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Control Law Accelerator

Control Law Accelerator (CLA) Hands-On Workshop

The Control Law Accelerator is a 32-bit floating point math accelerator that is common on most c2000 devices. It aids in the concurrent processing of fast control algorithms.

After viewing the lectures, and working through the provided example, you should be in a better position to migrate existing algorithms from the main C28x core to the CLA, or start programming on the CLA from scratch.

C2000™ SafeTI™ Tunable FMEDA Training

This five part training series covers the following topics:

  • Part 1: Basics of FMEDA and how it is useful in system level safety analysis
  • Part 2: Introduction to the C2000™ Tunable FMEDA
  • Part 3: Detailed overview of the C2000™ Tunable FMEDA
  • Part 4: Benefits of customization on the C2000™ FMEDA
  • Part 5: Demo - How to tune the C2000™ FMEDA to your application specific needs?

Designing 6.6kW Bidirectional HEV/EV On-Board-Charger with SiC and Embedded Technologies

In this series of presentations, we go through the HEV/EV market status and history, OBC specifications, technology trend, topology selections and design considerations of an OBC system. Complete test results of a 6.6kW OBC reference design (Including AC-DC rectifier and isolated DC-DC converter) will be shown in the end of this paper to demonstrate the performance of our TIDesigns as well as TI SiC and embedded Technologies.

C2000™ MCUs - Workshops

This page provides access to past C2000 workshops, training events, and webinars, including C2000 device and Control Law Accelerator (CLA) workshops, as well as control seminars.
C2000 Microcontroller Device Workshops

C2000™ MCU Device Workshops

The C2000 Microcontroller (MCU) Workshops have been developed to help engineers gain a full understanding and complete working knowledge of the C2000 MCU family. Learning is accomplished through a detailed workshop manual and by performing the hands-on lab exercises. Each workshop starts with the basic concepts and progresses to more advanced topics in a logical flow. The topics and lab exercises build on the previous one completed, running a common theme throughout the workshop.

Configurable Logic Block (CLB) training for C2000 MCUs

Configurable Logic Block (CLB) Training for C2000™ MCUs

Does your industrial control system include customized logic?  Do you have an FPGA, CPLD, or external logic components supplementing your embedded controller and wonder “why can’t this all be done in one device?” Are you using this additional logic because your MCU peripherals don’t give you all the capability you need?  With the Configurable Logic Block (CLB) peripheral you are able to implement custom logic and even augment existing C2000 peripherals like the PWMs, captures, quadrature encoder, and GPIOs.  This can enable you to integrate critical functions into a sing

C2000 Digital Power Training Series

This training series covers the basics of digital power control and how to implement it on C2000 Microcontrollers.

Digitally Controlled High Efficiency and High Power Density PFC Circuits

In recent years, more attention is focused on increasing power conversion efficiency and power density for universal input power factor correction (PFC) converters while maintaining high power factor (PF) and low input current total harmonic distortions (THD). TI C2000 MCUs with DPWM modules and integrated analog peripherals are uniquely positioned to implement efficient digital control of such power converters. This presentation will introduce two bridgeless PFC designs using C2000 MCU.
Tech Days

MCU and Processor

Learn more about TI microcontroller (MCU) and processor solutions.
Control Law Accelerator

Introduction to the CLA

This module covers the architecture of the CLA, the resources at its disposal and the division of code into task blocks that are triggered by peripherals or through software. Each of these task blocks are atomic, in the sense that no other task may interrupt a running task. This makes operation of the CLA unconventional in comparison with standard CPUs.

Control Law Accelerator

The CLA 'C' Compiler

The CLA is supported by a subset of the ANSI ‘C’ Compiler. You will learn the features, and more importantly, the limitations, of this compiler in this video.  The video also covers the changes in the linker command file needed to support operations on the CLA

Control Law Accelerator

The Workshop

In this video we get into the actual workshop. I will take an existing project for the C28x, a simple example that samples an EPWM, runs it through a low pass filter, and then an FFT to get the frequency spectrum, and migrate it over to the CLA. You can download the project files here and I encourage to follow along as I go through the different steps and considerations during the migration process.

Control Law Accelerator

Debugging on the CLA

Once you have ported your code over to the CLA and successfully built your executable, it’s time to debug. The CLA pipeline is unprotected and is debugged through the main CPU; you cannot debug code on the CLA in the same manner you would on the C28x. This module goes over the different aspects of setting breakpoints, single stepping and setting up CCS views when debugging the CLA.

Control Law Accelerator

Tips and Tricks

In the previous modules you would have learned the workings of the CLA, the implementation of the ‘C’ language, and its unique method of debugging. This video deals with some of the common issues users face when writing code for the CLA. It is a compilation, and investigation, of some of the most commonly asked questions on the forums and should help you get to working code quickly.


Explore training modules to gain an understanding of the core attributes of the Piccolo MCU family.


There are a variety of tools to make development with the Piccolo family easier. These trainings provide an introduction to real-time features and software, as well as more detailed trainings on CLA.

Motor Applications

Motor control functionality is a key attribute of the C2000 family.  Get started with your motor control application on Piccolo MCUs using these trainings which range from introductory overviews to advanced tips for motor control optimization.

Power Applications

Power efficiency is a key requirement for applications today.  These introductory trainings explain how to implement digital control loops by taking an analog compensator and converting it to the digital domain using C2000 MCUs.

Control Applications

For control applications, an understanding the fundamentals of control theory is required.  These trainings provide a foundation for creating control applications and provide some advanced training on the spate space modelling paradigm.


Explore training modules to gain an understanding of the core attributes of the Delfino MCU family.

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