Texas Instruments C2000 Piccolo LaunchPad Manual de usuario

Safety Manual for C2000™ MCUs in IEC60730

Safety Applications

User's Guide

Literature Number: SPRUHI3A

April 2013–Revised August 2013

Contents

1 Introduction ........................................................................................................................ 4

1.1 About This Document ................................................................................................... 4

1.2 C2000 and its Application Sectors .................................................................................... 5

2 C2000 Architecture and Product Overview ............................................................................. 5

2.1 C2000 MCU Architecture Classifications ............................................................................. 6

2.2 Targeted Applications and Product Safety Constraints ............................................................ 8

3 C2000 MCU Development Process for Management of Systematic Faults .................................. 9

3.1 TI Standard Automotive MCU and C2000 MCU Development Process ......................................... 9

3.2 C2000 MCU Development Process ................................................................................. 10

4 Product Architecture for Management of Random Faults ....................................................... 11

4.1 Philosophy and Architecture Partition for Safety Analysis ........................................................ 11

4.2 Management of Family Variants ..................................................................................... 11

4.3 Piccolo MCU Family ................................................................................................... 12

4.4 Delfino MCU Family ................................................................................................... 20

4.5 C2000 MCUs Operating States ...................................................................................... 23

4.6 Management of Exception and Errors .............................................................................. 24

5 C2000 MCU Architecture Safety Mechanisms and Assumptions of Use ................................... 24

5.1 Standard Safety Diagnostic Functions With C2000 MCUs and Subsystems .................................. 24

5.2 Functional Descriptions of Safety Modules in C2000 MCUs ..................................................... 26

6 Next Steps in Your Safety Development ............................................................................... 27

Appendix A Summary of Recommended Safety Feature Usage ....................................................... 29

Appendix B IEC60730-Class B/UL1998 Class 1 MCU Safety Compliance Features ............................. 31

Appendix C C2000 MCU IEC60730 Software Safety Development Process ....................................... 32

C.1 Software Design ...................................................................................................... 32

C.2 Coding Standard and Naming Conventions ...................................................................... 32

C.3 MISRA C Exceptions for C2000 MCU C28x Architecture ....................................................... 34

Appendix D C2000 Compiler and Tools Development Process and Tracking .................................... 35

Appendix E STL Test Suite Release Process ................................................................................ 36

Appendix F Typical Application Firmware With IEC60730 Safety Supervisory Functions .................... 38

Appendix G Glossary ................................................................................................................. 39

Appendix H Revision History ...................................................................................................... 40

2Table of Contents SPRUHI3A–April 2013–Revised August 2013

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List of Figures

1 C2000 MCU for IEC60730 Applications - An Overview of System Architecture.................................... 6

2 TI Standard MCU Automotive QM Development Process ........................................................... 10

3 C2000 MCU Piccolo F2806x With Safety Features in Software .................................................... 13

4 C2000 MCU Piccolo F2803x With Safety Features in Software .................................................... 15

5 C2000 MCU Piccolo F2805x With Safety Features in Software .................................................... 17

6 C2000 MCU Piccolo F2802x With Safety Features in Software .................................................... 19

7 C2000 MCU Delfino F2833x With Safety Features in Software..................................................... 21

8 C2000 MCU Delfino F2823x With Safety Features in Software..................................................... 22

9 Piccolo and Delfino MCUs Operating States .......................................................................... 23

10 C2000 STL Library Development Process............................................................................. 32

11 C2000 IEC60730 STL Library – Design, Test and Regression Flow - DTR....................................... 36

12 Typical Application Firmware Components With C2000 IEC60730 STL (Self Test Libraries) – POST and

PEST Functions ........................................................................................................... 38

List of Tables

1 C2000 MCU Documentation .............................................................................................. 7

2 C2000 MCU Features List................................................................................................ 11

3 Functional Descriptions of Safety Modules in C2000 MCUs ........................................................ 25

4 C2000 MCU IEC60730/UL1998/IEC60335 product functional safety deliverables............................... 27

5 Legend...................................................................................................................... 29

6 Summary of Safety Features and Recommendations................................................................ 29

7 Coverage for MCU Hardware Failure Modes and Software Safety Function...................................... 31

8 TI Wiki Links for Software Tools......................................................................................... 35

9 Table Terms and Definitions............................................................................................. 39

10 SPRUHI3A Revisions..................................................................................................... 40

