| Control Law Accelerator (CLA)The C28x control law accelerator is a single-precision (32-bit) floating-point unit that extends thecapabilities of the C28x CPU by adding parallel processing. The CLA is an independent processor with itsown bus structure, fetch mechanism, and pipeline. Eight individual CLA tasks, or routines, can bespecified. Each task is started by software or a peripheral such as the ADC, ePWM, eCAP, eQEP, or CPUTimer 0. The CLA executes one task at a time to completion. When a task completes the main CPU isnotified by an interrupt to the PIE and the CLA automatically begins the next highest-priority pending task.The CLA can directly access the ADC Result registers, ePWM+HRPWM, eCAP, and eQEP registers.Dedicated message RAMs provide a method to pass additional data between the main CPU and the CL |
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