SLAU948B October   2024  – March 2025 MSPM0G3507

 

  1.   1
  2.   Abstract
  3.   Trademarks
  4. 1Introduction
  5. 2Hardware Setup
    1. 2.1  EVM Hardware Setup
      1. 2.1.1 EVM Hardware Support
    2. 2.2  Pin Configurations for PWM Outputs
    3. 2.3  Pin Configurations for ADC Currents
    4. 2.4  Pin Configurations for ADC Voltages
    5. 2.5  Pin Configurations for Hall Sensor Inputs Through GPIO
    6. 2.6  Pin Configurations for Faults
    7. 2.7  Pin Configurations for GPIO Output Functions
    8. 2.8  Pin Configurations for SPI Communication
    9. 2.9  Pin Configurations for UART Communication
    10. 2.10 External Connections for Evaluation Boards
  6. 3Software Setup
  7. 4GUI Setup
    1. 4.1 Serial Port Configuration
    2. 4.2 GUI Home Page
      1. 4.2.1 System Configurations
      2. 4.2.2 Register Map
      3. 4.2.3 Motor Tuning Page
      4. 4.2.4 Collateral Page
  8. 5Register Map
    1. 5.1 Register Map Page in GUI
    2. 5.2 User Control Registers (Base Address = 0x20200400h)
      1. 5.2.1 Speed Control Register (Offset = 0h) [Reset = 00000000h]
      2. 5.2.2 Algo Debug Control 1 Register (Offset = 4h) [Reset = 00000000h]
      3. 5.2.3 Algo Debug Control 2 Register (Offset = 8h) [Reset = 00000000h]
      4. 5.2.4 Algo Debug Control 3 Register (Offset = Ch) [Reset = 00000000h]
      5. 5.2.5 DAC Configuration Register (Offset = 10h) [Reset = 00000000h]
    3. 5.3 User Input Registers (Base Address = 0x20200000h)
      1. 5.3.1  SYSTEM_PARAMETERS (Offset = 0h)
      2. 5.3.2  MOTOR_STARTUP1 Register (Offset = 3Ch) [Reset = 00000000h]
      3. 5.3.3  MOTOR_STARTUP2 Register (Offset = 40h) [Reset = 00000000h]
      4. 5.3.4  CLOSED_LOOP1 Register (Offset = 44h) [Reset = 00000000h]
      5. 5.3.5  CLOSED_LOOP2 Register (Offset = 48h) [Reset = 00000000h]
      6. 5.3.6  FIELD_CTRL Register (Offset = 4Ch) [Reset = 00000000h]
      7. 5.3.7  FAULT_CONFIG1 Register (Offset = 50h) [Reset = 00000000h]
      8. 5.3.8  FAULT_CONFIG2 Register (Offset = 54h) [Reset = 00000000h]
      9. 5.3.9  MISC_ALGO Register (Offset = 58h) [Reset = 00000000h]
      10. 5.3.10 PIN_CONFIG Register (Offset = 5Ch) [Reset = 00000000h]
      11. 5.3.11 PERI_CONFIG Register (Offset = 60h) [Reset = 00000000h]
    4. 5.4 User Status Registers (Base Address = 0x20200430h)
  9. 6Basic Tuning
    1. 6.1 System Configuration Parameters
      1. 6.1.1 Configuring System Parameters From GUI
      2. 6.1.2 Updating System Parameters Through CCS Debug Window
        1. 6.1.2.1 Motor Resistance in Milliohms (mΩ)
        2. 6.1.2.2 Motor Inductance in Microhenries (μH)
        3. 6.1.2.3 Saliency of IPMSM Motor
        4. 6.1.2.4 Motor BEMF Constant
        5. 6.1.2.5 Base Voltage (V)
        6. 6.1.2.6 Base Current (A)
        7. 6.1.2.7 Maximum Motor Electrical Speed (Hz)
        8. 6.1.2.8 Maximum Motor Power(W)
    2. 6.2 Control Configurations for Basic Motor Spinning
      1. 6.2.1 Hall Sensor Auto Calibration
        1. 6.2.1.1 Hall Sensor Calibration Through GUI
      2. 6.2.2 Motor Open Loop Ramp
      3. 6.2.3 PI Controller Tuning for Closed Loop Speed Control
        1. 6.2.3.1 Current Controller Tuning
        2. 6.2.3.2 Speed/Power Controller Tuning
      4. 6.2.4 Testing for Successful Startup Into Closed Loop
    3. 6.3 Fault Handling
      1. 6.3.1 Monitoring Power Supply Voltage Fluctuations for Voltage Out of Bound Faults
      2. 6.3.2 No Motor Fault [NO_MTR]
      3. 6.3.3 Hall Invalid Fault
  10. 7Advanced Tuning
    1. 7.1 Control Configurations Tuning
      1. 7.1.1 Control Mode of Operation
        1. 7.1.1.1 Closed Loop Torque Control Mode
        2. 7.1.1.2 Closed Loop Power Control Mode
        3. 7.1.1.3 Closed Loop Speed Control Mode
        4. 7.1.1.4 Voltage Control Mode
      2. 7.1.2 Stopping Motor Quickly
      3. 7.1.3 Flux Weakening: Operating Motor at Speeds Higher Than Rated Speed
      4. 7.1.4 Maximum Torque Per Ampere : Improve Efficiency of IPMSM Motors
      5. 7.1.5 Preventing Supply Voltage Overshoot During Motor Stop.
      6. 7.1.6 Protecting the Power Supply
      7. 7.1.7 FOC Bandwidth Selection
  11. 8Hardware Configurations
    1. 8.1 Direction Configuration
    2. 8.2 Brake Configuration
    3. 8.3 Main.h Definitions
      1. 8.3.1 Sense Amplifier Configuration
      2. 8.3.2 Driver Propagation Delay
      3. 8.3.3 Driver Min On Time
      4. 8.3.4 Current Shunt Configuration Selection
        1. 8.3.4.1 Three Shunt Configurations
        2. 8.3.4.2 Dual Shunt Configuration
      5. 8.3.5 CSA Offset Scaling Factor Selection
    4. 8.4 Real Time Variable Tracking
  12. 9Revision History

