C2000Ware_MotorControl_SDK 5.00.00.00

Introduction
Hardware Support
Documentation
What's New
- 5.00.00.00
Revision History
- 4.02.01.00
- 4.02.00.00
- 4.01.00.00
- 4.00.00.00
- 3.03.00.00
- 3.02.00.00
- 3.01.00.00
- 3.00.01.00
- 3.00.00.00
- 2.01.00.00
- 2.00.00.00
- 1.00.00.00
Known Issues

Introduction

This is version 5.00.00.00 of the C2000Ware MotorControl SDK. This document will provide a list of the versions and revision history for the solutions and software libraries in the C2000Ware MotorControl SDK directory.

Hardware Support

This table lists by device the reference designs and evaluation boards for which examples are provided in this release.

Device Series	Controller EVM	Inverter EVM	Solution	Details	Location in solutions/
F280013x	TMDSCNCD2800137 or LAUNCHXL-F2800137	TMDSHVMTRINSPIN BOOSTXL-3PHGANINV BOOSTXL-DRV8323RS BOOSTXL-DRV8323RH DRV8329AEVM DRV8316REVM DRV8353RS-EVM	Universal Lab	C28x CPU Sensorless & Sensored-FOC or Sensorless-trapezoidal Torque/Velocity Control Various current sense (3-shunts/single-shunt) Synchronous Motors (SPMSM/BLDC/IPMSM) CAN communication	universal_motorcontrol_lab
F280013x	MCU on Inverter EVM	TIDM-02010 HVAC Reference Dual motor + PFC	Sensorless	C28x CPU Sensorless-FOC with FAST or eSMO observer Torque/Velocity Control Low-side 3-shunts/dc-link single-shunt current sense Synchronous Motors (SPMSM/BLDC/IPMSM) IL-PFC	tidm_02010_dmpfc
F280015x	TMDSCNCD2800157	TMDSHVMTRINSPIN	Universal Lab	C28x CPU Sensorless & Sensored-FOC or Sensorless-trapezoidal Torque/Velocity Control 3 shunt Current sense Synchronous Motors (SPMSM/BLDC/IPMSM) CAN communication	universal_motorcontrol_lab
F280015x	TMDSCNCD2800157	TIDM-02012 eCompressor Reference	Sensorless	C28x CPU Sensorless-FOC with FAST Torque/Velocity Control CAN communication 3-shunt and single-shunt Current Sensing	tidm_02012_ecompressor
F28002x	TMDSCNCD280025C or LAUNCHXL-F280025C	TMDSHVMTRINSPIN BOOSTXL-3PHGANINV BOOSTXL-DRV8323RS BOOSTXL-DRV8323RH DRV8329AEVM DRV8316REVM DRV8353RS-EVM	Universal Lab	C28x CPU Sensorless & Sensored-FOC or Sensorless-trapezoidal Torque/Velocity Control Various current sense (3-shunts/single-shunt) Synchronous Motors (SPMSM/BLDC/IPMSM) CAN communication	universal_motorcontrol_lab
F28002x	MCU on Inverter EVM	TIDM-02010 HVAC Reference Dual motor + PFC	Sensorless	C28x CPU Sensorless-FOC with FAST or eSMO observer Torque/Velocity Control Low-side 3-shunts/dc-link single-shunt current sense Synchronous Motors (SPMSM/BLDC/IPMSM) IL-PFC	tidm_02010_dmpfc
F28002x	LAUNCHXL-F280025C	BOOSTXL-DRV8323RS	DesignDRIVE	C28x CPU Incremental encoder Velocity Control Low-side shunts Synchronous Motors (PMSM) CAN communication	servo_drive_with_can
F28002x	LAUNCHXL-F280025C	BOOSTXL-3PHGANINV	DesignDRIVE	C28x CPU + CLA Incremental Encoder Position/Velocity Control w/ FCL source and Observer In-line current sense (INA) Dual Synchronous Motors (PMSM/BLDC/IPM)	boostxl_3phganinv
F28002x	TMDSCNCD280025C	TMDXIDDK379D	DesignDRIVE	C28x CPU Incremental encoder Position/Velocity Control In-line current sense (LEM) Synchronous Motors	tmdxiddk379d
F28002x	LAUNCHXL-F280025C	BOOSTXL-DRV8323RH	Universal Lab SysConfig	C28x CPU Torque/Velocity Control 3-shunts current sense FAST/ESMO/ENC control algorithms ECAP, Switch, GPIO command interface	universal_motorcontrol_sysconfig
F28003x	TMDSCNCD280039C or LAUNCHXL-F280039C	TMDSHVMTRINSPIN BOOSTXL-3PHGANINV BOOSTXL-DRV8323RS BOOSTXL-DRV8323RH DRV8329AEVM DRV8316REVM DRV8353RS-EVM	Universal Lab	C28x CPU Sensorless & Sensored-FOC or Sensorless-trapezoidal Torque/Velocity Control Various current sense (3-shunts/single-shunt) Synchronous Motors (SPMSM/BLDC/IPMSM) CAN communication	universal_motorcontrol_lab
