XMC™ MCU: 6EDL7141 trapezoidal 1 shunt

This code example works with the 6EDL7141 1 Shunt trapezoidal Hall sensor project in the Battery Powered Application (BPA) Motor Control tool. This example illustrates trapezoidal motor control on EVAL_6EDL7141_TRAP_1SH V2.0 reference design/evaluation board for BLDC motor drive based on the MOTIX™ 6EDL7141 smart 3-phase driver.

Requirements

• ModusToolbox™ software v3.0
• SEGGER J-Link software
• BPA Motor Control software
• Board support package (BSP) minimum required version: 4.0.0
• Programming language: C
• Associated parts: All MOTIX™ 6EDL7141 parts

Supported toolchains (make variable 'TOOLCHAIN')

• GNU Arm® embedded compiler v10.3.1 (GCC_ARM) - Default value of TOOLCHAIN

Supported boards (make variable 'TARGET')

• EVAL_6EDL7141_TRAP_1SH reference design/evaluation board - BLDC motor drive based on the MOTIX™ 6EDL7141 smart 3-phase driver

Hardware setup

This example uses the board's default configuration. See the board user guide to ensure that the board is configured correctly.

Software setup

This example works seamlessly with the BPA Motor Control software. Before you can install this tool, you need to install the Infineon Developer Center software launcher first.

Using the code example

Create the project and open it using one of the following:

In Eclipse IDE for ModusToolbox™ software

1. Click the New Application link in the Quick Panel (or, use File > New > ModusToolbox™ Application). This launches the Project Creator tool.

2. Pick EVAL 6EDL7141 Trapezoidal 1 shunt board from the list shown in the Project Creator - Choose Board Support Package (BSP) dialog.

   When you select a supported kit, the example is reconfigured automatically to work with the kit. To work with a different supported kit later, use the Library Manager to choose the BSP for the supported kit. You can use the Library Manager to select or update the BSP and firmware libraries used in this application. To access the Library Manager, click the link from the Quick Panel.

   You can also just start the application creation process again and select a different kit.

   If you want to use the application 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.

3. In the Project Creator - Select Application dialog, choose the example by enabling the checkbox.

4. (Optional) Change the suggested New Application Name.

5. 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.

6. Click Create to complete the application creation process.

For more details, see the Eclipse IDE for ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/ide_{version}/docs/mt_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.

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-shell in 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 will clone the Hall trapezoidal motor control application with the desired name "hall_trap_motor_control" configured for the EVAL_6EDL7141_TRAP_1SH BSP into the specified working directory, C:/mtb_projects:

project-creator-cli --board-id EVAL_6EDL7141_TRAP_1SH --app-id mtb-example-xmc-6edl7141-trapezoidal-1-shunt --user-app-name hall_trap_motor_control --target-dir "C:/mtb_projects"

Note: The project-creator-cli tool uses the git clone and make getlibs commands to fetch the repository and import the required libraries. For details, see the "Project Creator tools" section of 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.

Note: Only VS Code is supported.

1. Follow the instructions from the In command-line interface (CLI) section to create the application, and then import the libraries using the make getlibs command.

2. Export the application to a supported IDE using the make <ide> command.

3. Follow the instructions displayed in the terminal to create or import the application as an IDE project.

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).

Operation

1. Connect the board to your PC using a micro-USB cable through the debug USB connector.

2. Program the board using Eclipse IDE for ModusToolbox™ software:

   1. Select the application project in the Project Explorer.

   2. In the Quick Panel, scroll down, and click <Application Name> Program (JLink).

   The hex code should be downloaded without error.

Debugging

You can debug the example to step through the code. In the IDE, use the <Application Name> Debug (JLink) configuration in the Quick Panel. For more details, see the "Program and debug" section in the Eclipse IDE for ModusToolbox™ user guide.

Design and implementation

This example runs a BLDC motor using Hall sensor trapezoidal motor control. Then, the hex code generated by this code example can be downloaded to the EVAL_6EDL7141_TRAP_1SH board via the BPA Motor Control tool.

To customize the code example for your application, see the application note, AN_2110_PL88_21111_120446 - Sensored trapezoidal control firmware design in EVAL_6EDL7141_TRAP_1SH.

