Spansion FMO+ Series Manual de usuario

Low Voltage 3-Phase BLDC/PMSM Control

32-BIT MICROCONTROLLER

FM0+ Family

USER MANUAL

Publication Number: S6E1A1_AN710-00002 Revision 1.0 Issue Date Apr 2, 2015

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Target products

This user manual describes the following products:

Series

Product Number

FM0+ Series

S6E1A1

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Table of Contents

1. Introduction..................................................................................................................................... 5

1.1 Purpose 5

1.2 Definitions, Acronyms and Abbreviations............................................................................ 5

1.3 Document Overview............................................................................................................ 5

1.4 Reference Documents......................................................................................................... 5

2. System Hardware Environment...................................................................................................... 6

3. Development Environment............................................................................................................. 7

4. System Firmware Design ............................................................................................................... 8

4.1 FW Feature......................................................................................................................... 8

4.2 FW Structure....................................................................................................................... 8

4.3 Files Description................................................................................................................ 10

4.4 FW Control Flow................................................................................................................ 11

5. System Function........................................................................................................................... 12

5.1 Global Structure and Variable Definition ........................................................................... 12

5.1.1 Variables for Motor Running............................................................................. 12

5.1.2 Variables for FOC............................................................................................. 13

5.1.3 Variables for PID Control.................................................................................. 14

5.2 Function List...................................................................................................................... 15

6. Event Function.............................................................................................................................. 16

6.1 Function List...................................................................................................................... 16

7. Driver Function............................................................................................................................. 17

7.1 Function List...................................................................................................................... 17

8. Interrupt Function ......................................................................................................................... 18

8.1 Function List...................................................................................................................... 18

8.2 Interrupt Priority Setting..................................................................................................... 18

8.3 Interrupt Generation.......................................................................................................... 19

8.3.1 MFT.................................................................................................................. 19

8.3.2 Hall Capture ..................................................................................................... 19

8.3.3 DTTI ................................................................................................................. 20

9. Demo System............................................................................................................................... 21

9.1 Demo System Introduction................................................................................................ 21

9.1.1 Hardware Connection....................................................................................... 21

9.2 Motor Debug ..................................................................................................................... 22

9.2.1 FW Interface Configuration............................................................................... 23

9.2.2 Hall Check........................................................................................................ 28

9.2.3 Run Motor......................................................................................................... 30

9.2.4 Debug with DAC............................................................................................... 31

9.3 Troubleshooting ................................................................................................................ 31

9.3.1 Motor Start-up .................................................................................................. 31

9.3.2 Protection......................................................................................................... 32

9.3.3 Carrier Changeable On-line.............................................................................. 32

9.3.4 Hall Check........................................................................................................ 32

9.3.5 Power Consumer Higher.................................................................................. 32

10. Additional Information................................................................................................................... 34

Figures

Figure 4-1: Structure of FW........................................................................................................................ 9

Figure 4-2: Sub-files in Each Layer.......................................................................................................... 10

Figure 4-3: Diagram of the Control Flow ...................................................................................................11

Figure 5-1: Diagram of Live Watch........................................................................................................... 12

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Figure 8-1: Interrupt Priority Diagram....................................................................................................... 18

Figure 8-2: Free Run Timer Interrupt........................................................................................................ 19

Figure 8-3: Base Timer Interrupt............................................................................................................... 19

Figure 8-4: DTTI Interrupt......................................................................................................................... 20

Figure 9-1: System Connection................................................................................................................ 21

Figure 9-2: Open the Workspace ............................................................................................................. 22

Figure 9-3: Interface File Diagram............................................................................................................ 23

Figure 9-4: Motor Parameter Configuration.............................................................................................. 24

Figure 9-5: ADC Port Setting.................................................................................................................... 25

Figure 9-6: PI Parameter Setting.............................................................................................................. 25

Figure 9-7: ADC Coefficient Setting.......................................................................................................... 26

Figure 9-8: Variables Setting for Motor Start-up....................................................................................... 26

Figure 9-9: Variables Setting for Acceleration........................................................................................... 27

Figure 9-10: Protection Parameter Setting............................................................................................... 27

Figure 9-11: Function Selection................................................................................................................ 27

Figure 9-12: Configuration of the Test Mode ............................................................................................ 28

Figure 9-13: Hall Check Result................................................................................................................. 29

Figure 9-14: Configuration of the Tested Hall Phase Angle...................................................................... 29

Figure 9-15: Motor Run by J-link.............................................................................................................. 30

Figure 9-16: DAC Board Connection........................................................................................................ 31

Tables

Table 3-1: MCU Development Environment ............................................................................................... 7

Table 4-1: Feature List of LVBP Solution.................................................................................................... 8

Table 4-2: Directory Description of Project................................................................................................. 9

Table 4-3: File Description of Project........................................................................................................ 10

Table 5-1: System Function List ............................................................................................................... 15

Table 6-1: Event Function List Called by the MFT ISR............................................................................. 16

Table 6-2: Event Function List by the ‘Timer_Event()’ .............................................................................. 16

Table 7-1: Driver Function List.................................................................................................................. 17

Table 4-1: System Used Interrupt Function .............................................................................................. 18

Table 9-1: Motor Parameter...................................................................................................................... 21

Table 9-2: Hall Connection....................................................................................................................... 22

Table 9-3: Motor Control Mode................................................................................................................. 24

Table 9-4: Global Structure for Hall Check............................................................................................... 28

Table 9-5: Motor Running Status by the Command Speed ...................................................................... 30

Table 9-6: DAC Show............................................................................................................................... 31

Table 9-7: Protection List.......................................................................................................................... 32

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1. Introduction

1.1 Purpose

This user manual describes SPANSION low voltage 3-phase BLDC/PMSM solution, and describes how to

use the FW library.

