DPSARAM PF0 PF0 & PF1
MSG RAMs
CPU to CLA
CLA to CPU
Program
RAM
Data
RAM0
Data
RAM1
Data
RAM2
L0 DPSARAM
Periph. Regs
ADC Results
ePWM
HRPWM
Comparator
eCAP
eQEP
 ADC Results Regs
 ePWM (all regs)
 HRPWM (all regs)
Peripheral Reg Access
 Comparator (all regs)
 eCAP (all regs)
 eQEP (all regs)
(4Kw) (1Kw) (1Kw) (2Kw)
(128w/128w)
CLA Tasks
CLA Tasks
 A Task is similar to an interrupt service routine
 CLA supports 8 Tasks (Task1-8)
 A task is started by a peripheral interrupt trigger
 Triggers are enabled in the MPISRCSEL1 register
 When a trigger occurs the CLA begins execution at
the associated task vector entry (MVECT1-8)
 Once a task begins it runs to completion (no nesting)
MPERINT1-8
CLA_INT1-8
LVF, LUF
PIE
C28x
CPU
INT11
INT12
CLA
Control & Execution
Registers
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

Texas Instruments C2000 Specifications

General

Brand	Texas Instruments
Model	C2000
Category	Microcontrollers
Language	English