With the BPA Motor Control tool, you can configure the following options:

• Trapezoidal control (120° commutation) with three Hall sensors
• Hall learning routine that automatically builds the Hall pattern mapping table
• Select the control mode as one of the following:
  • Speed control mode
  • Voltage control mode
• Select motor stop/run and set the target speed using one of the following:
  • Onboard potentiometer
  • Direct variable write
• Protections:
  • TRAP
  • Wrong Hall sensor
  • Hall learning fault
  • Motor stall
  • DC link overvoltage protection
  • DC link undervoltage protection

MOTIX™ 6EDL7141 smart gate driver support

• Low-level read/write MOTIX™ 6EDL7141 registers through the SPI interface
• High-level 6EDL gateway provides an interface to the application code

MicroInspector oscilloscope support

• 4-channel scope
• Trace signal of each channel can be changed on-the-fly

Supported motor

This board and application support 3-phase BLDC motors (rated voltage 24 VDC), with three Hall sensors positioned at 120-degree relative angles.

Correct motor connection (Hall sector map = 0xF510342F)

This board supports 3-phase BLDC motors with Hall sensors. Connect the motor phases and Hall sensors to the board as follows:

Motor	Board
Phase U	U (J4)
Phase V	V (J5)
Phase W	W (J6)

Hall sensor	Board
VDD	DVDD (X3)
Hall A	HALLA (X3)
Hall B	HALLB (X3)
Hall C	HALLC (X3)
GND	DGND (X3)

Basic operations

Motor control operation

• Change the control scheme:

  MotorParam.ControlScheme = 0;     // Set to voltage control mode

  or

  MotorParam.ControlScheme = 1;     // Set to speed control mode

  Control mode can be changed only when the motor is in STOP state.

• Run Hall learning:

  Motor0_BLDC_SCALAR_ucprobe.control_word = 6;    // Control word 6: run Hall learning routine

  After Hall learning is successfully done, download the result into MotorParam.HALL_SECTOR_MAP through a firmware update.

• Enable onboard potentiometer control for motor start/stop and target setting. Motor direction is controlled by the direction switch on the board (SW1).

• To enable the motor control with the potentiometer, define the ENABLE_ANALOG_CONTROL macro as ENABLED) in user_input_config.h. For example:

  #define ENABLE_ANALOG_CONTROL         (ENABLED) // Enable on-board potentiometer control

• To disable motor control with the potentiometer, define the ENABLE_ANALOG_CONTROL macro as (DISABLED) in user_input_config.h. For example:

  #define ENABLE_ANALOG_CONTROL         (DISABLED) // Disable on-board potentiometer control

  When potentiometer control is disabled, motor start/stop and target setting change are controlled through a variable write:

  • To start the motor:

    MotorVar.TargetValue = 8192;                  // First, set TargetValue, 8192 = 50% nominal speed (speed mode), or 50% duty cycle (voltage mode)
    Motor0_BLDC_SCALAR_ucprobe.control_word = 1;  // Then, set motor start command

  • To change the motor speed:

    MotorVar.TargetValue = 16384;                 // Set new TargetValue, use negative value for reverse direction

  • To stop the motor:

    Motor0_BLDC_SCALAR_ucprobe.control_word = 2;  // set motor stop command

  Scaling of MotorVar.TargetValue is Q14(16384=1PU), which means that MotorVar.TargetValue at the max value is 16384.

  • In voltage control mode, the target value controls the output duty cycle (16384 = 100% output duty cycle); the actual duty cycle can be read from the MotorVar.amplitude variable.

  • In speed control mode, the target value controls the motor speed (16384 = MotorParam.BASE_SPEED_MECH_RPM); the actual motor speed can be read from the Motor0_BLDC_SCALAR.motor_speed variable.

• The fault status can be read from MotorVar.error_status (unmasked faults) or MotorVar.MaskedFault (masked faults). Bitfields set in MotorVar.error_status mean that faults are present. Control will enter the FAULT state only if the fault is enabled and the bitfields are set in the MotorVar.MaskedFault masked fault variable. In other words, only an enabled fault can trigger the state machine to enter the FAULT status. In firmware, the masked fault is calculated as follows:

  MotorVar.MaskedFault.Value = MotorVar.error_status & MotorParam.EnableFault

• A fault can be enabled/disabled by setting/clearing the corresponding bit in the MotorParam.EnableFault parameter. Its value is calculated by the Motor Control tool.

• To clear the fault, do one of the following:

  • Option 1: Write Motor0_BLDC_SCALAR_ucprobe.control_word to '3'. After this command is received, firmware will write MotorVar.fault_clear to '1'.

