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  • MSPM0 Sensored FOC

    • SLAU948B October   2024  – March 2025 MSPM0G3507

       

  • CONTENTS
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  • MSPM0 Sensored FOC
  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
  13. IMPORTANT NOTICE
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User's Guide

MSPM0 Sensored FOC

Abstract

This tuning guide provides step-by-step guidance to set up an MSPM0 MCU and supported DRV hardware board to tune and spin 3-phase brushless DC motor using Sensored FOC Algorithm.

Note: This Tuning guide is in reference to the Sensored FOC version 1.02.00 from SDK Version 2.04.00.00 and above.

Trademarks

LaunchPad™ and Code Composer Studio™ are trademarks of Texas Instruments.

Arm® and Cortex® are registered trademarks of Arm Limited.

All trademarks are the property of their respective owners.

 
Texas Instruments

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