TMS320x28xx, 28xxx DSP Peripheral

Reference Guide

Literature Number: SPRU566I

June 2003 – Revised May 2009
2 SPRU566I – June 2003 – Revised May 2009
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 Contents

1 Abbreviations ...................................................................................................................... 5
2 Peripherals Available Per Device ........................................................................................... 7
3 Peripheral Descriptions ....................................................................................................... 10
3.1 ........................................................................................ 10
System Control and Interrupts
3.2 External Interface (XINTF) ............................................................................................. 11
3.3 Enhanced Controller Area Network (eCAN) ......................................................................... 11
3.4 Event Manager (EV) .................................................................................................... 12
3.5 Analog Modules .......................................................................................................... 12
3.6 Multichannel Buffered Serial Port (McBSP) ......................................................................... 13
3.7 Serial Communications Interface (SCI) .............................................................................. 13
3.8 Serial Peripheral Interface (SPI) ...................................................................................... 14
3.9 Boot ROM ................................................................................................................ 14
3.10 Inter-Integrated Circuit (I2C) Module .................................................................................. 14
3.11 Enhanced Quadrature Encoder Pulse (eQEP) Module ............................................................ 15
3.12 Enhanced Capture (eCAP) Module ................................................................................... 15
3.13 Enhanced Pulse Width Modulator (ePWM) Module ................................................................ 16
3.14 High-Resolution Pulse Width Modulator (HRPWM) Module ...................................................... 17
3.15 Direct Memory Access (DMA) ......................................................................................... 18
3.16 Local Interconnect Network (LIN) ..................................................................................... 18
3.17 Control Law Accelerator (CLA) ........................................................................................ 18
Appendix A Revision History ...................................................................................................... 19
A.1 Changes Made in This Revision ....................................................................................... 19

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List of Tables
1 Abbreviation Matrix .......................................................................................................... 5
2 TMS320x281x Peripheral Selection Guide ............................................................................... 7
3 TMS320x280x, TMS320x2801x Peripheral Selection Guide .......................................................... 7
4 TMS320x2804x Peripheral Selection Guide ............................................................................. 8
5 TMS320F2833x, TMS320F2823x Peripheral Selection Guide ........................................................ 8
6 TMS320x2834x Peripheral Selection Guide ............................................................................. 9
7 TMS320F2802x Peripheral Selection Guide ............................................................................. 9
8 TMS320F2803x Peripheral Selection Guide ............................................................................. 9
9 External Interface (XINTF) Module Types .............................................................................. 11
10 Enhanced Controller Area Network (eCAN) Module Types ......................................................... 11
11 Event Manager (EV) Module Types ..................................................................................... 12
12 Analog Digital Controller (ADC) Module Types ........................................................................ 12
13 Comparator Module Types ................................................................................................ 13
14 Multichannel Buffered Serial Port (McBSP) Module Types ........................................................... 13
15 Serial Communications Interface (SCI) Module Type ................................................................ 13
16 Serial Peripheral Interface (SPI) Module Type Description ........................................................... 14
17 Inter-Integrated Circuit (I2C) Module Type Description ............................................................... 15
18 Enhanced Quadrature Encoder Pulse (eQEP) Module Type Description ......................................... 15
19 Enhanced Capture (eCAP) Module Types ............................................................................. 16
20 Enhanced Pulse Width Modulator (ePWM) Module Types .......................................................... 17
21 High-Resolution Pulse Width Modulator (HRPWM) Module Types ................................................. 17
22 Direct Memory Access (DMA) Module Types ......................................................................... 18
23 Local Interconnect Network (LIN) Module Types ...................................................................... 18
24 Control Law Accelerator (CLA) Module Types ......................................................................... 18

4 List of Tables SPRU566I – June 2003 – Revised May 2009

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 Reference Guide
SPRU566I – June 2003 – Revised May 2009

28x DSP Peripherals

This overview guide describes all the peripherals available for TMS320x28xx and TMS320x28xxx devices.
Section 2 shows the peripherals used by each device. Section 3 provides descriptions of the peripherals.
You can download the peripheral guide by clicking on the literature number, which is linked to the portable
document format (pdf) file.

1 Abbreviations
Throughout this document and other peripheral guides, the following abbreviations are used for a series of
28x microcontrollers:
• TMS320x28xx refers to TMS320x281x and TMS320x280x devices
• TMS320x28xxx refers to TMS320x2801x, TMS320x2804x, TMS320x2833x, TMS320x2834x,
TMS320x2802x, and TMS320x2803x devices.
Specific device abbreviations are listed in Table 1.

Table 1. Abbreviation Matrix

Device Abbreviation Group
Family Device (1)
Used Abbreviation
TMS320x281x TMS320F2810, TMS320C2810, SM320F2810-EP (2) 2810 281x
TMS320F2811, TMS320C2811, TMS320R2811, SM320F2811-EP (2) 2811
TMS320F2812, TMS320C2812, TMS320R2812, SM320F2812-EP (2) 2812
TMS320x280x TMS320F2801, TMS320C2801 2801 280x
TMS320F2802, TMS320C2802 2802
TMS320F2806 2806
(2)
TMS320F2808, SM320F2808-EP 2808
TMS320F2809 2809
TMS320x2801x TMS320F28015 28015 2801x
TMS320F28016 28016
TMS320x2804x TMS320F28044 28044 2804x
TMS320F2833x TMS320F28335 28335 2833x
TMS320F28334 28334
TMS320F28332 28332
TMS320F2823x TMS320F28235 28235 2823x
TMS320F28234 28234
TMS320F28232 28232

(1)
Where F precedes the device abbreviation, it stands for Flash memory; C stands for RAM.
(2)
Military device that may be abbreviated differently elsewhere; the abbreviations shown are relevant to this document and
peripheral selection only. Military devices in this document all begin with a prefix of SM.

