SLAU958A January   2025  – 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  Peripheral Configurations for IPD Usage
    3. 2.3  Pin Configurations for PWM Outputs
    4. 2.4  Pin Configurations for ADC Currents
    5. 2.5  Pin Configurations for ADC Voltages
    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
    3. 4.3 System Configurations
    4. 4.4 Register Map
    5. 4.5 Motor Tuning Page
    6. 4.6 Collateral Page
    7. 4.7 Loading and Saving Register Configurations
  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  ISD_CONFIG Register (Offset = 3Ch) [Reset = 00000000h]
      3. 5.3.3  MOTOR_STARTUP1 Register (Offset = 40h) [Reset = 00000000h]
      4. 5.3.4  MOTOR_STARTUP2 Register (Offset = 44h) [Reset = 00000000h]
      5. 5.3.5  CLOSED_LOOP1 Register (Offset = 48h) [Reset = 00000000h]
      6. 5.3.6  CLOSED_LOOP2 Register (Offset = 4Ch) [Reset = 00000000h]
      7. 5.3.7  FIELD_CTRL Register (Offset = 50h) [Reset = 00000000h]
      8. 5.3.8  FAULT_CONFIG1 Register (Offset = 54h) [Reset = 00000000h]
      9. 5.3.9  FAULT_CONFIG2 Register (Offset = 58h) [Reset = 00000000h]
      10. 5.3.10 MISC_ALGO Register (Offset = 5Ch) [Reset = 00000000h]
      11. 5.3.11 PIN_CONFIG Register (Offset = 60h) [Reset = 00000000h]
      12. 5.3.12 PERI_CONFIG Register (Offset = 64h) [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 Motor Resistance in Milliohms (mΩ)
      3. 6.1.3 Motor Inductance in Microhenries (μH)
      4. 6.1.4 Saliency of IPMSM Motor
      5. 6.1.5 Motor BEMF Constant
      6. 6.1.6 Base Voltage (V)
      7. 6.1.7 Base Current (A)
      8. 6.1.8 Maximum Motor Electrical Speed (Hz)
      9. 6.1.9 Maximum Motor Power(W)
    2. 6.2 Control Configurations for Basic Motor Spinning
      1. 6.2.1 Basic Motor Startup
        1. 6.2.1.1 Disable ISD
        2. 6.2.1.2 Motor Start Option - Align
        3. 6.2.1.3 Motor Open Loop Ramp
        4. 6.2.1.4 Motor Open Loop Debug
      2. 6.2.2 Controller Configuration for Spinning the Motor in Closed Loop
        1. 6.2.2.1 BEMF estimation for Sensorless Rotor Position detection
          1. 6.2.2.1.1 Enhanced Sliding Mode Observer
          2. 6.2.2.1.2 Finite BEMF Estimation Based on Motor model
        2. 6.2.2.2 Rotor Position and Speed Estimation With PLL
        3. 6.2.2.3 PI Controller Tuning for Closed Loop Speed Control
          1. 6.2.2.3.1 Current Loop PI Tuning
          2. 6.2.2.3.2 Speed Controller Tuning
        4. 6.2.2.4 Testing for Successful Startup Into Closed Loop
    3. 6.3 Fault Handling
      1. 6.3.1 Abnormal BEMF Fault [ABN_BEMF]
      2. 6.3.2 Monitoring Power Supply Voltage Fluctuations for Voltage Out of Bound Faults
      3. 6.3.3 No Motor Fault [NO_MTR]
  10. 7Advanced Tuning
    1. 7.1 Control Configurations Tuning
      1. 7.1.1  Control Mode of Operation
        1. 7.1.1.1 Closed Loop Speed Control Mode
        2. 7.1.1.2 Closed Loop Power Control Mode
        3. 7.1.1.3 Closed Loop Torque Control Mode
        4. 7.1.1.4 Voltage Control Mode
      2. 7.1.2  Initial Speed Detection of the Motor for Reliable Motor Resynchronization
      3. 7.1.3  Unidirectional Motor Drive Detecting Backward Spin
      4. 7.1.4  Preventing Back Spin of Rotor During Startup
        1. 7.1.4.1 Option 1: IPD
        2. 7.1.4.2 Option 2: Slow First Cycle
      5. 7.1.5  Gradual and Smooth Start up Motion
      6. 7.1.6  Faster Startup Timing
        1. 7.1.6.1 Option 1: Initial Position Detection (IPD)
        2. 7.1.6.2 Option 2: Slow First Cycle
      7. 7.1.7  Stopping Motor Quickly
      8. 7.1.8  Flux Weakening: Operating Motor at Speeds Higher than Rated Speed
      9. 7.1.9  Maximum Torque Per Ampere : Improve Efficiency of IPMSM Motors
      10. 7.1.10 Preventing Supply Voltage Overshoot During Motor Stop.
      11. 7.1.11 Protecting the Power Supply
      12. 7.1.12 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
        3. 8.3.4.3 Single Shunt Configuration
      5. 8.3.5 CSA Offset Scaling Factor Selection
    4. 8.4 Real-Time Variable Tracking
  12. 9Revision History

