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TMS320F280025: Question about MBD code cost too much time

Part Number: TMS320F280025


Dear expert:

       I am using TMS320F280025, I use Matlab to design the control algorithm and generate the code,then I porting the code to my project.When I debug the code,I found the code cost too much time in the my project,for example,the MBD code cost about 80us in my ADCA interrupt and also it make my 50us period ADCA interrupt overflow.

      Some code is as following:

      

 Will it obviously decrease the time cost of code if I enable the FPU mode?Should I also need to change some seetings in CCS?What other actions should I take to optimize the exection and improve the speed of my MBD code?Since the C28 microcontroller is wildely used in market,you must have rich experience in porting MBD code.Could you give me some guiding ideas?