米6体育平台手机版

SPRUHW1A June 2014 – October 2021 TMS320F28052-Q1 , TMS320F28052M , TMS320F28052M-Q1 , TMS320F28054-Q1 , TMS320F28054M , TMS320F28054M-Q1

6.2 Memory Utilization

Table 7-2 lists the memory usage for each SpinTAC component. In SpinTAC Plan, there are a large number of configuration functions.

Table 6-2 Code Size and RAM Usage for SpinTAC Components

Component	Code (.text) (16-bit Words)	RAM (.ebss) (16-bit Words)
Velocity Control	0x2E6	0x4C
Velocity Move	0x488	0x5C
Velocity Plan (Minimum)	0x666	0x4E
Velocity Plan (Maximum)	0x14BA	0x4E
Velocity Identify	0x392	0x3C
Position Converter	0x21C	0x4C
Position Control	0x416	0x62
Position Move	0x13A4	0xCC
Position Plan (Minimum)	0x7AE	0x60
Position Plan (Maximum)	0x16F4	0x60

Table 7-3 breaks down the maximum stack utilization of SpinTAC components when run individually. The stack consumption of InstaSPIN-FOC is included. To calculate the stack usage, the entire memory section where the stack is placed is filled with known values. The corresponding code was then run for a few minutes. The memory area where the stack was allocated was analyzed and the amount of used memory was calculated.

Table 6-3 Stack Utilization of SpinTAC Components + InstaSPIN-FOC

Configuration	Maximum Stack Used (16-bit Words)
Velocity Control	0x0120
Velocity Move	0x0120
Velocity Plan + Move + Control	0x0120
Velocity Identify	0x0120
Position Converter	0x0120
Position Control	0x0120
Position Move	0x0120
Position Plan + Move + Control	0x0120

Table 7-4 shows the allocated memory for the InstaSPIN-FOC and SpinTAC library.

Table 6-4 2805xF and 2805xM Allocated Memory for InstaSPIN-FOC and SpinTAC Library

Features	2806xF	2806xM	2805xF	2805xM	2802xF
FAST	Yes	Yes	Yes	Yes	Yes
SpinTAC	No	Yes	No	Yes	No
Maximum Number of Motors that can be controlled	2	2	2	2	1
Relocalable Controller Structure	No	No	Yes	Yes	Yes
FAST Version	1.6	1.6	1.7	1.7	1.7
Public Library needs to be added to project	No	No	No	No	Yes
ROM Library [size, hex, words]	4000	4000	3D27	3D27	2000
ROM Library Start [address, hex]	3F 8000	3F 8000	3F 8808	3F 8808	3F C000
Library Required RAM [size, hex, words]	800	800	800	800	200
Library Start RAM [address, hex]	01 3800	01 3800	00 8000	00 8000	00 0600

For the F2805xM device, FAST v1.7 and SpinTAC v2.2.7 are stored in execute-only memory. Figure 7-2 shows the memory map for these devices, highlighting locations that have been assigned for FAST and SpinTAC.

Figure 6-2 F2805xF and F2805xM Allocated Memory for InstaSPIN-FOC and SpinTAC Library

This variant of the library requires the addition of a control structure to the project, which will be loaded to user's RAM space. The control structure is public and contains no specific information about the estimator, but it is needed to allow the library interface to work. The control structure can be declared as a single item, or can be declared as an array of two for user's controlling two motors independently.

// control structure declaration in main.c to control one motor
CTRL_Obj ctrl;
// control structure declaration in main.c to control two motors
CTRL_Obj ctrl[2];

Each ctrl member consumes 0x100 x 16-bit words, or 512 Bytes of memory. The specific location of ctrl or ctrl[2] structures is not important, so users can store these structures anywhere in volatile memory.