is the CLA in the TMS320F28069 able to work with encoder feedback ? In other words can it access the eQEP registers ? Because i only see literature references to the ADC and PWM ...
Section 3.5.2 (page 37) of the TMS320F28069 datasheet indicates the CLA has access to the eQEP registers.
From aforementioned section of datasheet.
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 CLA.
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