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Table 1. Abbreviation Matrix (continued)

Device Abbreviation Group
Family Device (1)
Used Abbreviation
TMS320x2834x TMS320C28346 28346 2834x
TMS320C28345 28345
TMS320C28344 28344
TMS320C28343 28343
TMS320C28342 28342
TMS320C28341 28342
TMS320x2802x TMS320F28020 28020 2802x
TMS320F28021 28021
TMS320F28022 28022
TMS320F28023 28023
TMS320F28026 28026
TMS320F28027 28027
TMS320x2803x TMS320F28035 28035 2803x
TMS320F28034 28034
TMS320F28033 28033
TMS320F28032 28032

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2 Peripherals Available Per Device
Table 2 through Table 7 show the peripherals that are available for each of the 28xx, 28xxx devices. The
literature number is a link to the document that can be downloaded.

Table 2. TMS320x281x Peripheral Selection Guide

Peripheral Lit. No. Type (1) 2812 2811, 2810
TMS320x281x System Control and Interrupts SPRU078 - X X
TMS320x281x External Interface (XINTF) SPRU067 0 X
TMS320x281x Enhanced Controller Area Network (eCAN) SPRU074 0 X X
TMS320x281x Event Manager (EV) SPRU065 0 X X
TMS320x281x Analog-to-Digital Converter (ADC) SPRU060 0 X X
TMS320x281x Multichannel Buffered Serial Port (McBSP) SPRU061 0 X X
TMS320x281x Serial Communications Interface (SCI) SPRU051 0 X X
TMS320x281x Serial Peripheral Interface (SPI) SPRU059 0 X X
TMS320x281x Boot ROM SPRU095 - X X

(1)
A type change represents a major functional feature difference in a peripheral module. Within a peripheral type, there may be
minor differences between devices which do not affect the basic functionality of the module. These device-specific differences
are listed in Section 3 and in the peripheral reference guides.

Table 3. TMS320x280x, TMS320x2801x Peripheral Selection Guide

Peripheral Lit. No. Type (1) 2801 28016 28015
2802,
2806,
2808,
2809
TMS320x280x, 2801x, 2804x System Control and Interrupts SPRU712 - X X X
TMS320x280x, 2801x DSP Enhanced Controller Area Network (eCAN) SPRUEU0 0 X X
User's Guide
TMS320x280x, 2801x, 2804x Analog-to-Digital Converter (ADC) SPRU716 1 X X X
TMS320x280x, 2801x, 2804x Serial Communications Interface (SCI) SPRUFK7 0 X X X
TMS320x280x, 2801x, 2804x Serial Peripheral Interface (SPI) SPRUG72 0 X X X
TMS320x280x, 2801x, 2804x Boot ROM SPRU722 - X X X
TMS320x280x, 2801x, 2804x Enhanced Quadrature Encoder Pulse SPRU790 0 X
(eQEP)
TMS320x280x, 2801x, 2804x Enhanced Pulse Width Modulator SPRU791 0 X X X
Module (ePWM)
TMS320x280x, 2801x, 2804x Enhanced Capture (eCAP) Module SPRU807 0 X X X
TMS320x280x, 2801x, 2804x Inter-Integrated Circuit (I2C) SPRU721 0 X X X
TMS320x280x, 2801x, 2804x High-Resolution Pulse-Width Modulator SPRU924 0 X X X
(HRPWM)

(1)
A type change represents a major functional feature difference in a peripheral module. Within a peripheral type, there may be
minor differences between devices which do not affect the basic functionality of the module. These device-specific differences
are listed in Section 3 and in the peripheral reference guides.

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Table 4. TMS320x2804x Peripheral Selection Guide

Peripheral Lit. No. Type (1) 28044
TMS320x280x, 2801x, 2804x System Control and Interrupts SPRU712 - X
TMS320x280x, 2801x, 2804x Analog-to-Digital Converter (ADC) SPRU716 1 X
TMS320x280x, 2801x, 2804x Serial Communications Interface (SCI) SPRUFK7 0 X
TMS320x280x, 2801x, 2804x Serial Peripheral Interface (SPI) SPRUG72 0 X
TMS320x280x, 2801x, 2804x Boot ROM SPRU722 - X
TMS320x280x, 2801x, 2804x Enhanced Pulse Width Modulator Module (ePWM) SPRU791 0 X
TMS320x280x, 2801x, 2804x Inter-Integrated Circuit (I2C) SPRU721 0 X
TMS320x280x, 2801x, 2804x High-Resolution Pulse-Width Modulator (HRPWM) SPRU924 0 X
(1)
A type change represents a major functional feature difference in a peripheral module. Within a peripheral type, there may be
minor differences between devices which do not affect the basic functionality of the module. These device-specific differences
are listed in Section 3 and in the peripheral reference guides.

