SPRUHJ0C April   2013  – October 2021 TMS320F28068M , TMS320F28069-Q1 , TMS320F28069M , TMS320F28069M-Q1

 

  1. 1Read This First
    1. 1.1 About This Manual
    2. 1.1 Glossary
    3. 1.1 Support Resources
    4.     Trademarks
  2. 1 F2806xM InstaSPIN-MOTION Enabled MCUs
  3. 2InstaSPIN-MOTION Key Capabilities and Benefits
    1. 2.1 Overview
    2. 2.2 FAST Unified Observer
    3. 2.3 SpinTAC Motion Control Suite
      1.      IDENTIFY
      2.      CONTROL
      3.      MOVE
      4.      PLAN
    4. 2.4 Additional InstaSPIN-MOTION Features
  4. 3InstaSPIN-MOTION Block Diagrams
    1.     Scenario 1: InstaSPIN-MOTION Speed Control with FAST Software Encoder
    2.     Scenario 2: InstaSPIN-MOTION Speed Control with a Mechanical Sensor
    3.     Scenario 3: InstaSPIN-MOTION Position Control with Mechanical Sensor and Redundant FAST Software Sensor
  5. 4Application Examples
    1. 4.1 Treadmill Conveyor: Smooth Motion Across Varying Speeds and Loads
    2. 4.2 Video Camera: Smooth Motion and Position Accuracy at Low Speeds
    3. 4.3 Washing Machine: Smooth Motion and Position Accuracy at Low Speeds
      1.      Agitation Cycle
      2.      Spin Cycles
    4. 4.4 InstaSPIN-MOTION Works Over the Entire Operating Range
  6. 5Evaluating InstaSPIN-MOTION Performance
    1. 5.1 Overview
    2. 5.2 Velocity Control Performance: SpinTAC vs PI
      1. 5.2.1 Disturbance Rejection
      2. 5.2.2 Reference Tracking
      3. 5.2.3 Step Response
    3. 5.3 Position Control Performance: SpinTAC vs PI
      1. 5.3.1 Disturbance Rejection
      2. 5.3.2 Reference Tracking
      3. 5.3.3 Step Response
      4. 5.3.4 Inertia Estimation Repeatability
  7. 6Microcontroller Resources
    1. 6.1 CPU Utilization
    2. 6.2 Memory Utilization
    3. 6.3 Pin Utilization
      1.      A Resources
        1.       B Definition of Terms and Acronyms
          1.        C Revision History

6.1 CPU Utilization

Figure 7-1 illustrates the options available to the designer to manage the real-time scheduling of each of the major software functions.

GUID-40D2C714-CEBA-4DF5-937B-70B25DFB9132-low.gif Figure 6-1 Software Execution Clock Tree Provides Flexibility with Real-Time Scheduling

 

Table 7-1 and Table 7-2 indicates CPU cycle utilization of SpinTAC components running out of ROM on the 28069M and 28068M devices. Note that this data is for the SpinTAC components only, and does include InstaSPIN-FOC. For InstaSPIN-FOC CPU utilization and memory footprints, see the TMS320F2806xF InstaSPIN-FOC™ Software Technical Reference Manual.

The Speed Count is used to calculate the SpinTAC sample time. SpinTAC is called from main ISR but can be decimated using the same decimation rate used to run the speed controller. The correct decimation rate can be calculated by multiplying the USER_NUM_ISR_TICKS_PER_CTRL_TICK by the USER_NUM_CTRL_TICKS_PER_SPEED_TICK.

