Texas Instruments TMS320F2837 D Series

Control Law Accelerator (CLA)
TMS320F2837xD Microcontroller Workshop - Control Law Accelerator 9 - 11
CLA Task Programming
CLA Task Programming
 Can be written in C or assembly code
 Assembly code will give best performance
for time-critical tasks
 Writing in assembly may not be so bad!
 CLA programs in floating point
 Often not that much code in a task
 Commonly, the user will use assembly for
critical tasks, and C for non-critical tasks
CLA C Language Implementation and Restrictions
CLA C Language Implementation
 Supports C only (no C++ or GCC extension support)
 Different data type sizes than C28x CPU and FPU
 CLA architecture is designed for 32-bit data types
 16-bit computations incur overhead for sign-extension
 16-bit values mostly used to read/write 16-bit peripheral registers
 There is no SW or HW support for 64-bit integer or floating point
TYPE
CPU and FPU CLA
char
16 bit 16 bit
short
16 bit 16 bit
int
16 bit 32 bit
long
32 bit 32 bit
long long
64 bit 32 bit
float
32 bit 32 bit
double
32 bit 32 bit
long double
64 bit 32 bit
pointers
32 bit 16 bit