Table 5. TMS320F2833x, TMS320F2823x Peripheral Selection Guide

Peripheral Lit. No. Type (1) 28335, 28334,
28332, 28235,
28234, 28232
TMS320F2833x, 2823x System Control and Interrupts SPRUFB0 - X
TMS320F2833x, 2823x External Interface (XINTF) SPRU949 1 X
TMS320F2833x, 2823x Enhanced Controller Area Network (eCAN) SPRUEU1 0 X
TMS320F2833x, 2823x Analog-to-Digital Converter (ADC) SPRU812 2 X
TMS320F2833x, 2823x Multichannel Buffered Serial Port (McBSP) SPRUFB7 1 X
TMS320F2833x, 2823x Serial Communications Interface (SCI) SPRUFZ5 0 X
TMS320F2833x, 2823x Serial Peripheral Interface (SPI) SPRUEU3 0 X
TMS320F2833x, 2823x Boot ROM SPRU963 - X
TMS320F2833x, 2823x Enhanced Quadrature Encoder Pulse (eQEP) SPRUG05 0 X
TMS320F2833x, 2823x Enhanced Pulse Width Modulator Module (ePWM) SPRUG04 0 X
TMS320F2833x, 2823x Enhanced Capture (eCAP) Module SPRUFG4 0 X
TMS320F2833x, 2823x Inter-Integrated Circuit (I2C) SPRUG03 0 X
TMS320F2833x, 2823x High-Resolution Pulse-Width Modulator (HRPWM) SPRUG02 0 X
TMS320F2833x, 2823x Direct Memory Access (DMA) SPRUFB8 0 X
(1)
A type change represents a major functional feature difference in a peripheral module. Within a peripheral type, there may be
minor differences between devices which do not affect the basic functionality of the module. These device-specific differences
are listed in Section 3 and in the peripheral reference guides.

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Table 6. TMS320x2834x Peripheral Selection Guide

PERIPHERAL GUIDE Lit. No. TYPE (1) 28346, 28345,
28344, 28343,
28342, 28341
TMS320x2834x Delfino System Control and Interrupts SPRUFN1 - X
TMS320x2834x Delfino External Interface (XINTF) SPRUFN4 1 X
TMS320x2834x Delfino Enhanced Controller Area Network (eCAN) SPRUEU4 0 X
TMS320x2834x Delfino Multichannel Buffered Serial Port (McBSP) SPRUG80 1 X
TMS320x2834x Delfino Serial Communications Interface (SCI) SPRUG75 0 X
TMS320x2834x Delfino Serial Peripheral Interface (SPI) SPRUG73 0 X
TMS320x2834x Delfino Boot ROM SPRUFN5 - X
TMS320x2834x Delfino Enhanced Quadrature Encoder Pulse (eQEP) SPRUG74 0 X
TMS320x2834x Delfino Enhanced Pulse Width Modulator Module (ePWM) SPRUFZ6 0 X
TMS320x2834x Delfino Enhanced Capture (eCAP) Module SPRUG79 0 X
TMS320x2834x Delfino Inter-Integrated Circuit (I2C) SPRUG76 0 X
TMS320x2834x Delfino High-Resolution Pulse-Width Modulator (HRPWM) SPRUG77 0 X
TMS320x2834x Delfino Direct Memory Access (DMA) SPRUG78 0 X
(1)
A type change represents a major functional feature difference in a peripheral module. Within a peripheral type, there may be
minor differences between devices that do not affect the basic functionality of the module. These device-specific differences are
listed in Section 3 and in the peripheral reference guides.

Table 7. TMS320F2802x Peripheral Selection Guide

Peripheral Lit. No. Type (1) 28027, 28021,
28026, 28020
28023,
28022
TMS320x2802x Piccolo System Control and Interrupts SPRUFN3 - X X
TMS320x2802x, 2803x Piccolo Analog-to-Digital Converter (ADC) and Comparator SPRUGE5 3/0 (2) X X
TMS320x2802x, 2803x Piccolo Serial Communications Interface (SCI) SPRUGH1 0 X X
TMS320x2802x, 2803x Piccolo Serial Peripheral Interface (SPI) SPRUG71 1 X X
TMS320x2802x Piccolo Boot ROM SPRUFN6 - X X
TMS320x2802x, 2803x Piccolo Enhanced Pulse Width Modulator Module (ePWM) SPRUGE9 1 X X
TMS320x2802x, 2803x Piccolo Enhanced Capture Module (eCAP) SPRUFZ8 0 X X
TMS320x2802x, 2803x Piccolo Inter-Integrated Circuit (I2C) SPRUFZ9 0 X X
TMS320x2802x, 2803x Piccolo High-Resolution Pulse-Width Modulator (HRPWM) SPRUGE8 1 X
(1)
A type change represents a major functional feature difference in a peripheral module. Within a peripheral type, there may be
minor differences between devices that do not affect the basic functionality of the module. These device-specific differences are
listed in Section 3 and in the peripheral reference guides.
(2)
The ADC module is Type 3 and the comparator module is Type 0. See Section 3.5 for more details.

Table 8. TMS320F2803x Peripheral Selection Guide

Peripheral Lit. No. Type (1) 28035, 28034,
28033 28032
TMS320x2803x Piccolo System Control and Interrupts SPRUGL8 - x x
TMS320x2803x Piccolo Enhanced Controller Area Network (eCAN) SPRUGL7 0 x x
(2)
TMS320x2802x, 2803x Piccolo Analog-to-Digital Converter (ADC) and Comparator SPRUGE5 3/0 x x
TMS320x2802x, 2803x Piccolo Serial Communications Interface (SCI) SPRUGH1 0 x x
TMS320x2802x, 2803x Serial Peripheral Interface (SPI) SPRUG71 1 x x
TMS320x2803x Piccolo Boot ROM SPRUGO0 - x x
TMS320x2803x Piccolo Enhanced Quadrature Encoder Pulse (eQEP) SPRUFK8 0 x x
(1)
A type change represents a major functional feature difference in a peripheral module. Within a peripheral type, there may be
minor differences between devices that do not affect the basic functionality of the module. These device-specific differences are
listed in the peripheral reference guides.
(2)
The ADC module is Type 3 and the comparator module is Type 0.

