This code example demonstrates the sensorless and sensored solutions using the Infineon's XMC7200 MCU. Code example includes the following solutions.
- Sensorless PMSM FOC with 3-shunt
- Sensorless PMSM FOC with 1-shunt
- Hall sensor-based PMSM FOC
- Hall sensor-based Trapezoidal Block Commutation (TBC)
Provide feedback on this code example.
- ModusToolbox™ v3.3 or later
- Board support package (BSP) minimum required version: 2.2.0
- Programming language: C
- Associated parts: XMC7200D-F176K8384
- GNU Arm® Embedded Compiler v11.3.1 (
GCC_ARM) – Default value ofTOOLCHAIN - IAR C/C++ Compiler v9.50.2 (
IAR)
- KIT_XMC7200_DC_V1 Motor Control Card (
KIT_XMC7200_DC_V1) – Default value ofTARGET
Figure 1. KIT_XMC7200_DC_V1 Motor Control Card
The motor control setup includes:
- XMC7200 Motor Control Card "KIT_XMC7200_DC_V1"
- Drive adapter card
- KITMOTORDC250W24VTOBO1 power board: 24 V, 250 W
- USB Type-A to USB Type-C cable
- Nanotec DB42M03 24 V BLDC motor
- 24 V/1 A AC-DC power adapter
Figure 2. KIT_XMC7200_MC1 setup
See the ModusToolbox™ tools package installation guide for information about installing and configuring the tools package.
This example requires no additional software or tools.
The ModusToolbox™ tools package provides the Project Creator as both a GUI tool and a command line tool.
Use Project Creator GUI
-
Open the Project Creator GUI tool.
There are several ways to do this, including launching it from the dashboard or from inside the Eclipse IDE. For more details, see the Project Creator user guide (locally available at {ModusToolbox™ install directory}/tools_{version}/project-creator/docs/project-creator.pdf).
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On the Choose Board Support Package (BSP) page, select a kit supported by this code example. See Supported kits.
Note: To use this code example for a kit not listed here, you may need to update the source files. If the kit does not have the required resources, the application may not work.
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On the Select Application page:
a. Select the Applications(s) Root Path and the Target IDE.
Note: Depending on how you open the Project Creator tool, these fields may be pre-selected for you.
b. Select this code example from the list by enabling its check box.
Note: You can narrow the list of displayed examples by typing in the filter box.
c. (Optional) Change the suggested New Application Name and New BSP Name.
d. Click Create to complete the application creation process.
Use Project Creator CLI
The 'project-creator-cli' tool can be used to create applications from a CLI terminal or from within batch files or shell scripts. This tool is available in the {ModusToolbox™ install directory}/tools_{version}/project-creator/ directory.
Use a CLI terminal to invoke the 'project-creator-cli' tool. On Windows, use the command-line 'modus-shell' program provided in the ModusToolbox™ installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ tools. You can access it by typing "modus-shell" in the search box in the Windows menu. In Linux and macOS, you can use any terminal application.
The following example clones the "Motor control demo" application with the desired name "FOCMotorDemo" configured for the KIT_XMC7200_DC_V1 BSP into the specified working directory, C:/mtb_projects:
project-creator-cli --board-id KIT_XMC7200_DC_V1 --app-id mtb-example-motor-control-solutions --user-app-name FOCMotorDemo --target-dir "C:/mtb_projects"
The 'project-creator-cli' tool has the following arguments:
| Argument | Description | Required/optional |
|---|---|---|
--board-id |
Defined in the field of the BSP manifest | Required |
--app-id |
Defined in the field of the CE manifest | Required |
--target-dir |
Specify the directory in which the application is to be created if you prefer not to use the default current working directory | Optional |
--user-app-name |
Specify the name of the application if you prefer to have a name other than the example's default name | Optional |
Note: The project-creator-cli tool uses the
git cloneandmake getlibscommands to fetch the repository and import the required libraries. For details, see the "Project creator tools" section of the ModusToolbox™ tools package user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mtb_user_guide.pdf).
After the project has been created, you can open it in your preferred development environment.
Eclipse IDE
If you opened the Project Creator tool from the included Eclipse IDE, the project will open in Eclipse automatically.
For more details, see the Eclipse IDE for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_ide_user_guide.pdf).
Visual Studio (VS) Code
Launch VS Code manually, and then open the generated {project-name}.code-workspace file located in the project directory.
For more details, see the Visual Studio Code for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_vscode_user_guide.pdf).
Keil µVision
Double-click the generated {project-name}.cprj file to launch the Keil µVision IDE.
For more details, see the Keil µVision for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_uvision_user_guide.pdf).
IAR Embedded Workbench
Open IAR Embedded Workbench manually, and create a new project. Then select the generated {project-name}.ipcf file located in the project directory.
For more details, see the IAR Embedded Workbench for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_iar_user_guide.pdf).
Command line
If you prefer to use the CLI, open the appropriate terminal, and navigate to the project directory. On Windows, use the command-line 'modus-shell' program; on Linux and macOS, you can use any terminal application. From there, you can run various make commands.
For more details, see the ModusToolbox™ tools package user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mtb_user_guide.pdf).
-
Connect the KIT_XMC7200_DC_V1 Motor Control Card and power board using the adapter board as shown in Figure 2 in the Hardware setup section.
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Ensure that the input voltage selection jumper (X20) is set to 2-3 position (V5V) in the control board.
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Ensure that all the micro switches of SW3 are on the right side for proper operation.
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Connect the motor wires to the motor terminal connector (CN3) on the power board.