  Motor0_BLDC_SCALAR_ucprobe.control_word = 3;  // Control word 3: clear fault. Firmware will then set MotorVar.fault_clear to 1 after receiving this control word command

  • Option 2 (Preferred): Directly write MotorVar.fault_clear to '1'.

    MotorVar.fault_clear = 1;                     // Directly set clear fault flag

  Note: Option 1 will be deprecated in the future; Option 2 is the preferred method.

• Board temperature from MCP9700 is sampled, filtered, and converted to degree celsius. To read the board temperature:

   int degreeC_x16 = Motor0_BLDC_SCALAR.t_sensor.output;  // Degree C temperature in Q4, 16 counts = 1°C* e.g. 0=0°C, 160=10°C, 320=20°C

Managing the parameters

There are two types of parameters:

• User input: User input parameters are usually presented in engineering units (volt, amps, RPM, etc.) which you can configure based on the application need.

• Internal parameters: Internal parameters are actual parameters that are being used by firmware. Most internal parameters use different scaling to ensure efficient code execution, and so may not be easy to be understood.

One key feature of the Motor Control tool is the ability to calculate the internal parameter from the user input parameter. A conversion function is available in firmware.

In firmware, user inputs are #define in the 01_TopLevel/user_input_config.h header file; the conversion function is in the C source file, 03_Framework_BLDC/parameter_bldc.c.

All internal parameters related to motor control are grouped in the MotorPar data structure; members of this structure must be configured correctly before the motor could run. Use the Motor Control tool to enter the user input and let the tool calculate the internal parameter value, and then click Write Parameter to write all internal parameters into the MCU's RAM. After completing this step, the motor should be ready to run.

You can save the parameters into the MCU so that the next time when the board powers up, the motor is ready to run immediately. A location inside the MCU's flash memory is designated for storing the internal parameters. Click Write to Flash in the Motor Control tool to store the internal parameters into the flash memory.

All 6EDL7141 config registers are handled in a similar way.

To write both MotorParam and Edl7141Reg into the flash, set the control word to '4':

Motor0_BLDC_SCALAR_ucprobe.control_word = 4;    // Control word 4: program parameter RAM value into flash memory

Using the oscilloscope

Scope traces are no longer selected in the oscilloscope page. The register map defined in Register.c contains the TraceId, variable, data type, and bit field (if in use). Change ProbeScope_Chx.TraceId (x=1, 2, 3, or 4) to select a different trace signal for each scope channel so that the Motor Control tool can select the scope signal in Test Bench view.

Controlling MOTIX™ 6EDL7141 smart gate driver

The EN_DRV pin output level (1 or 0) from XMC1400 MCU is controlled by EdlIo.en_drv_level. Note that the motor state machine controls the EN_DRV pin in some state changes; the EN_DRV pin control is valid only if there is no motor control state change.

The nBrake pin output level (1 or 0) from the XMC1400 MCU is controlled by EdlIo.nbrake_level. Note that the nBrake pin control is independent of motor control.

IMPORTANT: EN_DRV and nBrake control are only for testing the MOTIX™ 6EDL7141 function. If nBrake is set to low level manually while the motor is running, it may cause faults such as stall error. In such cases, you should set nBrake to a high level, clear the fault, and verify that the motor is in ‘STOP’ state before running the motor again. Do not set EN_DRV to low level while the motor is running.

DC calibration control can be turned on or off by writing '1' or '0' to the MOTIX™ 6EDL7141 configure register bitfield CSAMP_CFG[11].

ADC input selection (Idigital/DVDD/VDDB) is written to the MOTIX™ 6EDL7141 configure register bitfield ADC_CFG[2:1].

An ADC request is initiated by writing '1' to the MOTIX™ 6EDL7141 configure register bitfield ADC_CFG[0].

Firmware overview

This firmware code example can integrate with the BPA Motor Control tool to provide an easy user configuration for the motor control system.

The code has stored most of the configurations in the MotorParam structure. Those parameters in this structure have internal scaling. The BPA Motor Control tool is designed to take the user input (user input parameter) and convert it into internal parameter values in MotorParam. This means that these parameters can be changed without recompiling or reflashing the code.

If you choose not to use the BPA Motor Control tool for parameter configuration, this process can be simulated by taking the user input into user_input_config.h, and then converting it into internal parameter values by using the parameter_set_default() function in parameter_bldc.c. This function will be called once during code initialization; it initializes the parameters in the MotorParam structure into default values. These values can be changed by modifying the member values in the MotorParam structure directly.