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Table 8. TMS320F2803x Peripheral Selection Guide (continued)

Peripheral Lit. No. Type (1) 28035, 28034,
28033 28032
TMS320x2802x, 2803x Piccolo Enhanced Pulse Width Modulator (ePWM) SPRUGE9 1 x x
TMS320x2802x, 2803x Piccolo Enhanced Capture Module (eCAP) SPRUFZ8 0 x x
TMS320x2802x, 2803x Piccolo Inter-Integrated Circuit (I2C) SPRUFZ9 0 x x
TMS320x2802x, 2803x High-Resolution Pulse-Width Modulator (HRPWM) SPRUGE8 1 x x
TMS320x2803x Piccolo Control Law Accelerator (CLA) SPRUGE6 0 x
TMS320x2803x Piccolo Local Interconnect Network (LIN) SPRUGE2 0 x x

3 Peripheral Descriptions
Brief descriptions of the peripherals are included in the following sections.

3.1 System Control and Interrupts

The device-specific guides are:
• TMS320x281x System Control and Interrupts Reference Guide (SPRU078)
• TMS320x280x, 2801x, and 2804x System Control and Interrupts Reference Guide (SPRU712)
• TMS320x2833x System Control and Interrupts Reference Guide (SPRUFB0)
• TMS320x2834x Delfino System Control and Interrupts Reference Guide (SPRUFN1)
• TMS320x2802x Piccolo System Control and Interrupts Reference Guide (SPRUFN3)
• TMS320x2803x Piccolo System Control and Interrupts Reference Guide (SPRUGL8)
These guides include information on the following modules:
• Memory, including Flash and OTP configuration
• Code security module (CSM)
Security is defined with respect to the access of the on-chip program memory and prevents
unauthorized copying of proprietary code. The code security module (CSM) blocks access to several
on-chip program memory blocks.
• Clocking and Low-Power Modes
The clocks to each individual peripheral can be enabled/disabled so as to reduce power consumption
when a peripheral is not in use. Additionally, the system clock to the serial ports and the event
managers, CAP and QEP blocks can be scaled relative to the CPU clock. This enables the timing of
peripherals to be decoupled from increasing CPU clock speeds.
• 32-bit CPU-Timers
CPU-Timers 0, 1, and 2 are identical 32-bit timers with presettable periods and with 16-bit clock
prescaling. The timers have a 32-bit count down register, which generates an interrupt when the
counter reaches zero. The counter is decremented at the CPU clock speed divided by the prescale
value setting. When the counter reaches zero, it is automatically reloaded with a 32-bit period value.
CPU-Timers 1 and 2 are reserved for Real-Time OS (RTOS) applications. CPU-Timer 2 is connected
to INT14 of the CPU. CPU-Timer 1 can be connected to INT13 of the CPU. CPU-Timer 0 is for general
use and is connected to the PIE block.
• Watchdog Timer
The 28x devices support a watchdog timer. The user software must regularly reset the watchdog
counter within a certain time frame; otherwise, the watchdog generates a reset to the processor. The
watchdog can be disabled if necessary.
• General-purpose inputs/outputs (GPIO)
Most of the peripheral signals are multiplexed with general-purpose I/O (GPIO) signals. This enables
you to use a pin as GPIO if the peripheral signal or function is not used. On reset, all GPIO pins are
configured as inputs. You can then individually program each pin for GPIO mode or peripheral signal
mode. For specific inputs, you can also select the number of input qualification cycles to filter
unwanted noise glitches.

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• Peripheral frames
The 28x devices contain three peripheral register spaces. Some registers within these frames can be
protected from CPU writes by the EALLOW protection mechanism.
• Peripheral interrupt expansion (PIE)
The PIE block multiplexes numerous interrupt sources into a smaller set of interrupt inputs. The
interrupts are grouped into blocks of eight and each group is fed into one of 12 CPU interrupt lines
(INT1 to INT12). Each of the 96 interrupts is supported by its own vector stored in a dedicated RAM
block that can be overwritten by the user. The vector is automatically fetched by the CPU on servicing
the interrupt. It takes nine CPU clock cycles to fetch the vector and save critical CPU registers.
Therefore, the CPU can respond quickly to interrupt events. Prioritization of interrupts is controlled in
hardware and software. Each individual interrupt can be enabled/disabled within the PIE block.
• External Interrupts

3.2 External Interface (XINTF)

The XINTF guides are:
• TMS320x281x External Interface (XINTF) Reference Guide (SPRU067)
• TMS320F2833x, 2823x External Interface (XINTF) Reference Guide (SPRU949)
• TMS320x2834x Delfino External Interface (XINTF) Reference Guide (SPRUFN4 )
The external interface (XINTF) is an asynchronous bus that is used to interface to external devices and
memory.
Table 9 lists the differences between XINTF types, including device-specific differences within each type.