SPRUHI3A–April 2013–Revised August 2013 List of Figures

User's Guide

SPRUHI3A–April 2013–Revised August 2013

Safety Manual for C2000™ MCUs in IEC60730 Safety

Applications

1 Introduction

You, as a system and equipment manufacturer or designer, are responsible to ensure that your systems

(and any Texas Instruments hardware or software components incorporated in your systems) meet all

applicable safety, regulatory, and system-level performance requirements. All application and safety

related information in this document (including application descriptions, suggested safety measures,

suggested TI products, and other materials) is provided for reference only. You understand and agree that

your use of TI components in safety critical applications is entirely at your risk, and that you (as buyer)

agree to defend, indemnify, and hold harmless TI from any and all damages, claims, suits, or expense

resulting from such use.

This document is a safety manual for the Texas Instruments C2000 32-bit real time C2000™

microcontrollers product family. This document introduces TI’s C2000 family of controllers and its

subsystem-based architecture that matches most real-time control systems. Its inherent safety features

could enable existing and emerging systems that require IEC60730 and IEC60335 or UL1998 safety

compliance.

1.1 About This Document

This safety manual provides information needed by system developers to assist in the creation of a

IEC60730 class of safety system using a C2000 microcontroller (MCU). This document contains:

• An overview of C2000 MCU - Piccolo™ and Delfino™ MCU product architecture

• An overview of the development process utilized to reduce systematic failures

• An overview of the safety architecture for management of random failures

• The details of architecture partitions, implemented safety mechanisms, and recommended usage

• Software design and development process

It is expected that the user of this document should have a general familiarity with the C2000 product

family. More information can be found at http://www.ti.com/C2000. This document is intended to be used

in conjunction with the device-specific data sheets, technical reference manuals, and other documentation

for the products under development. This partition of technical content is intended to simplify development,

reduce duplication of content, and avoid confusion as compared to the definition of safety manual

referenced in any of the IEC safety standards.

IEC60730, IEC60335 and UL1998 specification addresses safety in appliances and equipment’s that uses

microelectronic hardware and its related software. All these standards reference similar safety functions

addressing appliances or industrial equipment. Throughout this document IEC60730 will be the common

name used for this safety standard, unless called separately. This document will cover Class B and

Class1 level of safety mentioned in these specifications. For this release of this document, all references

are applicable IEC60730-1: 2010 Class B and UL1998:2008 Class 1 standards.

C2000, Piccolo, Delfino, Code Composer Studio are trademarks of Texas Instruments.

All other trademarks are the property of their respective owners.

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C2000 Architecture and Product Overview

IEC60730 Safety manual is part of the C2000 MCU device-specific collateral material and help implement

functional safety features enabling the hardware and software libraries. The IEC60730 Library release

includes the following collaterals:

• IEC60730 software user’s manual

• Software libraries

• Hardware kit for software evaluation, as applicable

Each of the C2000 MCU supporting safety applications may support limited FMEA analysis summary.

These are available as NDA documents only. Please contact your TI field and support for product-specific

FMEA.

1.2 C2000 and its Application Sectors

C2000 MCUs brings together highly efficient control CPU, control peripherals and rich analog peripherals

to build a deterministic control applications. All C2000 MCUs use real-time 32-bit C28x CPU with or

without floating-point unit (FPU). Higher end C2000 MCUs support highly differentiated math capabilities

using Viterbi Complex Unit (VCU) modules. Piccolo (TMSS320F2806x/5x/3x/2x) and Delfino

(TMS320F28023x/33x) MCU feature sets have been proven to deliver high performance in many of the

following applications spaces and still grow with their built-in safety features to meet several safety

compliance standards:

• Low and high appliances, white goods, and industrial drives

• Power conversion (invertors)

• Energy conversion (solar) controllers

• Power line communication (PLC) controllers

Piccolo and Delfino families of real-time microcontrollers are part of the C2000 MCUs. These devices are

available in different flavors of peripheral selection. Product-specific nomenclature and its derivatives are

explained in the Piccolo and Delfino data sheets. Special derivatives, if any, are referenced explicitly with

its part numbers.