A different control scheme can be switched at the motor stop state by changing the value in MotorParam.ControlScheme.

The fault bit in error_status will not cause a motor fault unless the corresponding bit in MotorParam.EnableFault is set. In other words, error_status is masked by EnableFault; if a fault is not enabled by the EnableFault bit, the fault will not put the motor control into the ERROR state.

Feature description

PWM scheme

There are three settings to configure the PWM modulation type that is used in trapezoidal motor control. The PWM modulation type is controlled through the PWM_MODULATION_TYPE macro defined in user_input_config.h. The value can be set as one of the following:

#define PWM_MODULATION_TYPE                         (PWM_HIGHSIDE_120_DEG) /* PWM_HIGHSIDE_120_DEG (0U), high side 120° complementary switching */

#define PWM_MODULATION_TYPE                         (PWM_LOWSIDE_120_DEG) /* PWM_LOWSIDE_120_DEG (1U), low side 120° complementary switching */

#define PWM_MODULATION_TYPE                         (PWM_HIGHSIDE_60_DEG) /* PWM_HIGHSIDE_60_DEG (2U), high side 60° complementary switching */

PWM schemes: PWM_HIGHSIDE_120_DEG (PwmType 0), PWM_LOWSIDE_120_DEG (PwmType 2), and PWM_HIGHSIDE_60_DEG (PwmType 4) are provided in the code example. They are illustrated in the following figure:

Resources and settings

The project uses the default design.modus file.

Known limitations

This section lists the current known limitations of the system.

Supported operating modes between the Motor Control tool and code example

Currently, the following two modes of operations are supported in using the BPA Motor Control tool and the code example itself in source code form:

• Using the BPA Motor Control tool

  You can use the BPA Motor Control tool for evaluation of the code example performance and tuning the parameters by flashing the board using the programming features of the BPA Motor Control tool. For this, you must supply both the HEX and ELF artifacts of the build to the tool following the on-screen prompts. Using this method, the tool will always overwrite the motor control parameters that are defined in the firmware source code. Therefore, editing of parameters is possible only through the BPA Motor Control tool.

  You can use all BPA Motor Control tool features to modify the parameters, control the motor, and observe the application performance. This option is intended for early evaluation of the related kit and firmware or for fine-tuning the motor control parameters in a graphical way.

• Using the code example in source code form with ModusToolbox™

  If you use the code example in source code format and modify the parameters of the application, motor control or MCU, compatibility with the BPA Motor Control tool cannot be guaranteed and might lead to unexpected behavior. This applies especially to modifying motor control parameters that are automatically overwritten in the tool as mentioned above. Use this option if you want to edit the firmware source code or tune the parameters in the source code.

Current oscillation in the BPA Motor Control tool

When this example is used together with the BPA Motor Control tool, motor current oscillation may be observed in the tool that can present itself in one of the following two ways:

• Small fluctuations for a free and still-standing rotor ranging ~50 mA: This can be accounted to the noise caused by the onboard electronics and should not be observable during normal operation.

• Larger fluctuations ranging from -1.5 A ~ 1.5 A: Verify that the shunt resistance value in the tool parameters matches the specified value in firmware parameters and matches the value that is actually present on the EVAL board.

Oscillation in motor RPM against the set target

In normal operation with a running motor, the observable motor RPM can be slightly different from the specified target speed. Currently, variations up to 3% from the target speed can be considered operational and accepted. This variation from the target speed is dependant on the specific motor used and whether the motor is loaded or running free.

This code example is not fine-tuned for any specific motor. Fine tuning of the motor control parameters can be done either in firmware or by using the BPA Motor Control tool.

Related resources

Resources	Links
Application notes	AN_2110_PL88_21111_120446 – Sensored trapezoidal control firmware design in EVAL_6EDL7141_TRAP_1SH
Code examples	Using ModusToolbox™ software on GitHub
Device documentation	MOTIX™ 6EDL7141 datasheets
Development kits	MOTIX™ 6EDL7141 eval boards
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 using AIROC™ Wi-Fi and Bluetooth® connectivity devices.

Other resources

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 history

Document title: CE234659 – XMC MCU: 6EDL7141 trapezoidal 1 shunt

Version	Description of change
0.5.0	Initial version

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