SPRACS0A May   2020  – November 2022 TMS320F280048-Q1 , TMS320F280048C-Q1 , TMS320F280049 , TMS320F280049-Q1 , TMS320F280049C , TMS320F280049C-Q1 , TMS320F28033 , TMS320F28033-Q1 , TMS320F28035 , TMS320F28035-EP , TMS320F28035-Q1 , TMS320F28053 , TMS320F28055 , TMS320F2806-Q1 , TMS320F28065 , TMS320F28069 , TMS320F28069-Q1 , TMS320F28069F , TMS320F28069F-Q1 , TMS320F28069M , TMS320F28069M-Q1 , TMS320F28075 , TMS320F28075-Q1 , TMS320F28076 , TMS320F28374D , TMS320F28374S , TMS320F28375D , TMS320F28375S , TMS320F28375S-Q1 , TMS320F28376D , TMS320F28376S , TMS320F28377D , TMS320F28377D-EP , TMS320F28377D-Q1 , TMS320F28377S , TMS320F28377S-Q1 , TMS320F28378D , TMS320F28378S , TMS320F28379D , TMS320F28379D-Q1 , TMS320F28379S , TMS320F28384D , TMS320F28384D-Q1 , TMS320F28384S , TMS320F28384S-Q1 , TMS320F28386D , TMS320F28386D-Q1 , TMS320F28386S , TMS320F28386S-Q1 , TMS320F28388D , TMS320F28388S , TMS320F28P650DH , TMS320F28P650DK , TMS320F28P650SH , TMS320F28P650SK , TMS320F28P659DH-Q1 , TMS320F28P659DK-Q1 , TMS320F28P659SH-Q1

 

  1.   Software Examples to Showcase Unique Capabilities of TI’s C2000 CLA
  2.   Trademarks
  3. 1Introduction
  4. 2Direct Access of CLA to Key Peripherals
  5. 3Low interrupt Latency of CLA
  6. 4Powerful Math Computation Capability of CLA
  7. 5Offloading Fast Control Loop to CLA
    1. 5.1 Handling Shared Resources Across C28x/CLA
  8. 6Summary
  9. 7References
  10. 8Revision History

1 Introduction

The CLA is a fully-programmable independent 32-bit floating-point CPU that is designed for optimal math intensive computations to offer a significant boost to the performance of control algorithms. Unlike the standard traditional processor which executes instructions and services interrupts, the CLA instead is a task-driven machine and can support up to 8 user-defined tasks. The CLA in addition to providing computational capability provides an unique combination of minimal latency and ease of access to the key control peripherals. This makes the CLA ideal for implementing fast control loops, thus freeing up bandwidth on C28x to run additional control loops and perform other diagnostic and communication related tasks. The subsequent sections of this application report discusses these unique capabilities of CLA in detail and also demonstrates them through simple software examples which are provided as part of C2000Ware package [2]. For more details on CLA architecture and instructions set, see [1], [3].

The examples discussed in this document can be found in C2000Ware v3.01.00.00 or latest, located within the following directories after installation:

  • C:\ti\c2000\C2000Ware_<version_number>\driverlib\f28004x\examples\cla
  • C:\ti\c2000\C2000Ware_<version_number>\libraries\math\CLAmath\c28\examples
  • C:\ti\c2000\ C2000Ware_<version_number>\libraries\control\DCL\c28\examples

The discussed example projects are:

  • cla_ex4_pwm_control
  • cla_ex5_adc_just_in_time
  • cla_ex6_cpu_offloading
  • cla_ex7_shared_resource_handling