2 C2000 Architecture and Product Overview

C2000 MCUs are built around real-time 32-bit C28x CPUs with system-on-chip (SoC) microcontroller

(MCU) features with independent communication and real-time control and analog subsystems. Piccolo

(TMSS320F2806x/5x/3x/2x) and Delfino (TMS320F28023x/33x) are part of this family that can enable

IEC60730 Class B safety in industrial control, appliances, and other applications. The C2000 MCUs

architecture provides users many control topologies utilizing its diverse peripherals within one physical IC

package.

Figure 1 provides a very high-level overview of the C2000 MCUs featured in Piccolo and Delfino family of

MCU devices.

SPRUHI3A–April 2013–Revised August 2013 Safety Manual for C2000™ MCUs in IEC60730 Safety Applications

C2000 Architecture and Product Overview

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Figure 1. C2000 MCU for IEC60730 Applications - An Overview of System Architecture

2.1 C2000 MCU Architecture Classifications

The following configurations of CPU and subsystems are available across many of Piccolo and Delfino

MCU devices. In this document subsystem refers to a collection of Control or Analog peripherals, critical

for real time control applications. The above architecture breaks down to four types based on CPU

processing power and subsystems.

•Type A: C28x CPU + FPU + VCU + CLA with Control and Analog Subsystem – Piccolo6x family

•Type B: C28x CPU + CLA with Control and Analog Subsystem – Piccolo3x/5x family

•Type C: C28x CPU + FPU with Control and Analog Subsystem – Delfino F2833x family

•Type D: C28x CPU with Control and Analog Subsystem – Piccolo2x and Delfino F2823x families

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C2000 Architecture and Product Overview

•Type A: C28x CPU with FPU, VCU, CLA and CONTROL Subsystem:

32-bit microcontroller CPU with floating-point capabilities and control law accelerator (CLA) and

dedicated I/O optimized for execution of real-time control algorithms, available on the Piccolo6x

(F2806x) family of devices. This system contains multiple control peripherals (pulse width modulator

(PWM), capture, encoders, serial interfaces). The CLA offers floating-point CPU with event optimized

peripheral and I/O optimized for Analog subsystem. The CLA can also include safety functions in its

capacity as a supervisory microcontroller. The Piccolo6x (2806x) family has an additional math unit

VCU (Viterbi and Complex math unit) specifically to do advanced signal processing capabilities for

control and power line communication applications

•Type B: C28x CPU with FPU, CLA and CONTROL Subsystem:

32-bit microcontroller with fixed point and IQ math CPU capabilities, with CLA and I/O optimized for

execution of real-time control algorithms, available on the Piccolo3x and Piccolo5x (F2803x/F2805x)

family of devices. This system contains multiple control peripherals (PWM, capture, encoders, serial

interfaces) for advanced control and sophisticated signal processing applications. The CLA offers a

floating-point CPU with event optimized peripheral and I/O optimized for Analog subsystem. The CLA

can also include safety functions in its capacity as a supervisory microcontroller.

•Type C: C28x CPU with FPU and CONTROL Subsystem:

32-bit microcontroller CPU with floating-point capabilities and dedicated I/O optimized for execution of

real-time control algorithms, available on the Delfino (F2833x) family of devices. This system contains

multiple control peripherals (PWM, capture, encoders, serial interfaces) for advanced control and

sophisticated signal processing applications.

•Type D: C28x CPU and CONTROL Subsystem:

32-bit microcontroller with fixed point and IQ math CPU capabilities, with dedicated I/O optimized for

execution of real-time control algorithms, available on the Piccolo2x (F2802x) and Delfino (F2823x )

family of devices. This system contains multiple control peripherals (PWM, capture, encoders, serial

interfaces) for advanced control and sophisticated signal processing applications.

•ANALOG Subsystem:

The Piccolo MCUs contain a rich set of integrated analog components, such as high performance 12-

bit analog-to-digital converter (ADC), analog comparators, zero-pin oscillators and voltage regulators.

The Delfino MCUs have reduced analog integration, but with high performance 12-bit 12.5 MSPS

ADCs and clocking peripherals. Some of its hardware limitation has to be complemented with on-board

feature depending on the end application.

The Delfino and Piccolo devices are built in the 180 nm process technology. This is a highly mature silicon

technology process with high volume production across TI MCUs for more than a decade. This offers high

level of integration, performance and reliability.

