SPRAD20 March   2022 AM2631 , AM2631-Q1 , AM2632 , AM2632-Q1 , AM2634 , AM2634-Q1

 

  1.   Trademarks
  2. 1Introduction
  3. 2A Step-by-Step Guide to Running a Traction Inverter
    1. 2.1 Create Real Time Debug Interface
      1. 2.1.1 Confirm CCS Features
      2. 2.1.2 Create Target Configuration File
      3. 2.1.3 Add Serial Command Monitor Software
      4. 2.1.4 Launch Real Time Debug
    2. 2.2 Configure Control Peripheral and ADC Interrupt With Sysconfig
      1. 2.2.1 Generate PWM for Time Reference
      2. 2.2.2 Synchronize ADC Sampling and Interrupt Service Routine
      3. 2.2.3 Configure DMA for Resolver Excitation via DAC
    3. 2.3 Configure Gate Driver Interface With MSPI
      1. 2.3.1 Confirm Control Card Hardware Configuration for Gate Drivers
      2. 2.3.2 Configure MCSPI for UCC5870 Gate Drivers
      3. 2.3.3 Initialize UCC5870 Gate Drivers
    4. 2.4 Get Samples From ADC and Read Samples Via CCS
      1. 2.4.1 Register and Enable Interrupt
      2. 2.4.2 Add Log Code to Read Samples in Graph at Fixed Rate
      3. 2.4.3 Read ADC Samples in Expression and Graph Windows
    5. 2.5 Generate Space Vector PWM and Drive Motor in Open Loop
      1. 2.5.1 Setup SVPWM Generator Inputs
      2. 2.5.2 Read SVPWM Duty Cycles in Graph Window
      3. 2.5.3 Power Up Inverter and Spin Motor in Open Loop
    6. 2.6 Close Current Loop With Mock Speed
      1. 2.6.1 Add Transformations and Read Id-Iq in Open Loop
      2. 2.6.2 Add Controllers to Close Current Loop
      3. 2.6.3 Read Id-Iq to Close Current Loop
    7. 2.7 Add Software Resolver to Digital Converter
      1. 2.7.1 Generate Excitation for Resolver Hardware
      2. 2.7.2 Add Resolver Software
      3. 2.7.3 Read Resolver Software Outputs
    8. 2.8 Close Speed Loop With Rotor Speed
      1. 2.8.1 Add Speed Loop Controllers
      2. 2.8.2 Add Speed Loop Demo Program
      3. 2.8.3 Read Motor Speed from Graph Window
  4. 3A Brief Guide to Code Migration
    1. 3.1 SoC Architecture Overview
    2. 3.2 SDK Resources Overview
    3. 3.3 Code Migration From AM24
    4. 3.4 Code Migration From C28
  5. 4Summary
  6. 5References

2.6.2 Add Controllers to Close Current Loop

PI controllers must be added to close current loop. The PI controller here is implemented similar to C28 program for TIDM-02009. There are different implementations in CMSIS DSP library and others. The intend here is not to cover details on PI controllers. The key message is to make sure the controller is allocated in TCM. Running from TCM is critical for deterministic execution time. If not, significant amount of time will be taken from either content switching between cache and OCRAM or directly running in OCRAM. An example of attribute setting is given in line 1. Another example of one function call is shown in line 2 and 3. The attribute setting must match link command file and Memory Protection Unit configuration. More details can be found from the Technical Reference Manual.

  1. __attribute__ ((section(".tcmb_code"))) static inline float32_t PI_run_series(PI_Obj * pi)
  2. motor1.pi_id.fbackValue = motor1.I_dq_A[0];
  3. motor1.Vout_dq_V[0] = PI_run_series(&(motor1.pi_id));