MSPM0 Sensored Trap Software User’s Guide¶

CCS Project setup¶

Go to Import CCS Projects as shown below.

Click Browse. Navigate to C:\ti\mspm0_sdk_<SDK_Version>\examples\nortos\[LAUNCHPAD]\motor_control_bldc_sensored_trap_hall.
Click Select Folder. Check the desired hardware board, and click Finish to import the project into your workspace.

Adding Initial Parameters (optional)¶

In the Project Explorer, open the project drop down menu and open “[BOARD_NAME]_gui.h”.

Under “defines” (line 44), change any of the “GUI_INITIAL_xxxx” defines to any pre-defined parameters in “hall_trap.h”, or value inside of the parentheses. The parameters that can be initially defined are below.

Parameter	Definition
GUI_INITIAL_MOTOR_DIRECTION	Motor direction (forward or reverse)
GUI_INITIAL_NSLEEP	DRV mode (sleep or awake)
GUI_INITIAL_DRVOFF	DRV status (ON or OFF)
GUI_INITIAL_STOPMOTOR	Motor state (RUN or STOP)
GUI_INITIAL_CSAGAIN	DRV CSA gain setting
GUI_INITIAL_FAULT_RESET	Fault reset bit status
GUI_INITIAL_BRAKETYPE	Motor brake type
GUI_INITIAL_CSA_REF	CSA reference source
GUI_INITIAL_ADC_REF	ADC reference value, in mV
GUI_INITIAL_PWM_FREQ	PWM frequency value, in Hz
GUI_INITIAL_DEAD_TIME_NS	Dead time, in ns
GUI_INITIAL_ACCRATE	Acceleration rate, in duty cycle per ms
GUI_INITIAL_PULSE_WIDTH	PWM duty cycle
GUI_FAULT_LIMIT	Fault count limit
GUI_MAX_PULSEWIDTH	Maximum PWM duty cycle
GUI_INITIAL_SHUNT_RES	Shunt resistance, in milliohms
GUI_INITIAL_ADCVREF	ADC voltage reference source
GUI_INITIAL_ADC_INTVREF	ADC internal voltage reference source
GUI_INITIAL_ADC_EXTVREF	ADC external voltage reference value, in mV
GUI_MOTOR_NUMBER_OF_POLES	Number of poles in motor
GUI_DEFAULT_OVER_VOLTAGE_LIMIT	Overvoltage limit, in volts
GUI_DEFAULT_UNDER_VOLTAGE_LIMIT	Undervoltage limit, in volts
GUI_DEFAULT_OVER_CURRENT_LIMIT	Overcurrent limit, in amps

Starting the Project¶

Connect the hardware and turn on the power supply. There should be no more than 50mA on the power supply.
Click on the Build button. Project should build with no errors.
Click on the Debug button.
Open the Expressions window and add the following global structures and expressions. The expressions below in the guiVar structure control motor system and control parameters.

guiVar	structure that contains the GUI variables below
motorDirection	Sets motor direction to forward or reverse
nsleepSignal	Sets driver to awake or sleep mode
stopMotor	Sets motor to run or stop mode
motorBraketype	Sets motor brake type to BRAKE or COAST
CSAGain	Sets current sense amplifier (CSA) gain of the driver
csaRef	Sets CSA reference in millivolts
pwmFreq	Sets PWM frequency in Hz
deadtime_ns	Sets dead time in ns
accRate	Sets acceleration rate in duty cycle per ms
pulseWidth	Sets duty cycle in percent
adcVref	Sets ADC voltage reference source as VDDA, internal (1.4 or 2.5V), or external (VREF+ pin)
adcInternalVRef	Sets ADC internal voltage reference as 1.4V or 2.5V
adcExternalVRef	Sets ADC voltage reference when external VREF is used, in millivolts. Value set should be same as value into VREF+.
rShunt_mohm	Shunt resistance of phase(s), in milliohms

The expressions below in the fault structure control motor system and control parameters.

fault	structure that contains the fault variables below
Reset	Resets faults below when written with 1
overVoltage	Set to 1 when bus voltage is higher than guiOverVoltageLimit
underVoltage	Set to 1 when bus voltage is lower than guiUnderVoltageLimit
drvFault	Set to 1 when driver nFAULT pin is active low
overCurrent	Set to 1 when phase current is higher than guiOverCurrentLimit
ledIndication	Logical OR of overVoltage, underVoltage, drvFault, and overCurrent flags

If you wish to monitor the measured bus and phase voltages or currents, or control the current/voltage limits, add the below expressions.

