Clarke - Texas Instruments TMS320C2000 User Manual

Software Tools
For convenience, the module graphics throughout the documentation are color coded to help customers
quickly identify a modules dependency within a system. Color designation is as follows:
• Target independent/application independent :
• Target independent/application configurable :
• Drivers (target dependent/application
configurable) :
Examples of target independent modules are given in
do not directly access or modify control or status registers of any on-chip peripherals, i.e., target
microcontroller-specific resources. These modules are dependent only on the CPU core. TI/AI modules
are typically characterized by mathematical type functions (e.g., transforms, matrix operations, waveform
generators, etc.). These functions are fixed and fairly standardized, and do not require configuration,
knowledge of peripherals, or the end application itself. TI/AC modules also do not need knowledge of
device peripherals, but do need to be configured depending on the end application. Examples of these
modules are PID controllers, position/speed estimators, voltage and current models, etc.
Figure 4. Target and Application Independent Modules - Examples
clarke_a
clarke_b
Figure 5. Target Independent/Application Configurable Modules
On the other hand, driver modules are the interface between software and target microcontroller-specific
peripheral hardware. Examples of such modules are shown in
access to peripheral control and status registers. Using these driver modules or taking them as a
reference, one can easily develop application specific drivers to configure microcontroller peripherals such
as PWMs, ADCs, QEP, CAP etc., as required.
Mfunc_c1
Mfunc_c2
Mfunc_c3
10
TMS320C2000 Motor Control Primer

CLARKE

Valpha
MACRO
rmp_out
Vbeta
PID
Ref
MACRO
Out
Spd Reg.
Fdb
Figure 6. Target Dependent Drive Module
PWM1A
PWM1B
PWM2A
PWM EV
DRV
PWM2B
MACRO
HW
PWM3A
PWM3B
Copyright © 2010, Texas Instruments Incorporated
TI/AI yellow
TI/AC pale red
DRV blue
Figure 4 and Figure
Ta
rmp_freq
SVGEN
DQ
Tb
rmp_offset
MACRO
Tc
rmp_gain
configuration
Kp: 1.0
Ki: 0.02
Kd: 0.003
Max limit: +0.8
Min limit: -0.8
Figure 6. These modules have direct
configuration
PWM 1/2/3: Acitive Hi/Lo
PWM Trip: HI_Z/LO
PWM Mode: Sym/Asym
PWM Freq: 5-30 kHz
Deadband: 0-20 us
www.ti.com
5. Target independent modules
RG
MACRO
rmp_out
SPRUGI6 – September 2010
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