SPRUJH1 August   2025 F29H850TU

 

  1.   1
  2.   Abstract
  3.   Trademarks
  4. 1Introduction
    1. 1.1 Hardware Block Diagram
    2. 1.2 Software Flowchart
    3. 1.3 MCU Resources Used
  5. 2Running the Servo Drive With QEP on TI Hardware
    1. 2.1 Supported Hardware
    2. 2.2 Hardware Setup
      1. 2.2.1 LAUNCHXL-F29H85X Setup
      2. 2.2.2 DAC128S085EVM Setup (Optional)
      3. 2.2.3 BOOSTXL-3PHGANINV Setup
      4. 2.2.4 BOOSTXL-LMG2100-MD Setup
      5. 2.2.5 BP-AMC0106-LMG-MD
      6. 2.2.6 Motor Setup
    3. 2.3 Lab Software
      1. 2.3.1 Software Development Environment
      2. 2.3.2 Project Orginization
      3. 2.3.3 Configuration of the Software
      4. 2.3.4 Debug Interfaces
        1. 2.3.4.1 Datalogging
        2. 2.3.4.2 Digital to Analog Converters
    4. 2.4 Testing the Project in Incremental Steps
      1. 2.4.1 Watch Variables
      2. 2.4.2 Step 1 Hardware Setup Validation
        1. 2.4.2.1 Build, Load and Run Project
      3. 2.4.3 Step 2 Open Loop Control
        1. 2.4.3.1 Build, Load and Run Project
      4. 2.4.4 Step 3 Close the Current Loop
        1. 2.4.4.1 Build, Load and Run Project
      5. 2.4.5 Step 4 Close the Speed and Current Loop
        1. 2.4.5.1 Build and Load Project
  6.   References

2.3.2 Project Orginization

Once imported into Code Composer Studio, the Servo Drive with QEP project has the folder structure described in Table 2-4.

Table 2-4 Folder Structure
Folder Includes
README.html Overview of the project. Links to the SDK documentation.
sys_main.c main() function and background loop
sys_main.h #include of other header files, definition of SYSTEM_Vars_t
sys_settings.h #define DMC_BUILDLEVEL DMC_LEVEL_x. This define determines what control functionality is used: open loop, closed current loop, closed current + speed loop.
libraries/ Typical FOC modules including Park, Clark, and inverse Park and Clark transforms. Support for incremental encoder, datalog and the DAC EVM.
src_board/ Device specific drivers to run the servo drive. To migrate the project to another board, changes can be made primarily to: <board>.syscfg, hal.c, hal.h, and user_mtr1.h.
src_control/ Motor drive control files that call the motor control core algorithm functions within the interrupt service routines and background tasks. motor1_drive.c includes the motor1CtrlISR().
src_device/ Device specific startup file, driver library, linker command file.