This build level verifies that Sigma Delta is working and its DC offsets are getting set properly, the EnDat mechanical theta offset is being calculated from EnDat feedback, and the PWM path is working properly to spin the motor in open loop control.

1. Go to the settings.h file and change the definitions to match the following (open loop control with debug buffers on):
   Figure 11-12 Open Loop IQ ID - BUILDLEVEL
2. Build the project in Debug mode, then load it into MAIN_Cortex_R5_0_0.
3. Once the project is loaded, open the 'single_chip_servo.c' file and find the following line, then right-click and select 'Run to Line'.
   Figure 11-13 Open Loop IQ ID - Run to Line
4. The motor shaft should lock into place (at an electrical angle of 0) before the core reaches the line and halts.
5. Once the core has reached the line, the program has already set all phases to 0,0,0 and read all three phase currents SETTLING_COUNT times (defaults to 8192) and computed the DC offset from. Once the Sigma Delta offsets are found the program locks the shaft to an electrical angle of 0 by setting all phases to 1,0,0. Once locked the program reads the EnDat2.2 mechanical angle feedback value SETTLING_COUNT times (8192) and computes the offset between mechanical theta and electrical theta.
6. To ensure that your feedback paths (Sigma Delta and EnDat2.2) are working properly, open the 'Expressions' window and observe 'gSddfChOffsets' and 'gMechAngleOffset'.
   1. The Sigma Delta offsets should be somewhere in the range of -1000 to 1000. If your offsets are well outside this range, or stuck at mid-scale or full-scale values (131072 or 272144) then you need to check that your jumper settings are selecting Sigma Delta (J2, J4, J6 left open) and all 3 phase currents (J1, J3, and J5 connecting pins 1 and 2 (the two pins closest to the power stage)). If all jumper settings are correct and you still have a channel stuck outside of this range there may be a HW issue (has been observed on a single channel on one board so far).
   2. The gMechAngleOffset should be a value between 0 and 90 and represents the offset between the mechanical angle from the encoder and the electrical angle inside the motor windings. This value should stay relatively constant between multiple runs of the demo. If you notice this value is varying between different runs then the coupler between the motor and the encoder shafts may have become loose which will cause slippage. If there is slippage in the coupler while running the demo then the electrical angle given to the Park transform will be wrong and the motor will not spin smoothly (this was observed on the first motor tested).
      Figure 11-14 Open Loop IQ ID - Electrical Angle
7. Once the Sigma Delta and EnDat2.2 paths are confirmed above you can resume the core to start running the open loop control, the motor should start spinning.
8. As the motor is spinning you can view the debug outputs:
   1. Connecting to the OTHER R5F core 'R5_1_0' and load the SYMBOLS ONLY:
      Figure 11-15 Open Loop IQ ID - Load Symbols
   2. Import the three CCS graphs (to show the Phase A, B, and C PWM output values being used in open loop control.
      Figure 11-16 Open Loop IQ ID - PWM Graph 1
      Figure 11-17 Open Loop IQ ID - PWM Graph 2
      Figure 11-18 Open Loop IQ ID - PWM Graph 3
      Figure 11-19 Open Loop IQ ID - PWM Graph 4
   3. This shows the Space Vector Modulation PWM values being output while in open loop control. You can tell that the three phases are each offset in the graphs above. This data can also be dumped through the CCS memory browser if you would like to manipulate or graph together in Matlab or Excel.
   4. This is the end of the Open Loop control demonstration, the Feedback paths and output paths are now validated assuming that your offset values looked good above and your motor was spinning.
   5. To stop the motor spinning in open loop control, you can simply switch the EVM off.