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

7.3.2 Current Loop

FOC algorithm has two PI controllers, one each for Id and Iq to control flux and torque separately. Kp and Ki coefficients are the same for both PI controllers and are configured in Table 7-5. The outputs of the current control loops are used to generate voltage signals Vd and Vq to be applied to the motor. The outputs of the current loops are clamped to supply voltage VM. Id current PI loop is executed first and output of Id current PI loop Vd is checked for saturation. When the output of the current loop saturates, the integration is disabled to prevent integral wind-up.

Table 7-5 Current Loop PI Parameter
VariableDescription
pUserInputRegs->systemParams.currLoopKpProportional gain users set for the closed loop torque control in float
pUserInputRegs->systemParams.currLoopKiIntegral gain users set for the closed loop torque control in float

The FOC application supports automatically calculating the current loop PI parameters based on the motor parameters (resistance and inductance). By default, the current loop bandwidth is set as 0.03 times the FOC loop frequency in the algorithm. For example, if users set FOC loop as 10kHz, then the default current loop bandwidth is 300Hz.

Set the variables described in Table 7-5 as 0 to enable the PI parameters auto calculation. Users can then get the computed PI parameters in Table 7-6.

Table 7-6 Auto Calculated PI Parameters of Current Loop
VariableDescription
pUserStatusRegs->currentPI.Kp

Read Only. Proportional / Integral gain for current loop.

The value is passed from variable: pUserInputRegs->systemParams.currLoopKp / currLoopKp (if either has non-zero value).

The value is generated by FOC algorithm if is pUserInputRegs->systemParams. currLoopKp / currLoopKp are both zero.
pUserStatusRegs->currentPI.Ki

After getting auto calculated PI parameters shown in Table 7-6, users can set the calculated parameters value as the initial value of the PI parameters shown in Table 7-5. Users can then do manual parameters tuning based on the actual control performance.

Note:

There is a scaling factor relationship between the current loop PI parameters set by the user in pUserInputRegs and the actual PI parameters used in the PI controller calculations, as the motor speed and current are based on PU values.