Disclaimer: This is a community code example (CCE) released for the benefit of the community users. These projects have only been tested for the listed BSPs, tools versions, and toolchains documented in this readme. They are intended to demonstrate how a solution / concept / use-case can be achieved on a particular device. For official code examples, please click here.
This code example demonstrates the sensorless PMSM FOC motor control application using XMC1300/1400. In order to test this software, XMC1000 Motor Control Application Kit is needed. According to the user preference, XMC1300 or XMC1400 board can be used with this kit.
- ModusToolbox™ software v3.1 or later (tested with v3.1)
- SEGGER J-Link software v7.82c
- Programming language: C
- Associated parts: XMC1300 MCU, XMC1400 MCU
- GNU Arm® embedded compiler v11.3 (
GCC_ARM) - Default value ofTOOLCHAIN
- XMC1300 boot kit (
KIT_XMC13_BOOT_001) - XMC1400 boot kit (
KIT_XMC14_BOOT_001)
Before using this code example, make sure that the XMC1300/1400 board is correctly connected to the PMSM Low Voltage 15W Motor Card which also needs to be supplied by an external DC power supply (12V to 24V) from its power jack. Please see this User Manual for more details. A complete hardware setup example can be seen in Figure 1 below.
Figure 1. Complete hardware setup example with XMC1000 Motor Application Kit
This code example uses Micro Inspector Pro application by default to run and control the motor from a GUI. Click here to download the application.
Please follow the steps below to control the motor from the Micro Inspector Pro application.
Note: If you want to run the motor without using Micro Inspector Pro application, please change the "motor_request_start" flag to "true" in line 63 inside main.c file.
Create the project and open it using one of the following:
In Eclipse IDE for ModusToolbox™ software (recommended)
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Click the New Application link in the Quick Panel (or, use File > New > ModusToolbox™ Application). This launches the Project Creator tool.
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Select the kit XMC1300 or XMC1400 from the XMC™ BSPs list shown in the Project Creator - Choose Board Support Package (BSP) dialog.
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In the Project Creator - Select Application dialog, choose the example from the list Community Code Examples by enabling the checkbox.
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(Optional) Change the suggested New Application Name.
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The Application(s) Root Path defaults to the Eclipse workspace which is usually the desired location for the application. If you want to store the application in a different location, you can change the Application(s) Root Path value. Applications that share libraries should be in the same root path.
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Click Create to complete the application creation process.
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To build the project, click Build Application from the Quick Panel.
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To start the debugging session to run the motor, click Generate Launches for "YourApplicationName" in Quick Panel. Then click to YourApplicationName Debug (Jlink). A debugging window will appear and the session will automatically pause in a breakpoint. Click Resume button from the above toolbar to continue the session.
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While the debugging session is running, open the Micro Inspector Pro application. Click Open Workspace button from the upper left corner.
Figure 2. Opening the workspace folder in Micro Inspector Pro
- Find the "PMSM_FOC_SL_XMC1_uCProbe.wspx" file from your ModusToolbox workspace folder and select Open. A pop-up window will appear to show the existing elf file. Select the one shown and click Open. If there is not any elf file shown in the pop-up window, please click Browse and go to your ModusToolbox workspace "..\cce-mtb-xmc-pmsm-foc-sl\build\APP_KIT_XMC13_BOOT_001\Debug" to open the elf file from there.
Figure 3. Selecting the elf file
- In the "Symbol Browser" section, you can click the + button from the left side of the elf file to further expand the file. For example if you go to pmsm_foc_functions.c / Current, you can select a parameter by double clicking it to enable that parameter for the oscilloscope.
Figure 4. Adding different parameters to the oscilloscope channels
- Before running the motor, go to Oscilloscope window to select the parameters that you want to observe in real time. The parameters that you selected in the previous step will appear in the symbol selection. Make sure to enable 4 channels and select the parameters that you want to observe.
Figure 5. Selecting the parameters to observe from the oscilloscope in running mode
- To run and control the motor from the GUI, switch to running mode by clicking Run button.
Figure 6. Switching to running mode
- Press Motor Start to run the motor. You can also adjust the motor speed by changing the "Target" rpm.