The document introduces the basic information of the solution including hardware, firmware, initial functions,

basic motor setting functions and FOC drive modules. When you have understood these contents, you can

get an overview of the whole low voltage 3-phase BLDC/PMSM project. And you can run a motor following

the demo project step.

1.2 Definitions, Acronyms and Abbreviations

API - Application Programming Interface

FOC - Field Oriented Control

FW - Firmware

HW - Hardware

I/O - Input and output

CW - Clockwise

CCW - Counter clockwise

LVBP - Low Voltage 3-Phase BLDC/PMSM

1.3 Document Overview

The rest of document is organized as the following:

Chapter 2explains System Hardware Environment

Chapter 3 explains Development Environment

Chapter 4explains System Firmware Design

Chapter 5 explains System Function

Chapter 6explains Event Function

Chapter 7explains Driver Function

Chapter 8 explains Interrupt Function

Chapter 9explains Demo System

1.4 Reference Documents

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2. System Hardware Environment

The following lists the MCUs used in LVBP inverter board

CPU chip: Spansion FM0+ S6E1A1 series

CPU Frequency: 40MHz

MCU pin number: 48pin

RAM Space: 88 Kbyte

Code Space: 6 Kbyte

Demo HW version: SK-MC-3P-LVPS-0 V11

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3. Development Environment

Table 3-1: MCU Development Environment

Name

Description

Part Number

Manufacturer

Remark

IAR bedded Workbench

7.3

FW code edit , compile and

debug

N/A

J-Link

Debug and Load FW by JTAG

N/A

SPANSION FLASH

LOADER

Flash download program

N/A

Source Insight V3.50

Source code edit

N/A

Editor

Eclipse

Source code edit

N/A

Editor

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4. System Firmware Design

This chapter introduces the FW structure of low voltage 3 phase motor project.

4.1 FW Feature

The features of the low voltage 3 phase motor solution are shown in Table 4-1.

Table 4-1: Feature of LVBP Solution

No.

Feature

Description

Remark

Hall Self-check

Hall status self-check

Hall phase angle self-check

Check whether the hall circuit in hardware part is

normal.

Adjustable Carrier Frequency

online

Carrier frequency can be set by the corresponding

variable in user interface

Rotor Angle Control

Rotor electrical phase angle was corrected by hall or

sensor-less estimation module

Rotor Speed Calculate

Calculate speed through hall or sensor-less

estimation module

FOC Control

Using FOC control algorithm

VF Control

Using VF control algorithm with the hall sensor

Self-adaption Start Up

Motor can startup with different type load without

changing parameter

Speed regulate

This function is used to speed up or slow down a

motor by the command from host via UART or

debugger

Brake

Stop motor by braking down

10.

Current Sample

Dual-shunt sample

Single shunt sample algorithm

11.

Protect

DC voltage protection

A/D offset protection

Lock rotor protection

Motor phase lost protection

Over Current Protection

12.

DAC

Use the DAC board to display the variables by the

SPI

4.2 FW Structure

There are 5 layers in the FW structure of IAR, which are shown in Figure 4-1.

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Figure 4-1: Structure of FW

The C source and Header files which are included in each layer are shown in Table 4-2

Table 4-2: Directory Description of Project

Layer

Folder

Description

global

H01_global,

S01_global

MCU system file

driver

H02_driver,

S02_driver

MCU register setting function such as GPIO, interrupt, MFT,AD

module

H03_module,

S03_module

Algorithm folder for basic motor control such as FOC frame transform , SVM,

math, PID, filter

app

H04_app,

S04_app

Application folder for the files of application functions such as speed and position

generator by hall sensor or sensor-less rotor estimation, protection, motor

start-up, field weaken, brake, and etc.

user

H05_User,

S05_User

Customer interface folder of the files for motor Configuration and HW setting

Note: if you want to quick start the motor, you can refer to the setting for user layer at 9.2.1FW Interface

Configuration and chapter 5System Function

The sub-files in each folder are shown in Figure 4-2, and the structure of header files is the same with C

files.

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Figure 4-2: Sub-files in Each Layer

4.3 Files Description

The detailed descriptions for each file are shown in Table 4-3.

Table 4-3: Description of Project Files

Folder

File

Description

s03_module

coordinate_transform.c

FOC axis convert

filter.c

One order low pass filter

math.c

The math module including the functions such as

SQRT,COS and SIN

pid_regulator.asm

The PID module for current and speed PI

s04_app

adc_sample.c

The ADC process module based on the ADC ISR

brake.c

The brake module including the speed down by brake

limitation.c

The FOC current and voltage limitation module

hall_capture.c

Hall capture module

motor_ctrl.c

The main file of the motor control including the main function

of FOC process of motor and the start/stop function of

motor

motor_startup_hall.c

The motor start-up module with hall sensor

timer_event.c

Timer event module

speed_set.c

The speed setting module

spi.c

The SPI module for the DAC board

FM0_LowVoltageBldc-V1.0.0.a

The library file including the sensor-less position calculate

module by sensor-less estimation, hall check module, the

motor start-up module with sensor-less motor, the SVPWM

module, and the protect module

s05_user

Customer_interface.c

The motor parameter setting

main.c

Main function

startup_s6xxxx.asm

MCU interrupt vector list

Init_mcu.c

MCU system initialization including interrupt priority list

Isr.c

The ISR file for all of the interrupt routine of the MCU

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