The C2000 MCU IEC60730 Safety Manual is to be complemented with its device level documentation, as

listed in Table 1, to provide the necessary details on functional implementation and application use:

Table 1. C2000 MCU Documentation

C2000 MCU Product Family Technical Documentation Abstract

Summary and cross reference guide that describes the peripheral

TMS320x28xx, 28xxx DSP Peripheral Reference Guide (SPRU566) reference guides of the 28x digital signal processors (DSPs and

MCUs).

TMS320F2806x Piccolo Microcontrollers Data Manual (SPRS698)

TMS320F2805x Piccolo Microcontrollers Data Manual (SPRS797)

TMS320F2803x Piccolo Microcontrollers Data Manual (SPRS584) Technical data manual that describes the package, pin outs, and

brief functional overview of all modules and electrical timings.

TMS320F2802x, TMS320F2802xx Piccolo Microcontrollers Data

Manual (SPRS523)

TMS320F2802x0 Piccolo Microcontrollers Data Manual (SPRS810)

TMS320F2802x Piccolo MCU Silicon Errata (SPRZ292)Describes silicon exceptions for system workaround and production

TMS320F2803x Piccolo MCU Silicon Errata (SPRZ295)readiness of silicon.

TMS320F2806x Piccolo MCU Silicon Errata (SPRZ342)

SPRUHI3A–April 2013–Revised August 2013 Safety Manual for C2000™ MCUs in IEC60730 Safety Applications

C2000 Architecture and Product Overview

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Table 1. C2000 MCU Documentation (continued)

C2000 MCU Product Family Technical Documentation Abstract

These technical reference manuals (TRM) detail the integration, environment, functional description, and the programming models for each

peripheral and subsystem. These are single TRMs or multiple peripheral guides as listed below:

TMS320F2802x- See the list of documents under the Device

Support section in

TMS320F28027/28026/28023/28022/28021/28020/280200 Piccolo

Microcontrollers Data Manual (SPRS523) or TMS320x28xx, 28xxx

DSP Peripherals Reference Guide (SPRU566) cross reference guide

TMS320F2803x - See the list of documents under the Device

Piccolo Technical Reference Manual (TRM) Support section in

TMS320F28030/28031/28032/28033/28034/28035 Piccolo

Microcontrollers Data Manual (SPRS584) or TMS320x28xx, 28xxx

DSP Peripherals Reference Guide (SPRU566) cross reference guide

TMS320x2806x Piccolo Technical Reference Manual (SPRUH18) -

single TRM

TMS320F2833x Digital Signal Controllers (DSCs) Microcontrollers Technical data manual that describes the package, pin outs, and

Data Manual (SPRS439) - Delfino brief functional overview of all modules and electrical timings.

Describes silicon exceptions for system workaround and production

TMS320F2823x DSC Silicon Errata (SPRZ272) - Delfino readiness of the silicon.

This technical reference manual (TRM) details the integration, the

environment, the functional description and the programming models

for each peripheral and subsystem. See the list of documents under

Delfino Technical Reference Manual (TRM) the Device Support section in the PMSM3-1: Sensored Field

Oriented Control of 3-Phase PM Synchronous Motor User's Guide

(SPRU439) or TMS320x28xx, 28xxx DSP Peripherals Reference

Guide (SPRU566) cross reference guide.

This document describes the central processing unit (CPU) and the

assembly language instructions of the TMS320C28x 32-bit fixed-

TMS320C28x CPU and Instruction Set Reference Guide (SPRU430)point CPU. It also describes emulation features available on these

devices.

TMS320C28x Floating Point Unit and Instruction Set Reference This document describes the CPU architecture, pipeline, instruction

Guide (SPRUEO2) set, and interrupts of the C28x floating-point DSP.

2.2 Targeted Applications and Product Safety Constraints

The C2000 MCU family is targeted primarily for appliance and industrial application spaces and can

address general-purpose safety applications.

As these devices are mass market product rather than custom product, it cannot be said that a specific

implementation configuration can be assumed. It is expected that the same modules used for the general

function in the appliances space will be used for safety critical functions in industrial, power conversion

and energy conversion markets. Energy conversion, like the solar inverter, is an emerging example that is

increasingly complex and looking for compliance to functional safety standards within the product and

equipment level.

In the case of overlapping requirements between target systems, TI has attempted to design the device

respecting the most stringent requirement. For example, the fault tolerant time intervals for typical motor

drives can be within few 10s of milliseconds. The C2000-based system can address fault tolerant times

similar to these intervals or better. C2000 MCU's overall response can reach < 10 ms fault tolerant time

interval.