F28003x	MCU on Inverter EVM	TIDM-02010 HVAC Reference Dual motor + PFC	Sensorless	C28x CPU Sensorless-FOC with FAST or eSMO observer Torque/Velocity Control Low-side 3-shunts/dc-link single-shunt current sense Synchronous Motors (SPMSM/BLDC/IPMSM) IL-PFC	tidm_02010_dmpfc
F28003x	TMDSCNCD280039C	TIDM-02012 eCompressor Reference	Sensorless Mathworks Model	C28x CPU Sensorless-FOC with FAST Torque/Velocity Control CAN communication 3-shunt and Single-Shunt Current Sensing	tidm_02012_ecompressor
F28003x	LAUNCHXL-F280039C	BOOSTXL-DRV8323RS	DesignDRIVE	C28x CPU Incremental encoder Velocity Control Low-side shunts Synchronous Motors (PMSM) CAN communication	servo_drive_with_can
F28003x	LAUNCHXL-F280039C	BOOSTXL-DRV8323RH	Universal Lab SysConfig	C28x CPU Torque/Velocity Control 3-shunts current sense FAST/ESMO/ENC control algorithms ECAP, Switch, GPIO command interface	universal_motorcontrol_sysconfig
F28003x	LAUNCHXL-F280039C	TIDM-02014 Traction Inverter Reference	SW resolver position sensing	C28x CPU SW resolver position sensing Advanced SPI gate driver support Closed-loop Speed control	tidm_02014_traction_inverter
F28004x	LAUNCHXL-F280049C	BOOSTXL-DRV8320RS	InstaSPIN-FOC	C28x CPU Sensorless Torque/Velocity Control Low-side shunts Synchronous Motors (PMSM/BLDC/IPM)	boostxl_drv8320rs
F28004x	TMDSCNCD280049C + TMDSADAP180TO100	TMDSHVMTRINSPIN	InstaSPIN-FOC	C28x CPU Sensorless Torque/Velocity Control Low-side shunts Synchronous Motors (PMSM/BLDC/IPM)	tmdshvmtrinspin
F28004x	LAUNCHXL-F280049C	BOOSTXL-3PHGANINV	DesignDRIVE	C28x CPU + CLA Incremental Encoder Position/Velocity Control w/ FCL source and Observer In-line current sense (INA) Dual Synchronous Motors (PMSM/BLDC/IPM)	boostxl_3phganinv
F28004x	LAUNCHXL-F280049C	BOOSTXL-DRV8320RS	DesignDRIVE	C28x CPU Incremental encoder Velocity Control Low-side shunts Synchronous Motors (PMSM) CAN communication	servo_drive_with_can
F28004x	TMDSCNCD280049C	TMDXIDDK379D	DesignDRIVE	C28x CPU + CLA Incremental and Tamagawa T-format absolute encoder options Position/Velocity Control In-line current sense (LEM) Synchronous Motors	tmdxiddk379d
F2837x	LAUNCHXL-F28379D	BOOSTXL-3PHGANINV	DesignDRIVE	C28x CPU + CLA Incremental Encoder Position/Velocity Control w/ FCL source and Observer In-line current sense (INA) Dual Synchronous Motors (PMSM/BLDC/IPM)	boostxl_3phganinv
F2837x	TMDSCNCD28379D	TMDXIDDK379D	DesignDRIVE	C28x CPU + CLA Incremental and Tamagawa T-format absolute encoder options Position/Velocity Control In-line current sense (LEM) and SDFM current sense options Synchronous Motors (PMSM/BLDC/IPM)	tmdxiddk379d
F2838x	TMDSCNCD28388D	TMDXIDDK379D	DesignDRIVE	C28x CPU + CLA Incremental and Tamagawa T-format absolute encoder options Position/velocity Control In-line current sense (LEM) and SDFM current sense options Synchronous motors (PMSM/BLDC/IPM) EtherCAT connectivity	tmdxiddk379d
F2838x F28004x	TIDM-02006 TMDSCNCD28388D LAUNCHXL-F280049C	TMDXIDDK379D BOOSTXL-3PHGANINV	DesignDRIVE	EtherCAT High-Voltage Servo Multi-axis FSI connected Low-Voltage Servos	tidm_02006_multi_axis_drive
F28P65x	TMDSCNCD28P65X	TMDXIDDK379D	DesignDRIVE	C28x CPU Incremental encoder Position/Velocity Control In-line current sense (LEM) Synchronous Motors	tmdxiddk379d
Multiple	CLB Tool based Absolute Encoder	Hardware independent	DesignDRIVE	Tamagawa T-Format PTO Abs2Qep PTO PulseGen PTO QepDiv QEPonCLB	boostxl_posmgr