Table 9. External Interface (XINTF) Module Types

Type Description Devices Covered Device-Specific Options
0 External Interface with x16 Data Bus 2810, 2811, 2812 -
1 External Interface with x16 or x32 Data Bus 28335, 28334, 28332, 28235, 28234, -
28232, 28346, 28345, 28344, 28343,
28342, 28341

3.3 Enhanced Controller Area Network (eCAN)

This is the enhanced version of the CAN peripheral. It supports 32 mailboxes, time stamping of messages,
and is CAN 2.0B-compliant.
The eCAN guides are:
• TMS320x281x DSP Enhanced Controller Area Network (eCAN) Reference Guide (SPRU074)
• TMS320x280x, 2801x DSP Enhanced Controller Area Network (eCAN) Reference Guide (SPRUEU0)
• TMS320x2833x/2823x DSP Enhanced Controller Area Network (eCAN) Reference Guide (SPRUEU1)
• TMS320x2834x Delfino Enhanced Controller Area Network (eCAN) Reference Guide (SPRUEU4)
• TMS320x2803x Piccolo Enhanced Controller Area Network (eCAN) Reference Guide (SPRUGL7)
Table 10 lists the differences between eCAN types, including device-specific differences within each type.

Table 10. Enhanced Controller Area Network (eCAN) Module Types

Module Description Devices Covered Device-Specific Options
Type
0 Original eCAN Module Type 2810, 2811, 2812, 2801, 2802, 2806, 2808, 2809, CAN module clock = SYSCLK
28016
28335, 28334, 28332, 28235, 28234, 28232, CAN module clock = SYSCLK/2
28035, 28034, 28033, 28032
28346, 28345, 28344, 28343, 28342, 28341 CAN module clock = SYSCLK/4

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3.4 Event Manager (EV)

The event manager module includes general-purpose timers, full-compare/pulse-width modulation (PWM)
units, capture inputs (CAP) and quadrature-encoder pulse (QEP) circuits. Two such event managers are
provided, which enable two three-phase motors to be driven or four two-phase motors. The event
managers on the F281x are compatible to the event managers on the 240x devices (with some minor
enhancements).
The EV guide is:
• TMS320x281x Event Manager Reference Guide (SPRU065)
Table 11 lists the differences between EV types, including device-specific differences within each type.

Table 11. Event Manager (EV) Module Types

Type Description Devices Covered Device-Specific Options
0 Original EV Module Type 2810, 2811, 2812 -

3.5 Analog Modules

The analog-to-digital converter (ADC) module and comparator module descriptions are in this section.

3.5.1 Analog-to-Digital Converter (ADC)

The device-specific ADC guides are:
• TMS320x281x Analog-to-Digital Converter (ADC) Reference Guide (SPRU060)
• TMS320x280x 2801x, 2804x Analog-to-Digital Converter (ADC) Module Reference Guide (SPRU716)
• TMS320x2833x, 2823x Analog-to-Digital Controller (ADC) Module Reference Guide (SPRU812)
• TMS320x2802x, 2803x Piccolo Analog-to-Digital Converter (ADC) and Comparator Reference Guide
(SPRUGE5)
The ADC block is a 12-bit converter, single ended, 16-channels. It contains two sample-and-hold units for
simultaneous sampling.
Table 12 lists the differences between ADC types, including device-specific differences within each type.

Table 12. Analog Digital Controller (ADC) Module Types

Type Description Devices Covered Device-Specific
Options
0 Original ADC Module Type 2810, 2811, 2812 –
1 Added Offset Trim and Reference Select registers 2801, 2802, 2806, 2808, 2809, 28015, –
28016, 28044
2 Added Internal/External Trim registers(OTP trim) 28335, 28334, 28332, 28235, 28234, –
28232
3 Different control register interface, converts from 0 28027, 28026, 28023, 28022, 28021, –
to 3.3 V fixed scale range, supports ratiometric 28020, 28035, 28034, 28033, 28032
VREFHI/VREFLO references

3.5.2 Comparator Module (COMP)

The device-specific comparator guides are:
• TMS320x2802x, 2803x Piccolo Analog-to-Digital Converter (ADC) and Comparator Reference Guide
(SPRUGE5)
The comparator module includes a 10-bit reference and can be routed to directly control ePWM outputs.
Table 13 lists the differences between comparator types, including device-specific differences within each
type.

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Table 13. Comparator Module Types

Type Description Devices Covered Device-Specific Options
0 Original Comparator Module Type 28027, 28026, 28023, 28022, 28021, 28020, –
28035, 28034, 28033, 28032

3.6 Multichannel Buffered Serial Port (McBSP)

The device-specific McBSP guides are:
• TMS320x281x Multichannel Buffered Serial Port (McBSP) Reference Guide (SPRU061)
• TMS320x2833x Multichannel Buffered Serial Port (McBSP) Reference Guide (SPRUFB7)
• TMS320x2834x Delfino Multichannel Buffered Serial Port (McBSP) Reference Guide (SPRUG80)
The McBSP is used to connect to E1/T1 lines, phone-quality codecs for modem applications or
high-quality stereo-quality Audio DAC devices. The McBSP receive and transmit registers are supported
by a 16-level FIFO. This significantly reduces the overhead for servicing this peripheral.
Table 14 lists the differences between ADC types, including device-specific differences within each type.

