The table shows the resource usage for the main components in the system. The transforms are a functional library and thus do not have a thread or port usage.
| Component | Threads | Memory | Channel Ends | 1b Ports | 4b ports |
| ADC | 1 | 2.2KB | 2 | 4 | 1 |
| PWM | 1 | 2.8KB | 2 | 6 | 0 |
| Transforms | 0 | 264B | 0 | 0 | 0 |
| QEI | 1 | 400B | 1 | 0 | 1 |
| Watchdog | 1 | 120B | 1 | 1 | 0 |
| PID | 0 | 300B | 0 | 0 | 0 |
See the documentation for the ethernet and CAN software components for their resource usage.
This table shows the FOC control loop worst case timing, against the number of threads running in the motor control core. These values were measured on a 500MHz core.
| Number of threads | MIPS per thread | Loop time |
| 4 | 125 | 7.9 us |
| 5 | 100 | 10 us |
| 6 | 83.3 | 12 us |
| 7 | 71.4 | 14 us |
| 8 | 62.5 | 16 us |
For a single motor, using PWM, ADC, QEI and a control loop, only 4 threads are required on the motor core. Another core can be used to provide further functionality, or for a single motor, the remaining 4 threads in the motor core can be used for control and IO, giving a single core FOC motor control solution.
A dual motor, single core FOC solution can be created, by using the dual-QEI mode of the QEI server. The threads for such a solution would be:
- PWM for motor 1
- PWM for motor 2
- dual QEI
- Control loop for motor 1
- Control loop for motor 2
- ADC
- Watchdog and main application
- CAN PHY interface