Documentation

An index of available documentation in the SDK can be found here.

What's New

5.00.00.00

New: Added TIDM-02014 Traction Inverter reference design for F28003x
New: Added Mathworks Model based implementation for TIDM-02012 eCompressor reference design for F28003x.
New: Added F28P65x for TIDM-1011 T-format reference design.
New: Added F28P65x for TMDXIDDK379D development kit. Project spec copies code to workspace instead of linking.
Updates to TIDM-02010 reference design:
- Updated F280013x for fan using single shunt.
- Updated all project specs to copy code to workspace instead of linking.
Updates to the PTO library:
- Updated EqepOnClb QEP Decoder to properly synchronize the inputs at the CLB boundary.
- Added custom input stimulus for the CLB simulation of QepOnClb, QepDiv.
- Updated all project specs to copy code to workspace instead of linking.
- Removed the CLB simulation generation from all project specs post-build steps. Simulation generation is now supported in the CLB tool.
Updates to T-Format:
- Updated Tformat_resetCLB() to include a soft reset of the CLB. This resets the T-format state machine should a transaction not complete properly.
- Added pull-up to SPI-PICO (SIMO) pin to hold the signal high as a precaution should the encoder become disconnected.
- Corrected the argument to the SPI_enableModule in the SPI_setup() function.
- Added custom input stimulus for the CLB simulation.
- Moved CLB MUX and CLB tile input from code in the library project to SysConfig of the system demonstration project. This change enables the tool to check for CLB tile boundary synchronization issues.
- Updated project spec to copy code to workspace instead of linking.
- Removed the CLB simulation generation from all project specs post-build steps. Simulation generation is now supported in the CLB tool.
Updated C2000Ware to version 5.00.00.00.

Revision History

4.02.01.00

Updated servo_drive_with_can example
- Added support for robot demo
  - Closed loop speed control using QEP encoder with CAN communications
- Updated user guide for operating the robot demo

4.02.00.00

New: Added Universal Motor Control Lab project for F280015x and TMDSHVMTRINSPIN.
New: Added F280015x example for TIDM-02012: High-voltage EV/HEV HVAC eCompressor motor control reference design. Added single-shunt current sense support to F28003x and F280015x projects.
New: Added SysConfig based Universal Motor Control lab for F28002x, F28003x and BOOSTXL-DRV8323RH. Refer to C2000 Motor Control SysConfig Tool application note for details.
Updated SFRA to version 1.50.02.00
Updated C2000Ware to version 4.03.00.00