Expression	Description
moduleVoltage	Motor supply voltage in IQ(20) format
moduleCurrent	Motor supply current in IQ(20) format. For hardware with 1 current shunt only.
voltagePhaseA	Phase A voltage in IQ(20) format
voltagePhaseB	Phase B voltage in IQ(20) format
voltagePhaseC	Phase C voltage in IQ(20) format
currentPhaseA	Phase A current in IQ(20) format
currentPhaseB	Phase B current in IQ(20) format
currentPhaseC	Phase C current in IQ(20) format
guiOverCurrentLimit	Sets the overcurrent limit for phases A, B, and C in IQ(20) format
guiUnderVoltageLimit	Sets the motor supply and phase A/B/C undervoltage limit for in IQ(20) format
guiOverVoltageLimit	Sets the motor supply and phase A/B/C overvoltage limit for in IQ(20) format

Note: These values above are in IQ20 format. In order to display corrent value, switch them to IQ(20) format in the CCS expressions window as shown below.

For devices with SPI support, you can add the guiSPI structure for SPI Configuration and controlling SPI reads/writes during runtime.

guiSPI	structure that contains the SPI variables below
writeBitfieldRegFlag	Writes writeBitfieldRegData to bitfieldRegPosData of writeBitfieldRegAddr when set to 1
writeRegFlag	Writes writeRegData to writeRegData of writeRegAddr when set to 1
readRegFlag	Reads data of readRegAddr and stores into to readRegData when set to 1
writeBitfieldRegAddr	Set to address of a bitfield register write operation
writeRegAddr	Set to address of a register write operation
readRegAddr	Set to address of a register read operation
bitfieldRegPosData	Bitfield position of a bitfield write operation to writeBitfieldRegAddr
bitfieldRegMaskData	Mask value of a bitfield write operation to writeBitfieldRegAddr
writeBitfieldRegData	Data value of a bitfield write register operation to writeBitfieldRegAddr
writeRegData	Data value of a write register operation to writeRegAddr
readRegData	Data value read from read operation of readRegAddr
readAllRegsFlag	Reads all registers when set to 1

The guiRegMap structure shows all of the status and configuration registers in the DRV device during run time. For devices with SPI support only.

guiRegMap   structure that contains the DRV83xx register map

Press Play to start the code.
Enable “Continuous Refresh” in the Expressions window.

Running the Project¶

Open guiVar. Set pulseWidth to 20 to spin the motor at 20%. The motor starts spinning.
Set motorDirection = MOTOR_DIR_REVERSE and press Enter. The motor stops spinning in forward direction and starts to spin in the reverse direction.
Set nsleepSignal = DRV83xx_DRV_NSLEEP_SLEEP and press Enter. The driver goes into sleep mode and the motor stops spinning. Set to DRV83xx_DRV_NSLEEP_AWAKE and pulseWidth = 20 to spin the motor again.
Set stopMotor = MOTOR_STATE_STOP and press Enter to stop the motor according to the motorBraketype(MOTOR_BRAKE_TYPE_COAST = coast mode, MOTOR_BRAKE_TYPE_STOP = stop mode).
Change pwmFreq to 10000 to change the PWM frequency to 10kHz. Observe in waveforms.
Change deadtime_ns to 500 to change the MCU deadband to 500 ns. Observe in waveforms.
Change accRate to change the acceleration and deceleration rate of the motor when pulseWidth is modified.
Create an overvoltage fault by increasing the voltage beyond guiOverVoltageLimit. Fault.overVoltage is set to 1, the motor stops spinning, and the LED sets. Reduce the voltage below the limit and set Fault.Reset = 1 to clear the latched fault and start spinning the motor again.
Create an undervoltage fault by decreasing the voltage below guiUnderVoltageLimit. Fault.underVoltage is set to 1, the motor stops spinning, and the LED sets. Increase the voltage above the limit and set Fault.Reset = 1 to clear the latched fault and start spinning the motor again.

If the device has SPI registers, use the guiSPI variables to perform a bitfield write, register write, or register read, or read all operation.
- To perform a bitfield write operation:
  - Select the drop-down register in writeRegAddr
  - Enter the bitfield position in bitfieldRegPosData
  - Enter the mask of the setting in that bitfield position in bitfieldRegMaskData (for example, a 3-bit setting has mask 0x7)
  - Write the bitfield data in writeBitfieldRegData
  - Set the writeBitfieldRegFlag to 1. It will automatically clear to 0.
- To perform a register write operation:
  - Select the drop-down register in writeRegAddr
  - Write the data in writeRegData
  - Set the writeRegFlag to 1. It will automatically clear to 0.
- To perform a register read operation:
  - Select the drop-down register in readRegAddr
  - Set the readRegFlag to 1. It will automatically clear to 0.
  - Read the data in readRegData
- To perform a read all registers operation:
  - Set the readAllRegsFlag to 1. It will automatically clear to 0.
  - View all registers in the guiRegMap structure