TI中文支持网请问f28069的CLA是否可以控制 ePWM所有的寄存器，特别是控制寄存器？ F28069的CLA 是否有可以调正余弦的库即 CLA maths？
10#：
是的，CLA可以控制所有ePWM的寄存器，也可以调用CLAMaths.
请参考TRM 9.1 Control Law Accelerator (CLA) Overview部分：
The CLA has direct access to the ePWM+HRPWM, Comparator, eCAP, eQEP, and ADC result registers.
请问f28069的CLA是否可以控制 ePWM所有的寄存器，特别是控制寄存器？ F28069的CLA 是否有可以调正余弦的库即 CLA maths？
Jason Wang83：
正如楼上所说，CLA是可以直接访问ePWM寄存器的，可以调用maths的。可以参考以下链接：
http://www.ti.com/general/docs/lit/getliterature.tsp?literatureNumber=sprb197a&fileType=pdf
第三页又讲：CLA provides a second processing core with independent peripheral access for support of multiple, independent control loops, as well as additional processing performance。
With the CLA, the total number of cycles is reduced even further, resulting in faster control loops, leaving 80 percent CPU headroom to perform other tasks. Much of the increased performance of the CLA is due to its impressive math capabilities.
第四页：A typical control loop has three main components – the PWM output, the ADC, and the CPU. Without the CLA, the PWM triggers the ADC, which fi res an interrupt when it fi nishes the conversion. The interrupt is then scheduled by the Interrupt Manager (PIE on C2000™ devices). When the CPU receives the interrupt request, it has to switch contexts, handle the interrupt, and switch back to resume what it was doing.
With the CLA, time-consuming context switches are taken out of the equation. The CLA has direct communication with the ADC and ePWM peripherals, eliminating the need for the CPU. The CLA has its own interrupt controller that simply organizes incoming requests in a priority queue, reducing response latency to just fi ve cycles. Additionally, once a task begins in the CLA, it is run to completion, meaning there are no nested interrupts. The CPU is free to handle other system processes, or handle other control loops in multi-loop systems.
希望对你所有帮助。
请问f28069的CLA是否可以控制 ePWM所有的寄存器，特别是控制寄存器？ F28069的CLA 是否有可以调正余弦的库即 CLA maths？
Jason Wang83：
关于Control Law Accelerator，TI还有官方培训视频教程， 上面也很清楚的说明了可以direct access to registers：
Introduction to the C2000 Control Law Accelerator Part1（TI培训视频教程）：
https://www.ti.com/general/docs/mytilit/getmytiliterature.tsp?lang=en&literatureNumber=sprc908&fileType=wmv
（在这个54分钟视频的第四分钟可以很清楚看到：independent register set & direct access to ePWM, ADC result and comparator registers）
Piccolo Control Law Accelerator (CLA) Debug in CCS 3.3：
http://focus.ti.com/general/docs/video/Portal.tsp?lang=en&entryid=0_8ud3mjp4
希望对你有帮助。