2.5 Pin Configurations for ADC Voltages

The default pin configurations for ADC voltages are shown in the following tables. The required connections are four ADC inputs:

  • Three ADC inputs connected to the three sensed phase voltages from the motor (VSENA,VSENB, VSENC)
  • One ADC input connected to the sensed VM motor voltage (VSENVM)

The sensed voltages are realized using a resistor divider with an optional bypass filtering cap as shown in Figure 2-3. Size the resistors so any motor voltage transients do not exceed the maximum voltage of the ADC inputs. For more information on the resistor divider ratio, see Section 6.1.6.

Note: Phase voltage sensing is needed only if initial speed detection feature is required.
ADC Voltage Divider Figure 2-3 ADC Voltage Divider
Table 2-9 Pin Configurations for ADC Phase Voltages for DRV8316/DRV8329 /DRV8323- LP MSPM0G3507
MSPM0 Pin Function DRV Connection DRV Function
A1_6 ADC1, channel 6 input VSENA Phase A sensed voltage output
A0_7 ADC0, channel 7 input VSENB Phase B sensed voltage output
A1_5 ADC1, channel 5 input VSENC Phase C sensed voltage output
Table 2-10 Pin Configurations for ADC Phase Voltages for DRV8316/DRV8329/DRV8323 - LP MSPM0G3519
MSPM0 Pin Function DRV Connection DRV Function
A0_0 ADC0, channel 0 input VSENA Phase A sensed voltage output
A0_1 ADC0, channel 1 input VSENB Phase B sensed voltage output
A0_5 ADC0, channel 5 input VSENC Phase C sensed voltage output
Table 2-11 Pin Configurations for ADC DC Bus Voltage Sensing for DRV8316/DRV8329 - MSPM0G3507
MSPM0 Pin Function DRV Connection DRV Function
A1_3 ADC1, channel 3 input VSEN -Vm DC bus voltage output
Table 2-12 Pin Configurations for ADC DC Bus Voltage Sensing for DRV8316/DRV8329 - MSPM0G3519
MSPM0 Pin Function DRV Connection DRV Function
A0_4 ADC1, channel 3 input VSEN -Vm DC bus voltage output
Table 2-13 Pin Configurations for ADC DC Bus Voltage Sensing for DRV8323 - LP MSPM0G3507
MSPM0 Pin Function DRV Connection DRV Function
A0_2 ADC0, channel 2 input VSEN -Vm DC bus voltage output
Table 2-14 Pin Configurations for ADC DC Bus Voltage Sensing for DRV8323 - LP- MSPM0G3519
MSPM0 Pin Function DRV Connection DRV Function
A0_12 ADC0, channel 2 input VSEN -Vm DC bus voltage output