Figure 7. Motor control part of the running mode
- Right click the Oscilloscope tab and select New Vertical Tab Group in order to observe your parameters from the oscilloscope on the right side while observing the motor control parameters on the left side simultaneously.
Figure 8. Three-phase currents observed from the oscilloscope
Note: This code does not use the Device Configurator in ModusToolbox. All peripheral definitions and initializations are directly integrated within the software using low level drivers by calling the necessary libraries. When the user wants to change a configuration variable or parameter, it should be done within the code in the user config header files rather than in the Device Configurator.
Figure 9. Device Configurator in ModusToolbox
For more details, see the Eclipse IDE for ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/ide_{version}/docs/mtb_ide_user_guide.pdf).
In command-line interface (CLI)
ModusToolbox™ software provides the Project Creator as both a GUI tool and the command line tool, "project-creator-cli". The 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™ software install directory}/tools_{version}/project-creator/ directory.
Alternatively, you can manually create the application using the following steps:
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Download and unzip this repository onto your local machine, or clone the repository.
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Use a CLI terminal to invoke the "project-creator-cli" tool. On Windows, use the command line "modus-shell" program provided in the ModusToolbox™ software installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ software tools. You can access it by typing
modus-shellin the search box in the Windows menu. In Linux and macOS, you can use any terminal application.
The "project-creator-cli" tool has the following arguments:
| Argument | Description | Required/optional |
|---|---|---|
--board-id |
Defined in the <id> field of the BSP manifest |
Required |
--app-id |
Defined in the <id> 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 |
The following example clones the "XMC1300/1400 PMSM FOC Sensorless" application with the desired name "cce-mtb-xmc-pmsm-foc-sl" configured for the KIT_XMC13_BOOT_001 BSP into the specified working directory, C:/mtb_projects:
project-creator-cli --board-id KIT_XMC13_BOOT_001 --app-id cce-mtb-xmc-pmsm-foc-sl --user-app-name cce-mtb-xmc-pmsm-foc-sl --target-dir "C:/mtb_projects"
Note: The cloned application contains a default BSP file (TARGET_xxx.mtb) in the bsps folder. Use the Library Manager (make modlibs command) to select or add a different BSP file, if required. If the selected kit does not have the required resources or is not supported, the application may not work. For this code example, the supported kits are "KIT_XMC13_BOOT_001" and "KIT_XMC14_BOOT_001".
- Import the required libraries by executing the
make getlibscommand.
Various CLI tools include a -h option that prints help information to the terminal screen about that tool. For more details, see the ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf).
In third-party IDEs
Note: Only VS Code is supported.
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Follow the instructions from the In command-line interface (CLI) section to create the application, and import the libraries using the
make getlibscommand. -
Export the application to a supported IDE using the
make <ide>command.For a list of supported IDEs and more details, see the "Exporting to IDEs" section of the ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf).
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Follow the instructions displayed in the terminal to create or import the application as an IDE project.
| Resources | Links |
|---|---|
| Code examples | Using ModusToolbox™ software on GitHub |
| Kit guide | XMC1300 boot kit/ XMC1400 boot kit – Board user‘s manuals. Describes the schematic and hardware of XMC1300/1400 board. |
| Device documentation | XMC1000 family datasheets XMC1000 family technical reference manuals |
| Development kits | Buy at www.infineon.com KIT_XMC13_BOOT_001 – Boot kit XMC1300 KIT_XMC14_BOOT_001 – Boot kit XMC1400 KIT_XMC1X_AK_MOTOR_001 – XMC1000 Motor Control Application Kit |
| PMSM FOC guide | XMC1000 PMSM FOC – Application notes for PMSM FOC motor control software using XMC |
| Libraries on GitHub | mtb-xmclib-cat3 – XMC™ peripheral driver library (XMCLib) and docs |
| Tools | Eclipse IDE for ModusToolbox™ software – ModusToolbox™ software is a collection of easy-to-use software and tools enabling rapid development with Infineon MCUs, covering applications from embedded sense and control to wireless and cloud-connected systems. |
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.
For XMC™ MCU devices, see 32-bit XMC™ Industrial microcontroller based on Arm® Cortex®-M.
Document title: CCE#002-38500 - XMC1300/1400 PMSM FOC SL
| Version | Description of change |
|---|---|
| 1.0.0 | New community code example |
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