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Connect the 24 V DC power supply to the DC input barrel jack (CN1) on the power board and turn on the power supply.
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Program the board using one of the following:
Using Eclipse IDE
-
Select the application project in the Project Explorer.
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In the Quick Panel, scroll down, and click <Application Name> Program (JLink).
In other IDEs
Follow the instructions in your preferred IDE.
Using CLI
From the terminal, execute the
make programcommand to build and program the application using the default toolchain to the default target. The default toolchain is specified in the application's Makefile but you can override this value manually:make program TOOLCHAIN=<toolchain>Example:
make program TOOLCHAIN=GCC_ARM -
-
After programming, the application starts automatically.
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Rotate the potentiometer (R6) to control the motor speed.
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Set the motor speed to zero and press the user button. It will change the motor direction.
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The user LED1 (yellow) shows the motor direction.
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Launch the GUI
To launch the GUI, double-click on ModusToolbox™ Motor Suite in the Quick Panel of ModusToolbox™ IDE.
Figure 3. Launch ModusToolbox™ Motor Suite
GUI - Getting started
- Select XMC7200D-F176K8384 setup and RFO from the dropdown menu.
- Select New Project, it will create a new GUI project for the XMC7200D-F176K8384 device.
Figure 4. Getting started
GUI - Configurator
- In the GUI configurator, verify the establishment of J-Link connection in the right bottom corner indicated by the green LED.
- Flash the hex and elf file by selecting the Flash Firmware option.
- Select the Test Bench icon on the left panel to open the Test Bench window.
Figure 5. GUI - Configurator
Note that based on the selected build configuration, the configurator view shows the appropriate block diagrams and parameters.
By selecting each of the parameters in the parameter controls section, the corresponding block diagram for that specific parameter is shown to set that parameter.
To change the firmware parameters, stop the motor first from the test bench view.
There is a toggle switch on the right upper corner of the configurator view window to choose between seeing only basic parameters or advanced parameters.
The GUI can also invoke the firmware to auto-calculate the advanced parameters. See GUI's Help for more information.
GUI - Test Bench
Test Bench provides the option to control and monitor the motor parameters. Ensure the following:
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Driver button: Enable/disable the drive
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Potentiometer button:
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Switch on for speed control of the motor by potentiometer (hardware).
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Switch off for speed control of the motor by using the "Target Set" slider in the GUI (software).
-
Figure 6. GUI - Test Bench
GUI - Oscilloscope
ModusToolbox™ Motor Suite supports a high-speed oscilloscope to monitor any firmware variable. There are four channels available to monitor four variables at a time.
In the oscilloscope window, configure the Divider value and select AutoScale to get the optimum resolution.
Figure 7. GUI - Oscilloscope
You can debug the example to step through the code.
In Eclipse IDE
Use the <Application Name> Debug (JLink) configuration in the Quick Panel. For details, see the "Program and debug" section in the Eclipse IDE for ModusToolbox™ user guide.
In other IDEs
Follow the instructions in your preferred IDE.
This code example is created using the XMC7200D MCU resources and Infineon motor control library (middleware asset).
There are three major control types that are supported, namely:
- Rotor Field Oriented (RFO) control
- Stator Field Oriented (SFO) control
- Trapezoidal Block Commutation (TBC) control
These control types are selectable as build configurations in ModusToolbox™, IAR, and Visual Studio.
By choosing a specific build configuration, only the code pertaining to that build configuration is compiled and included. There are also common code blocks among all build configurations that are always included.
After selecting the control type through build configurations, choose the controlled entity, feedback type, and startup method by assigning the corresponding parameters either in the code before compilation or at runtime through the GUI:
Figure 8. Control methods
There are 23 different permutations of control type, control entity, feedback type, and startup methods that are supported as shown in Figure 8. Additionally, both three-shunt and single-shunt configurations are supported, which result in more flexibility in supporting various applications. Note that you can either include or bypass the current loop when using TBC in TC mode. Bypassing the current loop can address low-cost BLDC applications with no shunts or ADCs.
| Resources | Links |
|---|---|
| Application notes | AN234334 – Getting started with XMC7200 MCU on ModusToolbox™ |
| Code examples | Using ModusToolbox™ on GitHub |
| Device documentation | XMC7200 MCU datasheets XMC7200 MCU reference manuals |
| Development kits | Select your kits from the Evaluation board finder. |
| Libraries on GitHub | mtb-pdl-cat1 – Peripheral Driver Library (PDL) mtb-hal-cat1 – Hardware Abstraction Layer (HAL) library retarget-io – Utility library to retarget STDIO messages to a UART port |
| Tools | ModusToolbox™ – ModusToolbox™ software is a collection of easy-to-use libraries and tools enabling rapid development with Infineon MCUs for applications ranging from wireless and cloud-connected systems, edge AI/ML, embedded sense and control, to wired USB connectivity using PSoC™ Industrial/IoT MCUs, AIROC™ Wi-Fi and Bluetooth® connectivity devices, XMC™ Industrial MCUs, and EZ-USB™/EZ-PD™ wired connectivity controllers. ModusToolbox™ incorporates a comprehensive set of BSPs, HAL, libraries, configuration tools, and provides support for industry-standard IDEs to fast-track your embedded application development. |
Infineon provides a wealth of data at www.infineon.com to help you select the right device, and quickly and effectively integrate it into your design.
Document title: CE240614 – Motor control demo
| Version | Description of change |
|---|---|
| 1.0.0 | New code example |
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