4.01.00.00

New: Added F280013x example for TIDM-02010: Dual motor control with digital interleaved PFC for HVAC reference design. All TIDM-02010 projects have been updated to support single-shunt current sensing.
New: Added Universal Motor Control Lab projects for F280013x and F28003x.
- Added DRV8329AEVM support for single-shunt current sensing algorithm. Single-shunt support for BOOSTXL-DRV8323RS and BOOSTXL-DRV8323RH has been removed.
- Note that MCTRL_State_e and MOTOR_Status_e combine to MOTOR_Status_e in motor.h file. Use “motorState” instead of “mctrlState” in the related files when migrating from an old version to this new version.
- The lab has been updated to improve motor control performance and ease of use and migration. See the Universal Project and Lab User’s Guide for guidance on migration to this new version.
New: Added sensored FOC servo control with CAN interface example project for the F28003x.
New: Added software for TIDM-02012: High-voltage EV/HEV HVAC eCompressor motor control reference design. An example project is provided for the F28003x. Note that the TIDM-02012 software is being released ahead of the reference design and design guide. The collateral and associated content will be available here mid-November 2022.
Updated TIDM-1011 T-Format absolute encoder interface:
- Now supports F28003x, F28004x, F2837x, and F2838x devices.
- The library has been updated to improve performance, ease of use, and utilization of new hardware features. See the T-Format Interface Software Guide for guidance on migration to this new version.
Updated C2000Ware to version 4.02.00.00

4.00.00.00

New: Added software for TIDM-02010: Dual motor control with digital interleaved PFC for HVAC reference design. Example projects are provided for F28002x and F28003x.
New: Added PTO QEP on CLB library and examples for F2837xD, F2838x, F28004x, F28002x, and F28003x devices. Support for F28002x and F28003x devices has been added to all other PTO libraries and examples.
Updated C2000Ware to version 4.00.00.00

3.03.00.00

New: Added FAST library from InstaSPIN-FOC. This library enables the use of the FAST observer for InstaSPIN-FOC with FPU enabled and C2000Ware MotorControl SDK supported C2000 devices. You no longer need to use a C2000 device with special ROM content use FAST or InstaSPIN-FOC.
New: Motor Control Universal Lab project with example on F28002x series. This is a single project with build examples for different Sensorless (FAST, eSMO, InstaSPIN-BLDC), Sensored (Incremental Encoder, Hall), and control techniques (FOC, Trapezoidal), with included system features, and debug interfaces that work across a set of three-phase inverter EVMs.
New: Sensored FOC servo control with CAN interface example project for the F28002x and F28004x.
Fixed: Several solutions' linker command files have been updated to reserve space at the end of contiguous memory ranges to comply with the errata advisory "Memory: Prefetching Beyond Valid Memory".

3.02.00.00

New: Added PTO Abs2Qep library and examples for F2837xD, F2838x, and F28004x.
Updated TIDM-02006 reference software to demonstrate FSI PWM sync across distributed axes.
Updated C2000Ware to version 3.04.00.00

3.01.00.00

New: Added F28002x software for TIDM-02006: Distributed multi-axis EtherCAT enabled servo drive over fast serial interface (FSI) reference design.
New: Added solution for Dual-axis Low Voltage PMSM Servo control on a single MCU with the BOOSTXL-3PHGANINV and LAUNCHXL-F280025C.
Updated InstaSPIN labs and symbols library to now support both COFF and EABI object file formats.
Updated C2000Ware to version 3.03.00.00
Fixed issues:
- Added patch library for the InstaSPIN FAST ROM to allow adjustment of the one-over flux calculation parameter. Previous lack of configurability could lead to issues at higher speeds.
- Fix several solutions projects that failed to boot standalone from flash.

