Control Law Accelerator (CLA)
9 - 12 TMS320F2837xD Microcontroller Workshop - Control Law Accelerator
CLA C Language Restrictions
(1 of 2)
No initialization support for global and static
local variables
int16_t x; // valid
int16_t x=5; // not valid
Initialized global variables should be declared in a
.c file instead of the .cla file
.c file: .cla file:
int16_t x=5; extern int16_t x;
For initialized static variables, easiest solution is to
use an initialized global variable instead
No recursive function calls
No function pointers
CLA C Language Restrictions
(2 of 2)
No support for certain fundamental math
operations
integer division: z = x/y;
modulus (remainder): z = x%y;
unsigned 32-bit integer compares
Uint32 i; if(i < 10) {…} // not valid
int32 i; if(i < 10) {…} // valid
Uint16 i; if(i < 10) {…} // valid
int16 i; if(i < 10) {…} // valid
float32 x; if(x < 10) {…} // valid
No standard C math library functions, but TI
provides some function examples (next slide)
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