Texas Instruments TMS320C2000 User Manual page 8

Software Tools
• Modules are categorized (color coded) to clearly designate dependencies on peripherals and target
hardware.
• Connections between modules show data flow via corresponding input/output variables.
• Each module is reusable and has its own documentation explaining usage and instantiation.
Figure 3. ACI Sensored FOC – System Block Diagram Showing Clear One-to-One Mapping to Software
Speed_Ref
PID
MACRO
Iq Reg.
watch window
spd_fdb
IdRef (=0)
2.3.2 Reusability, Compatibility, and Expandability
Engineering reuse in today's competitive environment is critical and software modularity is the perfect
vehicle to achieve this, especially in DMC systems. If we examine various motor control systems, it
becomes clear that a large degree of commonality exists between them. The PID regulator, for example,
is useful across all systems. Therefore, if each module is realized only once, but implemented according
to well defined guidelines, then compatibility and predictability can be assured across all modules. Since
this approach allows efficient reusability, efforts which may typically be used to "reinvent the wheel" can be
re-deployed on expanding the module library base for greater functionality and features.
There are several DMC blocks common for 3-phase motor control in general. On the other hand, in most
cases, the difference between a sensored and sensorless system is only one or two modules, e.g., a
position or speed estimator. The remaining modules are again common. Therefore, in keeping with the
reuse philosophy, design efforts can be focused on expanding the library with more robust estimators
which meet various system requirements, rather than recreating entire system infrastructures.
2.3.3 Target Independent Modules and Drivers
Understanding the exact dependencies of a software module is very important. This knowledge is
invaluable during debugging, software porting from one target to another, and on planning a system
commissioning strategy. The modules which are part of the DMC Library (examples of which are shown in
Table 3) are categorized into two main types:
• Target (microcontroller) independent (TI)
• Drivers (i.e., target dependent and application configurable)
Table 3. Sample of DMC Module Descriptions and Type Category
Number
1
2
3
8
TMS320C2000 Motor Control Primer
I_ref_q
PID
MACRO
Iq Reg.
u_out_q
Ipark_Q
Theta
i_ref_d Ipark_D
PID
MACRO
Id Reg.
u_out_d
park _D
park _Q
Module
bldcpwm_drv
cap_event_drv
hall_gpio_drv
Copyright © 2010, Texas Instruments Incorporated
Ta Mfunc_c1
Ipark_q Valpha
SVGEN
IPARK
DQ
MACRO
Tb Mfunc_c2
MACRO
Ipark_d
Vbeta
Mfunc_c3
Tc
park_d clarke_d
PARK
CLARKE
clarke_a
MACRO
MACRO
theta
clarke_b
park_q clarke_q
Speed
SPEED_FR
MACRO
Speed Rpm
Description
BLDC PWM driver – uses high-side
chopping and fixed on/off for low side
Capture input event driver
Hall effect interface driver for sensored
3-phase BLDC trapezoidal control
www.ti.com
PWM1A
PWM1B 3-Phase
Inverter
PWM2A
PWM
EV
DRV
PWM2B
MACRO
HW
PWM3A
PWM3B
AdcRslt0
Ia
AdcRslt1
ADC EV
Ib
HW
DRV
Vdc
Elec
Theta QEPA
QEPB
Index
QEP EV
HW
DRV
Direction
PMSM
Motor
Type
Drv
Drv
Drv
SPRUGI6 – September 2010
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