Table 14. Multichannel Buffered Serial Port (McBSP) Module Types

Type Description Devices Covered Device-Specific
Options
0 Original McBSP Module Type 2810, 2811, 2812 -
1 Removed FIFO to allow interconnect with DMA module. 28335, 28334, 28332, 28235, -
Removed FIFO-related registers (MFFTX, MFFRX, MFFCT, 28234, 28232, 28346, 28345,
MFFST) 28344, 28343, 28342, 28341

3.7 Serial Communications Interface (SCI)

The SCI is a two-wire asynchronous serial port, commonly known as UART. The SCI supports a receive
and transmit FIFO for reducing servicing overhead.
The SCI guides are:
• TMS320x281x Serial Communications Interface (SCI) Reference Guide (SPRU051)
• TMS320x280x, 2801x, 28044 Serial Communications Interface (SCI) Reference Guide (SPRUFK7)
• TMS320x2833x, 2823x Serial Communications Interface (SCI) Reference Guide (SPRUFZ5)
• TMS320x2834x Delfino Serial Communications Interface (SCI) Reference Guide (SPRUG75)
• TMS320x2802x, 2803x Piccolo Serial Communications Interface (SCI) Reference Guide (SPRUGH1)
Table 15 lists the differences between SCI types, including device-specific differences within each type.

Table 15. Serial Communications Interface (SCI) Module Type

Type Description Devices Covered Device-Specific Options
0 Original SCI Module Type 2810, 2811, 2812, 2801, 2802, 2806, 2808, 2809, 16-level FIFO
28015, 28016, 28044, 28335, 28334, 28332,
28235, 28234, 28232, 28346, 28345, 28344,
28343, 28342, 28341
1 28027, 28026, 28023, 28022, 28021, 28020, 4-level FIFO
28035, 28034, 28033, 28032

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3.8 Serial Peripheral Interface (SPI)

The SPI is a high-speed, synchronous serial I/O port that allows a serial bit stream of programmed length
(one to sixteen bits) to be shifted into and out of the device at a programmable bit-transfer rate. Normally,
the SPI is used for communications between the DSP controller and external peripherals or another
processor. Typical applications include external I/O or peripheral expansion through devices such as shift
registers, display drivers, and ADCs. Multi-device communications are supported by the master/slave
operation of the SPI. The port supports a receive and transmit FIFO for reducing servicing overhead.
The SPI guide is:
• TMS320x281x Serial Peripheral Interface (SPI) Reference Guide (SPRU059)
• TMS320x280, 2801x, 2804x Serial Peripheral Interface (SPI) Reference Guide (SPRUG72)
• TMS320x2833x, 2823x Serial Peripheral Interface (SPI) Reference Guide (SPRUEU3)
• TMS320x2834x Delfino Serial Peripheral Interface (SPI) Reference Guide (SPRUG73)
• TMS320x2802x, 2803x Piccolo Serial Peripheral Interface (SPI) Reference Guide (SPRUG71)
Table 16 lists the differences between SPI types, including device-specific differences within each type.

Table 16. Serial Peripheral Interface (SPI) Module Type Description

Type Description Devices Covered Device-Specific Options
0 Original SPI Module Type 2810, 2811, 2812, 2801, 2802, 2806, 2808, –
2809, 28015, 28016, 28044, 28335, 28334,
28332, 28235, 28234, 28232, 28346, 28345,
28344, 28343, 28342, 28341
1 Added support for 3-wire 28027, 28026, 28025, 28024, 28023, 28022 No STEINV bit
bidirectional mode and reduced to
28035, 28034, 28033, 28032 Added STEINV bit (inverts
4-level FIFO
SPISTE signal to support
digital audio receive mode
with 2 SPIs)

3.9 Boot ROM

The device-specific Boot ROM guides are:
• TMS320x281x Boot ROM Reference Guide (SPRU095)
• TMS320x280x, 2801x, 2804x DSP Boot ROM Reference Guide (SPRU722)
• TMS320x2833x, 2823x Boot ROM Reference Guide (SPRU963)
• TMS320x2834x Delfino Boot ROM Reference Guide (SPRUFN5)
• TMS320x2802x Piccolo Boot ROM Reference Guide (SPRUFN6)
• TMS320x2803x Piccolo Boot ROM Reference Guide(SPRUGO0)
The boot ROM is factory-programmable with boot-loading software. Boot-mode signals (general-purpose
I/Os) are used to tell the bootloader software which mode to use. The Boot ROM also contains standard
math tables such as SIN/COS for use in IQ math related algorithms.

3.10 Inter-Integrated Circuit (I2C) Module

The I2C guides include:
• TMS320x280x, 2801x, 2804x Inter-Integrated Circuit (I2C) Module Reference Guide (SPRU721)
• TMS320x2833x, x2823x Inter-Integrated Circuit (I2C) Module Reference Guide (SPRUG03)
• TMS320x2834x Delfino Inter-Integrated Circuit (I2C) Module Reference Guide (SPRUG76)
• TMS320x2802x, 2803x Piccolo Inter-Integrated Circuit (I2C) Module Reference Guide (SPRUFZ9)
This guide describes the features and operation of the inter-integrated circuit (I2C) module. The I2C
module provides an interface between one of these DSPs and devices compliant with Philips
Semiconductors Inter-IC bus (I2C-bus) specification version 2.1 and connected by way of an I2C-bus.
External components attached to this 2-wire serial bus can transmit/receive 1- to 8-bit data to/from the
DSP through the I2C module. This guide assumes the reader is familiar with the I2C-bus specification.

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Table 17 lists the differences between I2C types, including device-specific differences within each type.

