SPRACW5A April   2021  – December 2021 F29H850TU , F29H859TU-Q1 , TMS320F2800132 , TMS320F2800133 , TMS320F2800135 , TMS320F2800137 , TMS320F280021 , TMS320F280021-Q1 , TMS320F280023 , TMS320F280023-Q1 , TMS320F280023C , TMS320F280025 , TMS320F280025-Q1 , TMS320F280025C , TMS320F280025C-Q1 , TMS320F280033 , TMS320F280034 , TMS320F280034-Q1 , TMS320F280036-Q1 , TMS320F280036C-Q1 , TMS320F280037 , TMS320F280037-Q1 , TMS320F280037C , TMS320F280037C-Q1 , TMS320F280038-Q1 , TMS320F280038C-Q1 , TMS320F280039 , TMS320F280039-Q1 , TMS320F280039C , TMS320F280039C-Q1 , TMS320F280040-Q1 , TMS320F280040C-Q1 , TMS320F280041 , TMS320F280041-Q1 , TMS320F280041C , TMS320F280041C-Q1 , TMS320F280045 , TMS320F280048-Q1 , TMS320F280048C-Q1 , TMS320F280049 , TMS320F280049-Q1 , TMS320F280049C , TMS320F280049C-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.   Trademarks
  2. 1Introduction
  3. 2ACI Motor Control Benchmark Application
    1. 2.1 Source Code
    2. 2.2 CCS Project for TMS320F28004x
    3. 2.3 CCS Project for TMS320F2837x
    4. 2.4 Validate Application Behavior
    5. 2.5 Benchmarking Methodology
      1. 2.5.1 Details of Benchmarking With Counters
    6. 2.6 ERAD Module for Profiling Application
  4. 3Real-time Benchmark Data Analysis
    1. 3.1 ADC Interrupt Response Latency
    2. 3.2 Peripheral Access
    3. 3.3 TMU (math enhancement) Impact
    4. 3.4 Flash Performance
    5. 3.5 Control Law Accelerator (CLA)
      1. 3.5.1 Full Signal Chain Execution on CLA
        1. 3.5.1.1 CLA ADC Interrupt Response Latency
        2. 3.5.1.2 CLA Peripheral Access
        3. 3.5.1.3 CLA Trigonometric Math Compute
      2. 3.5.2 Offloading Compute to CLA
  5. 4C2000 Value Proposition
    1. 4.1 Efficient Signal Chain Execution With Better Real-Time Response Than Higher Computational MIPS Devices
    2. 4.2 Excellent Real-Time Interrupt Response With Low Latency
    3. 4.3 Tight Peripheral Integration That Scales Applications With Large Number of Peripheral Accesses
    4. 4.4 Best in Class Trigonometric Math Engine
    5. 4.5 Versatile Performance Boosting Compute Engine (CLA)
    6. 4.6 Deterministic Execution due to Low Execution Variance
  6. 5Summary
  7. 6References
  8. 7Revision History

3.5.1.3 CLA Trigonometric Math Compute

The CLA is efficient at floating point compute. However, unlike the C28x CPU which has the TMU hardware accelerator, the CLA does not have a trigonometric hardware accelerator and requires a software implementation. The C2000Ware software package provides CLAmath library that has efficient implementation of trigonometric operations. In the ACI application, the CLAmath library APIs are used for Park, Inverse Park and Flux Estimator compute blocks that contain trigonometric operations.

Table 3-6 CLAmath Performance for F28004x
Compute Core Park/Inverse Park (cycles) Flux Estimator (cycles)
CLA 83/85 342
C28x 18/24 167

It is easy to port code created for C28x CPU utilizing TMU operations to CLA. The C28x TMU compiler intrinsics map to CLAmath libray functions when compiled for CLA. As such the ACI benchmark control code running on C28x CPU with TMU did not need to be modified to run from CLA and only required linking the CLAmath library and including the CLAmath.h header file.