PMSM FOC SL XMC™48 IOT Board

This code example (CE) demonstrates the sensorless PMSM FOC motor control application using XMC4800PSOC6M5 board. In order to test this software; XMC4800PSOC6M5, 3-phase DC power board, and Nanotec DC motor (DB42S03) are needed.

Requirements

ModusToolbox™ software v3.2 or higher (tested with v3.2)
SEGGER J-Link software v7.90a
Programming language: C
Associated parts: XMC4800 MCU

Supported toolchains (make variable 'TOOLCHAIN')

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

Supported Kits (make variable 'TARGET')

XMC4800PSOC6M5 (EVAL-XMC4800PSOC6M5-XMC)

Hardware setup

Before using this code example, make sure that the XMC4800PSOC6M5 board is correctly connected to the 3-phase DC Power Card. The Nanotec motor also needs to be connected to the power card accordingly as in Figure 1. Make sure that a 24V DC Adapter is connected to the power jack, and also an external 24V DC-supply (with max. 400mA current) is provided to the XMC4800PSOC6M5 Board as below.

Figure 1. Complete hardware setup example with XMC4800PSOC6M5 Board, Power Card, and Nanotec Motor

Software setup

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 45 inside main.c file.

Using the code example

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

In Eclipse IDE for ModusToolbox™ software

Click the New Application link in the Quick Panel (or, use File > New > ModusToolbox™ Application). This launches the Project Creator tool.
Select the kit EVAL-XMC4800PSOC6M5-XMC from the XMC™ BSPs list shown in the Project Creator - Choose Board Support Package (BSP) dialog.
In the Project Creator - Select Application dialog, choose the example from the category Motor Control by enabling the checkbox.
(Optional) Change the suggested New Application Name.
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.
Click Create to complete the application creation process.
To build the project, click Build Application from the Quick Panel.
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.
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_XMC4_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.

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:

Download and unzip this repository onto your local machine, or clone the repository.
Open a CLI terminal and navigate to the application folder.

On Linux and macOS, you can use any terminal application. On Windows, open the modus-shell app from the Start menu.

Note: The cloned application contains a default BSP file (TARGET_xxx.mtb) in the deps folder. Use the Library Manager (make modlibs command) to select and download 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.
Import the required libraries by executing the make getlibs command.

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.

Follow the instructions from the In command-line interface (CLI) section to create the application, and import the libraries using the make getlibs command.
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).
Follow the instructions displayed in the terminal to create or import the application as an IDE project.

Related resources

Resources	Links
Code examples	Using ModusToolbox™ software on GitHub
Kit guides	XMC4800PSOC6M5 Board – Board user‘s manual. Describes the schematic and hardware of the XMC4800PSOC6M5 Board, equipped with XMC™ microcontroller based on Arm® Cortex®-M4 from Infineon.
Device documentation	XMC4800 datasheet XMC4800 technical reference manuals
Development kits	Buy at www.infineon.com EVAL-XMC4800PSOC6M5
PMSM FOC Guide	XMC1000/4000 PMSM FOC - Application notes for PMSM FOC motor control software
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 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: CE240116 - PMSM FOC SL XMC™48 IOT Board

Version	Description of change
0.5.0	New code example

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License

Infineon/mtb-example-xmc48-pmsm-foc-sl

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