Table 6-1 SpinTAC CPU Cycle Utilization with Library Executing in RAM
Function Name(1)(2) CPU Cycles(3)(4) Executed From
Min Avg Max ROM RAM FLASH
STVELCTL_run (Velocity Control)
RES = 1, ENB = 0 158 158 158 ✓ ✓ ×
RES = 0, ENB = 1 573 573 573
First call after ENB = 1 1010 1010 1010
Change Bandwidth parameter 786 786 786
Change Inertia parameter 786 786 786
RES = 1, ENB = 1 165 165 165
STVELMOVE_run (Velocity Move)
RES = 1, ENB = 0 202 202 202 ✓ ✓ ×
stcurve RES = 0, ENB = 1 713 743 1444
scurve RES = 0, ENB = 1 676 709 1409
trap RES = 0, ENB = 1 547 620 1134
RES = 1, ENB = 1 191 191 191
STVELPLAN_run (Velocity Plan)
RES = 1, ENB = 0 159 159 159 ✓ ✓ ×
RES = 0, ENB = 1 169 169 169
First call after ENB = 1 326 326 326
STAY FSM State 188 188 188
Condition FSM State
Calculation must be done for each State		 324 (fixed)
+ 290 * Number of Transitions
+ 68 * Number of EXIT Actions
Transition FSM State
Calculation must be done for each State		 226 (fixed)
+ 63 * Number of ENTER Actions
STVELPLAN_runTick (ISR function) 58 79.7 80
STVELID_run (Velocity Identify)
RES = 1, ENB = 0 142 142 142 ✓ ✓ ×
RES = 0, ENB = 1 217 239 667
First call after ENB = 1 1083 1083 1083
RES = 1, ENB = 1 149 149 149
STPOSCOV_run (Position Converter)
RES = 1, ENB = 0 110 110 110 ✓ ✓ ×
RES = 0, ENB = 1 322 331 333
First call after ENB = 1 985 985 985
RES = 1, ENB = 1 118 118 118
STPOSCTL_run (Position Control)
RES = 0, ENB =0 176 176 176 ✓ ✓ ×
RES = 0, ENB = 1 1134 1139 1154
First call after ENB = 1 1927 1927 1927
Change Bandwidth parameter 1632 1632 1632
Change Inertia parameter 1632 1632 1632
RES = 1, ENB = 1 185 185 185
STPOSMOVE_run (Position Move)
RES = 0, ENB = 0 406 406 406 ✓ ✓ ×
stcurve RES = 0, ENB = 1 611 1400 2729
Velocity Controlled Profile 1272 1409 2475
scurve RES = 0, ENB = 1 611 1345 2560
Velocity Controlled Profile 1219 1367 2431
trap RES = 0, ENB = 1 611 1274 2498
Velocity Controlled Profile 1673 1850 2029
RES = 1, ENB = 1 381 381 381
STPOSPLAN_run (Position Plan)
RES = 1, ENB = 0 173 173 173 ✓ ✓ ×
RES = 0, ENB = 1 201 201 201
First call after ENB = 1 363 363 363
STAY FSM State 201 201 201
Condition FSM State
Calculation must be done for each State		 388 (fixed)
+ 296 * Number of Transitions
+ 68 * Number of EXIT Actions
Transition FSM State
Calculation must be done for each State		 240 (fixed)
+ 63 * Number of ENTER Actions
STPOSPLAN_runTick (ISR function) 58 80 80
(1) RES = 1 indicates that the component is in Reset.
(2) ENB = 1 indicates that the component is enabled.
(3) Microcontrollers were run at 60 MHz with the PWM at 15 kHz.
(4) The typical state appears in bold.
Table 6-2 SpinTAC CPU Cycle Utilization with Library Executing in Flash
Function Name(1)(2) CPU Cycles(3)(4) Executed From
Min Avg Max ROM RAM FLASH
STVELCTL_run (Velocity Control)
RES = 1, ENB = 0 189 189 189 ✓ × ✓
RES = 0, ENB = 1 614 614 614
First call after ENB = 1 1077 1077 1077
Change Bandwidth 842 842 842
Change Inertia parameter 842 842 842
RES = 1, ENB = 1 347 347 347
STVELMOVE_run (Velocity Move)
RES = 1, ENB = 0 220 220 220 ✓ × ✓
stcurve RES = 0, ENB = 1 724 759 1468
scurve RES = 0, ENB = 1 687 724 1435
trap RES = 0, ENB = 1 561 636 1167
RES = 1, ENB = 1 494 494 494
STVELPLAN_run (Velocity Plan)
RES = 1, ENB = 0 183 183 183 ✓ × ✓
RES = 0, ENB = 1 238 238 238
First call after ENB = 1 333 333 333
STAY FSM State 238 238 238
Transiation FSM State
Calculation must be done for each State		 436 (fixed)
+ 320 * Number of Transitions
+ 388 * Number of EXIT Actions
Condition FSM State
Calculation must be done for each State		 283 (fixed)
+ 438 * Number of ENTER Actions
STVELPLAN_runTick (ISR function) 76 100 100
STVELID_run (Velocity Identify)
RES = 1, ENB = 0 198 198 198 ✓ × ✓
RES = 0, ENB = 1 256 278 723
First call after ENB = 1 1196 1196 1196
RES = 1, ENB = 1 292 292 292
STPOSCOV_run (Position Converter)
RES = 1, ENB = 0 127 127 127 ✓ × ✓
RES = 0, ENB = 1 391 398 400
First call after ENB = 1 1209 1209 1209
RES = 1, ENB = 1 140 140 140
STPOSCTL_run (Position Control)
RES = 0, ENB =0 201 201 201 ✓ × ✓
RES = 0, ENB = 1 1207 1212 1225
First call after ENB = 1 2043 2043 2043
Change Bandwidth parameter 1729 1729 1729
Change Inertia parameter 1729 1729 1729
RES = 1, ENB = 1 449 449 449
STPOSMOVE_run (Position Move)
RES = 0, ENB = 0 520 520 520 ✓ × ✓
stcurve RES = 0, ENB = 1 790 1611 3630
Velocity Controlled Profile 1467 1588 2778
scurve RES = 0, ENB = 1 790 1564 3205
Velocity Controlled Profile 1415 1551 2734
trap RES = 0, ENB = 1 790 1501 3130
Velocity Controlled Profile 1540 1903 2438
RES = 1, ENB = 1 996 996 996
STPOSPLAN_run (Position Plan)
RES = 1, ENB = 0 202 202 20 ✓ × ✓
RES = 0, ENB = 1 255 255 255
First call after ENB = 1 373 373 373
STAY FSM State 255 255 255
Condition FSM State
Calculation must be done for each State		 501 (fixed)
+ 323 * Number of Transitions
+ 382 * Number of EXIT Actions
Transition FSM State
Calculation must be done for each State		 301 (fixed)
+ 432 * Number of ENTER Actions
STPOSPLAN_runTick (ISR function) 86 115 115
(1) RES = 1 indicates that the component is in Reset.
(2) ENB = 1 indicates that the component is enabled.
(3) Microcontrollers were run at 60 MHz with the PWM at 15 kHz.
(4) The typical state appears in bold.