SLUUDM5 March   2026 MSPM0G1507 , MSPM0G1519 , MSPM0G3507 , MSPM0G3519

 

  1.   1
  2.   Abstract
  3.   Trademarks
  4. 1 Introduction
  5. 2 Motor Control Theory
    1. 2.1 BLDC Motor Fundamentals
    2. 2.2 Mathematical Model and FOC Structure
    3. 2.3 Sensorless Field Oriented Control
      1. 2.3.1 FOC Fundamentals
      2. 2.3.2 Enhanced Sliding Mode Observer
      3. 2.3.3 Finite Difference BEMF Estimator
      4. 2.3.4 Rotor Position and Speed Estimation
  6. 3 MSP FOC System
    1. 3.1 Design Source
    2. 3.2 FOC Feature Overview
    3. 3.3 FOC Benchmark
  7. 4 MSP FOC Hardware
    1. 4.1 PWM Pin Configurations
    2. 4.2 ADC Pin Configurations
      1. 4.2.1 DC Bus Voltage
      2. 4.2.2 Motor Phase Voltage
      3. 4.2.3 Motor Phase Current
        1. 4.2.3.1 Single Shunt Current Sensing
        2. 4.2.3.2 Dual or Three Shunt Current Sensing
        3. 4.2.3.3 Three Shunt Current Sensing with Simultaneous Sampling
    3. 4.3 Fault Pin Configurations
    4. 4.4 Hall GPIO Pin Configurations
    5. 4.5 GPIO Pin Configurations
    6. 4.6 SPI Pin Configurations
    7. 4.7 UART Pin Configurations
    8. 4.8 External Connections for Evaluation Boards
  8. 5 MSP FOC Software
    1. 5.1 Project Structure
    2. 5.2 Software Overview
      1. 5.2.1 Application Layer
        1. 5.2.1.1 FOC Library
        2. 5.2.1.2 Motor Control Application
        3. 5.2.1.3 Main Application
      2. 5.2.2 HAL Layer
        1. 5.2.2.1 Gate Driver Interface
        2. 5.2.2.2 Current Sensing Circuit
        3. 5.2.2.3 Hardware Interface
        4. 5.2.2.4 Communication Interface
      3. 5.2.3 MSPM0 Driverlib Layer
    3. 5.3 Register Map (Sensorless FOC)
      1. 5.3.1 User Control Registers (Base Address = 0x20200400h)
        1. 5.3.1.1 Speed Control Register (Offset = 0h) [Reset = 00000000h]
        2. 5.3.1.2 Algo Debug Control 1 Register (Offset = 4h) [Reset = 00000000h]
        3. 5.3.1.3 Algo Debug Control 2 Register (Offset = 8h) [Reset = 00000000h]
        4. 5.3.1.4 Algo Debug Control 3 Register (Offset = Ch) [Reset = 00000000h]
        5. 5.3.1.5 DAC Configuration Register (Offset = 10h) [Reset = 00000000h]
      2. 5.3.2 User Input Registers (Base Address = 0x20200000h)
        1. 5.3.2.1  SYSTEM_PARAMETERS (Offset = 0h)
        2. 5.3.2.2  MOTOR_STARTUP1 Register (Offset = 3Ch) [Reset = 00000000h]
        3. 5.3.2.3  MOTOR_STARTUP2 Register (Offset = 40h) [Reset = 00000000h]
        4. 5.3.2.4  CLOSED_LOOP1 Register (Offset = 44h) [Reset = 00000000h]
        5. 5.3.2.5  CLOSED_LOOP2 Register (Offset = 48h) [Reset = 00000000h]
        6. 5.3.2.6  FIELD_CTRL Register (Offset = 4Ch) [Reset = 00000000h]
        7. 5.3.2.7  FAULT_CONFIG1 Register (Offset = 50h) [Reset = 00000000h]
        8. 5.3.2.8  FAULT_CONFIG2 Register (Offset = 54h) [Reset = 00000000h]
        9. 5.3.2.9  MISC_ALGO Register (Offset = 58h) [Reset = 00000000h]
        10. 5.3.2.10 PIN_CONFIG Register (Offset = 5Ch) [Reset = 00000000h]
        11. 5.3.2.11 PERI_CONFIG Register (Offset = 60h) [Reset = 00000000h]