The C2000 MCU’s device is designed to meet most of the safety features mentioned in the IEC60730

standards or equivalent. While these devices have several hardware safety features, the application level

software is the critical part that adds value to the hardware features and enforces safety discipline and to

meet functional safety compliance. A properly designed product using the C2000 MCUs should be

capable of meeting safety requirements, if the designers use the device within its stated specifications and

implement the required diagnostic hardware and software as stated in this document. System integrator

should ensure component and system safety concepts are assessed and adhered during its development

and product life cycle.

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C2000 MCU Development Process for Management of Systematic Faults

3 C2000 MCU Development Process for Management of Systematic Faults

For a safety critical development, it is necessary to manage both systematic and random faults. Texas

Instruments has created a unique development process for safety critical semiconductors that greatly

reduce probability of systematic failure. This process builds on a standard quality managed development

as the foundation for safety critical development. The TI MCU teams use this process across all its family

of MCUs that cater to industrial and automotive applications.

3.1 TI Standard Automotive MCU and C2000 MCU Development Process

Texas Instruments has been developing microcontrollers for industrial and automotive markets that require

safety and non-safety applications for over twenty years. Industrial and automotive markets have strong

requirements on quality management and high product reliability. Though not explicitly developed for

compliance to a functional safety standard, the TI standard MCU development process already featured

many elements necessary to manage systematic faults. This development process can be considered to

be Quality Managed (QM), but does not achieve an IEC 61058 Safety Integrity Level (SIL) or ISO 26262

Automotive Safety Integrity Level (ASIL). The TI standard MCU automotive development process is

certified compliant to ISO TS 16949 as assessed by Det Norske Veritas Certification, Inc. (Katy, Texas)

under certificate CERT-07319CC10-2004-AQ-HOU-IATF (IATF certificate No 0113679). The development

is also certified compliant to ISO 9001:2008 as assessed by DNV Certification B.V. (Netherlands) under

Certificate CERT-06185-2003-AQ-HOU-RvA Rev. 2. These standards explicitly apply to TI MCUs (C2000

MCUs, Hercules, TMS570S and RM48x MCUs) that are developed in the same silicon technology nodes.

The standard development process breaks development into phases:

• Business opportunity pre-screen

• Program planning

• Create

• Validate, sample and characterize

• Qualify

• Ramp to production and sustaining production

SPRUHI3A–April 2013–Revised August 2013 Safety Manual for C2000™ MCUs in IEC60730 Safety Applications

Business

Opportunity

Prescreen

Program Planning Create

Validate

Sample

Characterize

Qualify Ramp / Sustain

Design In Team Sustain

Team

Cross Functional Team

Identify new

product

opportunities

Develop

project plan

IC design and

layout Characterize

Develop

manufacturing

test

Develop & build marketing collateral

Sample to

customers

Qualification

Build initial inventory

Optimize test

flow and yeilds

Manage project risks (market and execution)

Bench & ATE

verification

CP0

Commission

Review

CP1

Design

Kickoff

Review

CP2

PG Review

CP2.5

Qual Start

Review

CP3

TMS Review

CP4 Safe

Launch

Review

C2000 MCU Development Process for Management of Systematic Faults

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Texas Instruments Incorporated (TI) standard silicon development process is illustrated in Figure 2.

Figure 2. TI Standard MCU Automotive QM Development Process

3.2 C2000 MCU Development Process

The Piccolo and Delfino MCU silicon development process is as per TI MCU development methods and

conforms to ISOTS16949 flow. The goal of the process development is to take the best aspects of each

flow and collaborate to result in best in class capabilities to reduce systematic faults. The process flow is

also targeted for compliance to IEC 61508 as well and is under a process of continuous improvement to

incorporate new features. Piccolo and Delfino series of C2000 MCUs are developed to offer devices with

several temperature grades to address consumer, industrial and automotive applications.

Key elements of the TI MCU process flow are:

• Assumptions on system level design, safety concept, and requirements based on TI's expertise in

safety critical systems development

• Combined qualitative and quantitative or similar safety analysis techniques comprehending the sum of

silicon failure modes and diagnostic techniques known to TI

• Fault estimation based on multiple industry standards as well as TI manufacturing data

• C2000 MCU development process adopts QRASAP00160 new product development processes.

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