Table 17. Inter-Integrated Circuit (I2C) Module Type Description

Type Description Devices Covered Device-Specific Options
0 Original I2C Module Type 2801, 2802, 2806, 2808, 2809, 28015, 28016, 28044, 16-level FIFO
28335, 28334, 28332, 28235, 28234, 28232, 28346,
28345, 28344, 28343, 28342, 28341
28027, 28026, 28023, 28022, 28021, 28020, 28035, 4-level FIFO
28034, 28033, 28032

3.11 Enhanced Quadrature Encoder Pulse (eQEP) Module

The eQEP module guides include:
• TMS320x280x, 2801x, 2804x Enhanced Quadrature Encoder Pule (eQEP) Module Reference Guide
(SPRU790)
• TMS320F2833x, 2823x Enhanced Quadrature Encoder Pulse (eQEP) Module Reference Guide
(SPRUG05)
• TMS320x2834x Delfino Enhanced Quadrature Encoder Pulse (eQEP) Module Reference Guide
(SPRUG74)
• TMS320x2803x Piccolo Enhanced Quadrature Encoder Pulse (eQEP) Module Reference Guide
SPRUFK8)
The enhanced quadrature encoder pulse (eQEP) module is used for direct interface with a linear or rotary
incremental encoder to get position, direction, and speed information from a rotating machine for use in a
high-performance motion and position-control system.
Table 18 lists the differences between eQEP types, including device-specific differences within each type.

Table 18. Enhanced Quadrature Encoder Pulse (eQEP) Module Type Description
Type Description Devices Covered Device-Specific Options
0 Original eQEP Module Type 2801, 2802, 2806, 2808, 2809, 28044, 28335, -
28334, 28332, 28235, 28234, 28232, 28346,
28345, 28344, 28343, 28342, 28341, 28035,
28034, 28033, 28032

3.12 Enhanced Capture (eCAP) Module

The eCAP guides are:
• TMS320x280x, 2801x, 2804x Enhanced Capture (eCAP) Module Reference Guide (SPRU807)
• TMS320x2833x, 2823x Enhanced Capture (eCAP) Module Reference Guide (SPRUFG4)
• TMS320x2834x Delfino Enhanced Capture (eCAP) Module Reference Guide (SPRUG79)
• TMS320x2802x, 2803x Piccolo Enhanced Capture (eCAP) Module Reference Guide (SPRUFZ8)
The enhanced Capture (eCAP) Module is essential in systems where accurate timing of external events is
important.
Uses for eCAP include:
• Speed measurements of rotating machinery (e.g., toothed sprockets sensed via Hall sensors)
• Elapsed time measurements between position sensor triggers
• Period and duty cycle measurements of pulse train signals
• Decoding current or voltage amplitude derived from duty cycle encoded current/voltage sensors
Table 19 lists the differences between eCAP types, including device-specific differences within each type.

SPRU566I – June 2003 – Revised May 2009 28x DSP Peripherals 15

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Table 19. Enhanced Capture (eCAP) Module Types

Type Description Devices Covered Device-Specific Options
0 Original ECAP Module 2801, 2802, 2806, 2808, 2809, eCAP 1 SYNCIN is fed from the ePWM module. Then all
Type 28015, 28016, 28044 other eCAP modules have their SYNCINs fed from the
eCAP module numerically preceding them.
28346, 28345, 28344, 28343, eCAP 1 SYNCIN and eCAP4 SYNCIN are fed from the
28342, 28341, 28335, 28334, ePWM module. Then eCAP 2,3, 5, and 6 SYNCINs are
28332, 28235, 28234, 28232, fed from the eCAP modules numerically preceding them.
28027, 28026, 28023, 28022,
28021, 28020, 28035, 28034,
28033, 28032

3.13 Enhanced Pulse Width Modulator (ePWM) Module

The ePWM guides include:
• TMS320x280x, 2801x, 2804x Enhanced Pulse Width Modulator (ePWM) Module Reference Guide
(SPRU791)
• TMS320x2833x, 2823x Enhanced Pulse Width Modulator (ePWM) Module Reference Guide
(SPRUG04)
• TMS320x2834x Delfino Enhanced Pulse Width Modulator (ePWM) Module Reference Guide
(SPRUFZ6)
• TMS320x2802x, 2803x Piccolo Enhanced Pulse Width Modulator (ePWM) Module Reference Guide
(SPRUGE9)
The enhanced pulse width modulator (ePWM) peripheral controls many of the power-related systems
found in both commercial and industrial equipments. The main systems include digital motor control,
switch mode power supply control, uninterruptible power supplies (UPS), and other forms of power
conversion. The PWM peripheral performs a DAC function, where the duty cycle is equivalent to a DAC
analog value; it is sometimes referred to as a Power DAC.
Table 20 lists the differences between ePWM types, including device-specific differences within each type.