5.2.3 Algo Debug Control 2 Register (Offset = 8h) [Reset = 00000000h]

Table 5-5 shows the register to control Algorithm Debug functions.

Table 5-5 Algorithm Debug Control 2 Register Field Descriptions
Bit Field Type Reset Description
31 RESERVED R 0h Reserved
30 UPDATE_SYS_PARAMETERS W 1h Dynamically updates System parameters every 200mS like PI gains of Speed/Torque/Flux etc to tune for required performance

0b = Dynamic System updates Disabled

1b = Dynamic System updates Enabled

29 HALL_CALIB_ENABLE W 0b Use to enable Automatic Hall Calibration. This bit is reset automatically once calibration is completed.
0h = Hall Calibration Disabled/Completed
1h = Enable Hall Calibration
28 UPDATE_CONFIGS R 0b When the configurations are updated by the algorithm, this bit is reset. User can set this bit after giving the tuning command and wait for this bit to reset before starting the speed command.
27 STATUS_UPDATE_ENABLE W 0b This bit enables the continuous update of user Status variables in real time.
26 CURRENT_LOOP_DIS W 0b Use to control the FORCE_VD_CURRENT_LOOP_DIS and FORCE_VQ_CURRENT_LOOP_DIS. If CURRENT_LOOP_DIS = 1b, current loop and speed loop are disabled
0h = Enable Current Loop
1h = Disable Current Loop
25-16 FORCE_VD_CURRENT_LOOP_DIS W-IQ(9) 0h Sets Vd_ref in IQ(9) PU when current loop and speed loop are disabled If CURRENT_LOOP_DIS = 1b, then Vd is controlled using FORCE_VD_CURRENT_LOOP_DIS Vd_ref = (FORCE_VD_CURRENT_LOOP_DIS / 500) if FORCE_VD_CURRENT_LOOP_DIS < 500 -(FORCE_VD_CURRENT_LOOP_DIS - 512) / 500 if FORCE_VD_CURRENT_LOOP_DIS > 512 Valid values: 0 to 500 and 512 to 1000
15-6 FORCE_VQ_CURRENT_LOOP_DIS W-IQ(9) 0h Sets Vq_ref in IQ(9) PU when current loop speed loop are disabled If CURRENT_LOOP_DIS = 1b, then Vq is controlled using FORCE_VQ_CURRENT_LOOP_DIS Vq_ref = (FORCE_VQ_CURRENT_LOOP_DIS / 500) if FORCE_VQ_CURRENT_LOOP_DIS < 500 -(FORCE_VQ_CURRENT_LOOP_DIS - 512) / 500 if FORCE_VQ_CURRENT_LOOP_DIS > 512 Valid values: 0 to 500 and 512 to 1000
5-0 RESERVED R 0h Reserved