3.00.01.00

F2838x reference design software updated to use 25MHz XTAL clock as default input clock. Note that the latest F2838x controlCARDs (Rev.B and later) have been updated to use 25MHz XTAL by default.
- If you have an older 20MHz XTAL controlCARD (E1, E2, or Rev.A), refer to the controlCARD documentation on steps to reconfigure the controlCARD from 20MHz to 25MHz.
- If a 20MHz XTAL is used, please add a predefined symbol "USE_20MHZ_XTAL" in your CCS project. If a different XTAL is used, you need to update the PLL multipliers and dividers accordingly.
Updated F2838x solutions projects to build with --float_support=fpu64 option
Updated C2000Ware to version 3.02.00.00
Updated SFRA to version 1.50.00.00
Fixed issues:
- Corrected typo in InstaSPIN lab 5 where motorVars.Ls_d_H was mistakenly assigned to userParams.motor_Ls_q_H.
- Missing SysConfig file sdk.json restored to C2000Ware .metadata

3.00.00.00

New: Added new solution for F280025C High Voltage PMSM Servo control based on TMDXIDDK379D
New: Added software for TIDM-02006: Distributed multi-axis EtherCAT enabled servo drive over fast serial interface (FSI) reference design
Updated: Sigma Delta current sense option added to existing F2837x and F2838x TMDXIDDK379D solutions
Updated: C2000Ware to version 3.01.00.00
Fixed issues:
- Corrected size of filterHandle_V array in InstaSPIN labs
- Removed misleading #error in user.c

2.01.00.00

New: Added a DesignDRIVE solution for PMSM control using FCL on the TMDXIDDK379D+TMDSCNCD280049C controlCARD
New: Added a solution to perform dual-axis motor control using FCL on a single MCU based on the BOOSTXL-3PHGANINV and either the F280049C or F28379D LaunchPad
New: Added Tamagawa T-Format Absolute Encoder Reference APIs and BOOSTXL-POSMGR example
New: Added PTO PulseGen and QepDiv Reference APIs and BOOSTXL-POSMGR examples
Updated C2000Ware to version 2.00.00.03
Updated existing TMDXIDDK379D solutions
- Added T-Format absolute encoder option on F2837x and F2838x projects (new F28004x supports it as well)
- Updated F2837xD project to ELF output format
Updated FCL library to version 7
- FCL source code is now included
- Added dual-motor version of the library
Fixed issues:
- Removed extra #ifdef __cplusplus opening in filter_fo.h
- Corrected use of static variables in DRV8320RS driver code
- Fixed issue that prevented code from being displayed in the TI Resource Explorer

2.00.00.00

New: Added a DesignDRIVE solution for EtherCAT connected PMSM control using FCL and QEP on the TMDXIDDK379D+TMDSCNCD28388D controlCARD
New: Added SFRA Library v1.40.00.00
Updated C2000Ware to version 2.00.00.02
Updated InstaSPIN-FOC labs to use TI compiler v18.12.1.LTS
Updated TMDXIDDK379D solution for F2837x
- Updated project to use TI compiler v18.12.1.LTS
- Added build level 6 to demonstrate use of SFRA to verify bandwidth
Updated FCL library to version 6, making fcl_cpu_cla.lib and index library to choose between COFF and EABI formats as appropriate

1.00.00.00

New: Added C2000Ware v1.00.06.00
New: Added InstaSPIN-FOC labs and associated libraries for F28004x and the BOOSTXL-DRV8320RS and TMDSHVMTRINSPIN EVMs
New: Added a DesignDRIVE solution for PMSM control using FCL and QEP on the TMDXIDDK379D and associated libraries

Known Issues

All CLB-based solutions except the Position Sensing examples: The user must confirm CLB input synchronization is enabled for specific input signals. This synchronization is separate from any other synchronization that may have already been applied to the signal. Refer to the tables Global Signals and Mux Selection and Local Signals and Mux Selection tables in the CLB chapter of the device-specific Technical Reference Manual. Signals requiring CLB input synchronization are indicated as “Asynch”. The following driverlib function can be used to enable CLB input synchronization for a specific input: CLB_enableSynchronization(CLBx_BASE, CLB_INy);

Under some circumstances, projects using the F28004x FAST ROM symbols library (f28004x_fast_rom_symbols_fpu32.lib) and the compiler RTS library build with redefined symbol errors. To resolve this, update your linker option --reread_libs with --priority. For more details view the Exhaustively Read and Search Libraries sub-chapter of the C28x assembly tools manual. You may also consider using the library version of the FAST code instead of the ROM to avoid this issue.

C2000Ware_MotorControl_SDK 5.00.00.00

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