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Table 20. Enhanced Pulse Width Modulator (ePWM) Module Types

Type Description Devices Covered Device-Specific Options
0 Original EPWM Module Type 2801, 2802, 2806, Time-base synchronization scheme 1:
2808, 2809, 28015, ePWM1 SYNC out is fed to eCAP1 and ePWM2. All other
28016 ePWM modules have their SYNCIN signals fed from the ePWM
module numerically preceding them.
28044 Time-base synchronization scheme 2:
Two ePWM pinouts are possible: A-channel only or 280x
compatible. If the ePWM pinout is configured for A-channel only
mode, ePWM1 SYNC out is fed to eCAP1, ePWM2, ePWM5,
ePWM9, and ePWM13. All other ePWM modules have their
SYNCIN signals fed from the ePWM module numerically
preceding them.
If the ePWM pinout is configured for 280x-compatible mode,
synchronization scheme 1 is used.
28335, 28334, Time-base synchronization scheme 3:
28332, 28235, ePWM1 SYNC out is fed to eCAP1, ePWM2, and ePWM4. All
28234, 28232, other ePWM modules have their SYNCINs fed from the ePWM
28346, 28345, module numerically preceding them.
28344, 28343,
28342, 28341
1 Doubled deadband resolution, 28027, 28026, –
interrupts and ADC SOC can be 28023, 28022,
generated on both CTR = 0 or 28021, 28020,
CTR = PRD, added digital 28035, 28034,
compare submodule, added 28033, 28032
hooks for high-resolution period

3.14 High-Resolution Pulse Width Modulator (HRPWM) Module

The HRPWM guides are:
• TMS320x280x, 2801x, 2804x High-Resolution Pulse Width Modulator (HRPWM) Module Reference
Guide (SPRU924)
• TMS320x2833x, 2823x High Resolution Pulse Width Modulator (HRPWM) Reference Guide
(SPRUG02)
• TMS320x2834x Delfino High Resolution Pulse Width Modulator (HRPWM) Reference Guide
(SPRUG77)
• TMS320x2802x, 2803x Piccolo High Resolution Pulse Width Modulator (HRPWM) Reference Guide
(SPRUGE8)
This document is used in conjunction with the device-specific Enhanced Pulse Width Modulator (ePWM)
Module Reference Guide.
The HRPWM module extends the time resolution capabilities of the conventionally derived digital pulse
width modulator (PWM). HRPWM is typically used when PWM resolution falls below ~ 9-10 bits.
Table 21 lists the differences between HRPWM types, including device-specific differences within each
type.

Table 21. High-Resolution Pulse Width Modulator (HRPWM) Module Types

Type Description Devices Covered Device-Specific
Options
0 Original HRPWM Module Type 2801, 2802, 2806, 2808, 2809, 28015, -
28016, 28044, 28335, 28334, 28332, 28235,
28234, 28232, 28346, 28345, 28344, 28343,
28342, 28341
1 Added high-resolution period support, added option 28027, 28026, 28023, 28022, 28035, 28034,
to select high-resolution B output, added automatic 28033, 28032
micro-step conversion

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3.15 Direct Memory Access (DMA)

The direct memory access (DMA) module provides a hardware method of transferring data between
peripherals and/or memory without intervention from the CPU, thereby freeing up bandwidth for other
system functions. Additionally, the DMA has the capability to orthogonally rearrange the data as it is
transferred as well as “ping-pong” data between buffers. These features are useful for structuring data into
blocks for optimal CPU processing.
The DMA guide is:
• TMS320x2833x, 2823x Direct Memory Access (DMA) Module Reference Guide (SPRUFB8)
• TMS320x2834x Delfino Direct Memory Access (DMA) Module Reference Guide (SPRUG78)
Table 22 lists the differences between DMA types, including device-specific differences within each type.

Table 22. Direct Memory Access (DMA) Module Types

Type Description Devices Covered Device-Specific Options
0 Original DMA Module 28346, 28345, 28344, 28343, 28342, 28341 DMA does not interface to
Type ePWM.
Revision 0 Silicon: 28335, 28334, 28332, 28235, 28234, 28232
Revision A Silicon: 28335, 28334, 28332, 28235, 28234, 28232 DMA interfaces with ePWM.

3.16 Local Interconnect Network (LIN)

The LIN module provides a serial communications structure at a hardware and software level. It provides
a low-cost solution where the bandwidth and fault tolerance of a communications area network (CAN) are
not required. The C28x LIN module is compatible to the LIN1.3 and 2.0 protocols. It is based on a C28x
Type 0 SCI module with the addition of an error detector, a mask filter, a synchronizer, and a
multi-buffered receiver and transmitter.
The LIN guide is:
• TMS320x2803x Piccolo Local Interconnect Network (LIN) Module Reference Guide (SPRUGE2)

Table 23. Local Interconnect Network (LIN) Module Types

Type Description Devices Covered Device-Specific Options
0 Original LIN Module 28035, 28034, 28033, 28032 -
Type

3.17 Control Law Accelerator (CLA)

The C28x Control Law Accelerator (CLA) is an independent, fully-programmable, 32-bit floating-point math
processor that brings concurrent control-loop execution to the C28x family. The low interrupt-latency of the
CLA allows it to read ADC samples "just-in-time". This significantly reduces the ADC sample to output
delay to enable faster system response and higher MHz control loops. By using the CLA to service
time-critical control loops, the main CPU is free to perform other system tasks such as communications
and diagnostics.
The CLA guide is:
• TMS320x2803x Piccolo Control Law Accelerator (CLA) Reference Guide (SPRUGE6)

Table 24. Control Law Accelerator (CLA) Module Types

Type Description Devices Covered Device-Specific Options
0 Original CLA Module 28035, 28033 -
Type

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Appendix A Revision History

This document was revised to SPRU566I from SPRU566H. The scope of the revisions was limited
to technical changes as described in Section A.1. This appendix lists only revisions made in the
most recent version.

A.1 Changes Made in This Revision

The following changes were made in this revision:
Global Added more information on module types

SPRU566I – June 2003 – Revised May 2009 Revision History 19

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