Texas Instruments TMS320F2837 D Series

Control Law Accelerator (CLA)
TMS320F2837xD Microcontroller Workshop - Control Law Accelerator 9 - 15
CLA Assembly Instruction Overview
Type Example Cycles
Load (Conditional)
MMOV32 MRa,mem32{,CONDF}
1
Store
MMOV32 mem32,MRa
1
Load with Data Move
MMOVD32 MRa,mem32
1
Store/Load MSTF
MMOV32 MSTF,mem32
1
Compare, Min, Max
MCMPF32 MRa,MRb
1
Absolute, Negative Value
MABSF32 MRa,MRb
1
Unsigned Integer to Float
MUI16TOF32 MRa,mem16
1
Integer to Float
MI32TOF32 MRa,mem32
1
Float to Integer & Round
MF32TOI16R MRa,MRb
1
Float to Integer
MF32TOI32 MRa,MRb
1
Multiply, Add, Subtract
MMPYF32 MRa,MRb,MRc
1
1/X (16-bit Accurate)
MEINVF32 MRa,MRb
1
1/Sqrt(x) (16-bit Accurate)
MEISQRTF32 MRa,MRb
1
Integer Load/Store
MMOV16 MRa,mem16
1
Load/Store Auxiliary Register
MMOV16 MAR,mem16
1
Branch/Call/Return (conditional delayed)
MBCNDD 16bitdest {,CNDF}
1-7
Integer Bitwise AND, OR, XOR
MAND32 MRa,MRb,MRc
1
Integer Add and Subtract
MSUB32 MRa,MRb,MRc
1
Integer Shifts
MLSR32 MRa,#SHIFT
1
Write Protection Enable/Disable
MEALLOW
1
Halt Code or End Task
MSTOP
1
No Operation
MNOP
1
See the Technical Reference Manual for a complete listing of instructions
CLA Assembly Parallel Instructions
 Parallel instructions are ‘built-in’ and not free form
 You cannot just combine two regular instructions
 Operates as a single instruction with a single opcode
 Performs two operations in a single cycle

A parallel instruction is recognized by the parallel bars
 Example: Add + Parallel Store
MADDF32 MR3, MR3, MR1
|| MMOV32 @_Var, MR3
Instruction Example Cycles
Multiply
& Parallel Add/Subtract
MMPYF32 MRa,MRb,MRc
|| MSUBF32 MRd,MRe,MRf
1
Multiply, Add, Subtract
& Parallel Store
MADDF32 MRa,MRb,MRc
|| MMOV32 mem32,MRe
1
Multiply, Add, Subtract, MAC
& Parallel Load
MADDF32 MRa,MRb,MRc
|| MMOV32 MRe, mem32
1