AM261x MCU+ SDK: TMU 4 Cores Support

| AM261x MCU+ SDK 26.00.00 |

TMU 4 Cores Support

# Introduction

This example demonstrates the usage of all four cores by TMU. Additionally, the example also implements Park and Inverse Park Transform which has use cases in high performance drive architectures related to permanent magnet synchronous and asynchronous machines. The implementation of this transform is as follows:

Park Transform:

    Isd = Ialpha*cos(theta) + Ibeta*sin(theta)
    Isq = -Ialpha*sin(theta) + Ibeta*cos(theta)

Inverse Park Transform

    Ialpha = Isd*cos(theta) - Isq*sin(theta)
    Ibeta = Isd*sin(theta) + Iq*cos(theta)

Ialpha = Stationary d-axis stator current

Ibeta = Stationary q-axis stator current

Isd = Rotating d-axis stator current

Isq = Rotating q-axis stator current

theta = Rotating angle in per unit

To implement the trigonometric function calls, TMU specific operations have been put into use as TMU have better performance in comparison to the C mathlib supported trigonometric function calls. This example can be run parallely on all four cores supported by the chip, due to it's multi-core functionality

# Supported Combinations

# Steps to Run the Example

- When using CCS projects to build, import the CCS project for the required combination and build it using the CCS project menu (see Using SDK with CCS Projects).
- When using makefiles to build, note the required combination and build using make command (see Using SDK with Makefiles)
- Establish connections as mentioned in External Connections section
- Launch a CCS debug session and run the executable, see CCS Launch, Load and Run
- View the console log for results

# Sample Output

Shown below is a sample output when the application is run,

[Cortex_R5_0] TMU Cores Support Test Started ...
Park Transform value : 500.000000 , 400.000000
Inverse Park Transform value : 150.000000 , 275.000000
TMU Cores Support Test Passed ...
All tests have passed!! ...
[Cortex_R5_1] TMU Cores Support Test Started ...
Park Transform value : 500.000000 , 400.000000
Inverse Park Transform value : 150.000000 , 275.000000
TMU Cores Support Test Passed ...
All tests have passed!! ...
[Cortex_R5_2] TMU Cores Support Test Started ...
Park Transform value : 500.000000 , 400.000000
Inverse Park Transform value : 150.000000 , 275.000000
TMU Cores Support Test Passed ...
All tests have passed!! ...
[Cortex_R5_3] TMU Cores Support Test Started ...
Park Transform value : 500.000000 , 400.000000
Inverse Park Transform value : 150.000000 , 275.000000
TMU Cores Support Test Passed ...
All tests have passed!! ...

# See Also

- TMU library
- Trigonometric Math Unit Guide
- APIs for TMU