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最近在玩 TMS320F2806x Piccolo™ Microcontrollers 想說邊玩邊寫心得 ，寫給自己看，也分享給剛入門的學友。

TI 總覺得比Microchip來的複雜許多，Micorchip不管用8bit 16bit 32bit不外乎找Datasheet看看有啥功能，有甚麼暫存器可用，文件內容都還可以消化，

但是TI不知為啥文件內容多到不知從何找起，有啥 ControlSuit、 Motorwave 、 C2000wave林林總總

，一開始覺得很複雜不好用，但是耐著下心來慢慢看，發現只要用的順手，高階應用開發上真的TI比Microchip來的好用許多。

俗話說"慢就是快"，靜下心來慢慢看，慢慢理解，能下有效吸收，途中也能找到許多樂趣。

來說說 TMS320F2806x Piccolo™ Microcontrollers 有甚麼Features吧

• High-Efficiency 32-Bit CPU (TMS320C28x) – 90 MHz (11.11-ns Cycle Time)  :90MHz處理速度還OK,處理Ebike控制措措有餘

– 16 × 16 and 32 × 32 Multiply and Accumulate (MAC) Operations 

– 16 × 16 Dual MAC – Harvard Bus Architecture – Atomic Operations

– Fast Interrupt Response and Processing – Unified Memory Programming Model

– Code-Efficient (in C/C++ and Assembly)

Floating-Point Unit (FPU)

– Native Single-Precision Floating-Point Operations  :精確浮點數運算,早期寫MCU處理小數點都會用Q格式,能支援浮點運算的確方便不少~~

 Programmable Control Law Accelerator (CLA)

– 32-Bit Floating-Point Math Accelerator

– Executes Code Independently of the Main CPU 

Viterbi, Complex Math, CRC Unit (VCU)

– Extends C28x Instruction Set to Support Complex Multiply, Viterbi Operations, and Cyclic Redundency Check (CRC) 

 Embedded Memory

– Up to 256KB of Flash :Flash還記得是幹嘛的嗎??  簡單理解就是存Code的

– Up to 100KB of RAM  :簡單說是存程式變數的,例如int 蘋果 = 10;  這個蘋果就會存到RAM裡面 ,一斷電 蘋果=10,就會不見。

– 2KB of One-Time Programmable (OTP) ROM :ROM 中 1能被改成0，0無法改回1 ，如 0xFFFE 改不回 0xFFFF 但是可以改成0xFFFD 方便部屬和安全性的應用。

 6-Channel Direct Memory Access (DMA)  : 一般而言運算都需要經過CPU,但是為了減輕CUP負擔,能用DMA而不透過CUP 直接存取記憶體。

 Low Device and System Cost

– Single 3.3-V Supply  頻率要越快,電壓要越小~

– No Power Sequencing Requirement  

– Integrated Power-on Reset and Brownout Reset

– Low-Power Operating Modes – No Analog Support Pin 

Endianness: Little Endian 

JTAG Boundary Scan Support

– IEEE Standard 1149.1

-1990 Standard Test Access Port and Boundary Scan Architecture 

Clocking

– Two Internal Zero-Pin Oscillators

– On-Chip Crystal Oscillator/External Clock Input

– Watchdog Timer Module

– Missing Clock Detection Circuitry 

Peripheral Interrupt Expansion (PIE) Block

That Supports All Peripheral Interrupts  

Three 32-Bit CPU Timers  

 Advanced Control Peripherals :不曉得Advanced 在哪??

Up to 8 Enhanced Pulse-Width Modulator (ePWM) Modules  : 一看到Enhanced 就知道是PWM強化版

– 16 PWM Channels Total (8 HRPWM-Capable)

– Independent 16-Bit Timer in Each Module 

• Three Input Enhanced Capture (eCAP) Modules : Capture 模式~~完馬達控制應該都很熟悉

Up to 4 High-Resolution Capture (HRCAP) Modules : 看起來是Capture強化版??

Up to 2 Enhanced Quadrature Encoder Pulse (eQEP) Modules : 看圖最快,看出來ChannelA、B變化的規律嗎?  看出來你就懂Quadrature Encoder Pulse了

12-Bit Analog-to-Digital Converter (ADC), Dual Sample-and-Hold (S/H)  : ADC 12bit 恩~~還可以

– Up to 3.46 MSPS

– Up to 16 Channels 

On-Chip Temperature Sensor :顧名思義,內建在芯片中的溫度計

128-Bit Security Key and Lock:

– Protects Secure Memory Blocks

– Prevents Reverse-Engineering of Firmware 

Serial Port Peripherals:  加減看

– Two Serial Communications Interface (SCI) [UART] Modules

– Two Serial Peripheral Interface (SPI) Modules

– One Inter-Integrated-Circuit (I2C) Bus

– One Multichannel Buffered Serial Port (McBSP) Bus

– One Enhanced Controller Area Network (eCAN)

– Universal Serial Bus (USB) 2.0 (see Device Comparison Table for Availability)

– Full-Speed Device Mode

– Full-Speed or Low-Speed Host Mode 

 Up to 54 Individually Programmable, Multiplexed General-Purpose Input/Output (GPIO) Pins With Input Filtering  :有54組多功能且能單獨燒錄的GPIO

Advanced Emulation Features: 能夠Real-Time Debug, 真的滿重要的,尤其是在調適馬達控制參數的時候

– Analysis and Breakpoint Functions

– Real-Time Debug Through Hardware 

 Package Options:

– 80-Pin PFP and 100-Pin PZP PowerPAD™ Thermally Enhanced Thin Quad Flatpacks (HTQFPs)

– 80-Pin PN and 100-Pin PZ Low-Profile Quad Flatpacks (LQFPs) 

Temperature Options

– T: –40°C to 105°C – S:

–40°C to 125°C – Q:

–40°C to 125°C (AEC Q100 Qualification for Automotive Applications)

打了一小時~ 持續更新~