In summary, the formula for a DSP optimised for digital motor control was simple. Combine a proven, well-established DSP core, add non-volatile flash memory, an A/D converter, and a programmable PWM generator resulting in a highly integrated, cost effective solution for digital motor control. The TI C2000 family consists of dozens parts, based on this formula. The C2000 platform combines the necessary three features in a way which is scalable across the device families. Flexible control of the loop allows a common control board to be used across a range of drive or power supply designs simply by changing the firmware. The A/D converter provides the feedback signal to the processor. The original F240 device featured two 10-bit A/D converters running at 160 KSPS, each with an eight channel input multiplexer. The Piccolo platform features include a ratio-metric A/D converter, multiple analog comparators, digital filters, and also programmable digital ramp generators. The latest of the Piccolo devices feature integrated op amps and a programmable offset circuit for use with current sense circuits in motor control and other power applications. For computation, the original F240 features a 16-bit fixed point CPU core running at 20 Mhz. The more recently released Concerto family utilizes a C28x and an ARM Cortex-M3 core combined in a single device. The C28x core typically runs at 150 MHz and the Cortex-M3 at 100 MHz. With communication enabled between the processors each core has access to 0.5 MB of internal flash memory, up to 64 KB of internal RAM, and it’s own multi-channel DMA engine. Actuation of the controlled system is performed by the PWM generator. Motor control applications typically require three duty cycle modulated, complementary pair PWM outputs with programmable dead-band and switching frequencies in the 10 to 20 KHz range. However, digital applications require much more complex PWM patterns and often switch in the 100 KHz to 1 MHz range, an important consideration for digital PWM generators. The C28x employs a modular PWM architecture capable of supporting a wide range of digital power supply topologies.