      3. 5.3.3 User Status Registers (Base Address = 0x20200430h)
  9. 6 Quick Start Guide
    1. 6.1 CCS IDE
      1. 6.1.1 Project Setup
      2. 6.1.2 Project Debug
    2. 6.2 GUI
  10. 7 Motor Tuning Guide
    1. 7.1 Hardware Board Parameter
      1. 7.1.1 Base Voltage (V)
      2. 7.1.2 Base Current (A)
    2. 7.2 Motor Parameter
      1. 7.2.1 Motor Phase Resistance (mΩ)
      2. 7.2.2 Motor Phase Inductance (μH)
      3. 7.2.3 Saliency of IPMSM Motor
      4. 7.2.4 Motor Pole Pairs
      5. 7.2.5 Motor BEMF Constant (mV/Hz)
      6. 7.2.6 Maximum Motor Electrical Speed (Hz)
      7. 7.2.7 Maximum Motor Power (W)
    3. 7.3 Control Loop Parameter
      1. 7.3.1 Speed / Power Loop
      2. 7.3.2 Current Loop
    4. 7.4 Hall Angle Table
      1. 7.4.1 Hall Calibration
      2. 7.4.2 Register Table
    5. 7.5 Spin the Motor (LVBLDC)
    6. 7.6 Spin the Motor with Hall Sensor
    7. 7.7 Tune the Motor (LVBLDC)
      1. 7.7.1 Basic Tuning
        1. 7.7.1.1  Startup Mode
          1. 7.7.1.1.1 Align Mode
            1. 7.7.1.1.1.1 Force Align Mode in Current Loop
            2. 7.7.1.1.1.2 Force Align Mode in PWM Loop
          2. 7.7.1.1.2 Double Align Mode
          3. 7.7.1.1.3 Initial Position Detection (IPD) Mode
            1. 7.7.1.1.3.1 High Resolution IPD
          4. 7.7.1.1.4 Slow First Cyle (SFC) Mode
        2. 7.7.1.2  Open Loop Mode
          1. 7.7.1.2.1 Auto Handoff
          2. 7.7.1.2.2 Force Open Loop Mode
        3. 7.7.1.3  Transition From Open Loop to Closed Loop
        4. 7.7.1.4  Closed Loop Mode
          1. 7.7.1.4.1 Tune Control Parameter
          2. 7.7.1.4.2 Tune PI Parameter
        5. 7.7.1.5  Stop Mode
          1. 7.7.1.5.1 Coast (Hi-Z) Mode
          2. 7.7.1.5.2 Active Spin Down Mode
          3. 7.7.1.5.3 Braking Mode
            1. 7.7.1.5.3.1 Low-Side Braking
            2. 7.7.1.5.3.2 Align Braking
        6. 7.7.1.6  Fault Handling
          1. 7.7.1.6.1 MOTOR_STALL
            1. 7.7.1.6.1.1 ABN_SPEED_FAULT
            2. 7.7.1.6.1.2 ABN_BEMF_FAULT
            3. 7.7.1.6.1.3 NO_MOTOR_FAULT
          2. 7.7.1.6.2 VOLTAGE_OUT_OF_BOUNDS
          3. 7.7.1.6.3 LOAD_STALL
          4. 7.7.1.6.4 HARDWARE_OVER_CURRENT
          5. 7.7.1.6.5 HV_DIE
        7. 7.7.1.7  Motor Spin Direction
        8. 7.7.1.8  PWM Configuration
          1. 7.7.1.8.1 PWM Frequency
          2. 7.7.1.8.2 PWM Deadband Time
        9. 7.7.1.9  FOC Loop Frequency
        10. 7.7.1.10 Hardcode for Basic Tuning
      2. 7.7.2 Advanced Tuning
        1. 7.7.2.1 Control Mode Setting
          1. 7.7.2.1.1 Closed Loop Speed Control Mode
          2. 7.7.2.1.2 Closed Loop Power Control Mode
          3. 7.7.2.1.3 Closed Loop Torque Control Mode
          4. 7.7.2.1.4 Open Loop Voltage Control Mode
            1. 7.7.2.1.4.1 Lead Angle Control
        2. 7.7.2.2 Maximum Torque Per Ampere (MTPA) Control
        3. 7.7.2.3 Field Weakening Control (FWC)
        4. 7.7.2.4 Deadtime Compensation
        5. 7.7.2.5 PWM Generation Mode
        6. 7.7.2.6 Overmodulation Mode
        7. 7.7.2.7 Initial Speed Detection (ISD) Mode
          1. 7.7.2.7.1 Motor Resynchronization
          2. 7.7.2.7.2 Reverse Drive
          3. 7.7.2.7.3 Fast ISD
        8. 7.7.2.8 Anti-Voltage Surge
    8. 7.8 Overwrite User Input Register Table
  11. 8 Hardware Migration Guide
    1. 8.1 Hardware Layer Overview
    2. 8.2 Gate Driver Module
      1. 8.2.1 Select Reference Projects
      2. 8.2.2 Modify Pre-defined Symbols
      3. 8.2.3 Add Custom Source Files
        1. 8.2.3.1 Gate Driver Comm Folder
        2. 8.2.3.2 HAL Layer File
      4. 8.2.4 Add Custom Comm Interface
      5. 8.2.5 Overwrite Default Macro Definitions
        1. 8.2.5.1 main.h File
          1. 8.2.5.1.1 Delay Component in Current Sensing Path
        2. 8.2.5.2 gateDriver.h File
    3. 8.3 MCU Peripheral Configuration
      1. 8.3.1 PWM Module
        1. 8.3.1.1 Different Pin Used for PWM Output
        2. 8.3.1.2 Different Pin Used for PWM Fault Input
        3. 8.3.1.3 Different Mapping to PWM Output Channel
      2. 8.3.2 ADC Module
        1. 8.3.2.1 Current Sensing Type
        2. 8.3.2.2 Current Sensing Method
          1. 8.3.2.2.1 Three Shunt Configuration
          2. 8.3.2.2.2 Three Shunt Configuration with Simultaneously Sampling
          3. 8.3.2.2.3 Dual Shunt Configuration
          4. 8.3.2.2.4 Single Shunt Configuration
        3. 8.3.2.3 CSA Offset Scaling Factor
        4. 8.3.2.4 Channel Mapping
          1. 8.3.2.4.1 Phase Current Channels
            1. 8.3.2.4.1.1 Three Shunt Configuration
            2. 8.3.2.4.1.2 Dual Shunt Configuration
            3. 8.3.2.4.1.3 Single Shunt Configuration
          2. 8.3.2.4.2 Bus Voltage Channel
          3. 8.3.2.4.3 Phase Voltage Channels
        5. 8.3.2.5 Trigger Mode
          1. 8.3.2.5.1 Three or Dual Shunt Configuration
          2. 8.3.2.5.2 Single Shunt Configuration
      3. 8.3.3 GPIO Pin
      4. 8.3.4 HALL Module
      5. 8.3.5 UART Module
      6. 8.3.6 DAC12 Module
      7. 8.3.7 IPD Module (Capture Timer)
    4. 8.4 Verification for Customized Board
  12. 9 Frequently Asked Questions (FAQs)
    1. 9.1 MSPM0 Failed to Connect
    2. 9.2 Spin the Motor in Hardcode
    3. 9.3 Reduce 1x ADC Pin for Simultaneously Sampling
    4. 9.4 Tune Real-time Control Parameter
    5. 9.5 Track Real-time Variable
      1. 9.5.1 DAC12 Output
      2. 9.5.2 J-Scope Tool
  13. 10Summary
  14. 11References
  15. 12Revision History

2.3.3 Finite Difference BEMF Estimator

Finite Difference BEMF Estimator could be applied in cases where Kslide (kα and kβ) tuning is not desired or the noise disturbances in the system are minimal. In FD-BEMF method, the BEMF is derived based on stator reference frame voltage equations as shown in Equation 18.

Equation 18. êα êβ  = v̂α v̂β  -rs00rsîα îβ  - ddtL0-L1cos2θ-L1sin2θ-L1sin2θL0+L1cos2θîα îβ   

where ,  L0 = Ld+ Lq2 , L1 = Ld - Lq2 ;

If the motor doesn't have any saliency, like in a surface mounted PMSM motor, the L1 value is set to zero.