TEXAS INSTRUMENTS DRV8301-HC-EVM (01) PDF MANUAL

TEXAS INSTRUMENTS DRV8301-HC-EVM (01) PDF SUMMARY:

What hardware components are needed to experiment with digital motor control?

To experiment with digital motor control, the following hardware components are needed:

• DRV830x-HC-EVM
• TMS320F28035 controlCARD
• PMSM or BLDC Motor
• PC with Code Composer Studio (CCSv4) installed
• Additional instruments such as oscilloscope, digital multi-meter, current sensing probe, and function generator
• A high voltage DC power supply (Up to 60V DC)

How should the hardware be configured for the motor control experiment?

1. Unpack the DIMM style controlCARD and verify that the DIP switch settings match Figure 1.
2. Place the controlCARD in the connector slot of J1. Push vertically down using even pressure from both ends of the card until the clips snap and lock.
3. Connect a USB cable to J1 on the controlCARD. This will enable isolated JTAG emulation to the C2000 device. LD4 on the controlCARD should turn on.
4. Connect an 8-60V DC power supply to the PVDD and GND terminals of the DRV830x-HC-EVM. Now LED1 and LED3 should turn on. Notice the control card LED would light up as well indicating the control card is receiving power from the board.
5. Note that the motor should be connected to the OUT A, OUT B, and OUT C terminals after you finish with the first incremental build step.

How do you install Code Composer and controlSUITE?

1. If not already installed, install Code Composer v4.x from the DVD included with the kit.
2. Go to http://www.ti.com/controlsuite and run the controlSUITE installer. Select to install the “DRV830x-HC-C2-KIT” software and allow the installer to also download all automatically checked software.

How do you setup Code Composer Studio to work with the DRV830x-HC-C2-KIT?

1. Open “Code Composer Studio v4”.
2. Once Code Composer Studio opens, the workspace launcher may appear that would ask to select a workspace location.
   • Click the “Browse…” button
   • Create the path below by making new folders as necessary.
   • “C:\Documents and Settings\My Documents\ CCSv4_workspaces\DRV830x-HC-EVM_workspace”
   • Uncheck the box that says “Use this as the default and do not ask again”.
   • Click “OK”
3. Next, configure Code Composer to know which MCU it will be connecting to. Click “Target -> New Target Configuration…”.
   • Name the new configuration xds100-f28035.ccxml or any other name depending on the target device.
   • Make sure that the “Use shared location” checkbox is checked and then click Finish.
4. This should open up a new tab. Select and enter the options as shown.
   • Connection – Texas Instruments XDS100v1 USB Emulator
   • Device – TMS320F28035
   • Click Save
   • Close the xds100-f28035.ccxml tab
5. Assuming this is the first time using Code Composer, the configuration is now set as the default target configuration for Code Composer. Check this by going to“View->Target Configurations”. In the “User Defined” section, right-click on the xds100-F28035.ccxml file and select “Set as Default”. This tab also allows you to reuse existing target configurations and link them to specific projects.
6. Add all the motor control projects into the current workspace by clicking “Project->Import Existing CCS/CCE Eclipse Project”.
   • Select the root directory of the DRV830x-HC-C2-KIT. This will be: “controlSUITE\development_kits\DRV830x-HC-C2-KITv*\”
   • Click Finish, this would copy all the projects relevant for the kit into the workspace. If you want only a particular project to be copied uncheck the box next to the other project names.

How do you configure a project?

1. Expand the file structure of the project you would like to run from the C/C++ Projects tab. Right-click on this project’s name and select “Set as Active Project”.
2. Assuming this is the first time using Code Composer, the xds100-F28035 should have been set as the default target configuration. Do verify this by viewing the xds100-f28035.ccxml file in the expanded project structure and a [Active/Default] written next to it. By going to “View-> Target Configurations” you may edit existing target configurations or change the default or active configuration. You can also link a target configuration to a project in the workspace by right clicking on the Target configuration name and selecting Link to Project.
3. Each project has multiple build configurations to support different target MCUs or different DRV83xx base boards. You will need to select the build configuration that matches your hardware setup. As an example Figure 8 shows selection of the DRV8301-HC-EVM with a F2803x MCU. Right-click on an individual project and select Active Build Configuration-> DRV8301_F2803x_RAM configuration.

How do you build and load the project?

1. The TI motor control software is provided with incremental builds where different components / macro blocks of the system are pieced together one by one to form the entire system. This helps in step by step debug and understanding of the system. From the C/C++ Project tab open the file [Project-Name]-Settings.h and make sure that BUILDLEVEL is set to LEVEL1 and save this file. After we test build 1, this variable will need to be redefined to move on to build 2, and so on until all builds are complete.
2. Open and inspect [Project-Name] -DevInit_F2803x.c by double clicking on the filename in the project window. Confirm that GPIO00 to GPIO05 are configured to be PWM outputs.
3. Open the [Project-Name].c file and go to the function MainISR(). Locate the following piece of code in incremental build 1 and confirm that the Datalog buffers are pointing to the right variables. These Datalog buffers are large arrays that contain value-triggered data that can then be displayed to a graph. Note that in other incremental builds different variables may be put into this buffer to be graphed. Following is an example where the datalog are pointed to the PID module.

   DlogCh1 = (int16)_IQtoIQ15(pid1_i.Ref);
   DlogCh2 = (int16)_IQtoIQ15(pid1_i.Fdb);
   DlogCh3 = (int16)_IQtoIQ15(pid2_i.Ref);
   DlogCh4 = (int16)_IQtoIQ15(pid2_i.Fdb);
   

4. Now Right Click on the Project Name and click on “Rebuild Project” and watch the Console window. Any errors in the project will be displayed in the Console window.
5. On successful completion of the build click the “Debug” button, located in the top-left side of the screen. The IDE will now automatically connect to the target, load the output file into the device and change to the Debug perspective.
6. Click “Tools->Debugger Options->Generic Debugger Options”. You can enable the debugger to reset the processor each time it reloads program by checking “Reset the target on program load or restart” and click “Remember My Settings” to make this setting permanent.
7. Now click on the “Enable silicon real-time mode” button and “Enable polite real-time mode” button. This will allow the user to edit and view variables in real-time. Do not reset the CPU without disabling these realtime options!
8. A message box may appear. If so, select YES to enable debug events. This will set bit 1 (DGBM bit) of status register 1 (ST1) to a “0”. The DGBM is the debug enable mask bit. When the DGBM bit is set to “0”, memory and register values can be passed to the host processor for updating the debugger windows.

How do you setup the watch window and graphs?

1. Click: View -> Watch on the menu bar to open a watch window to view the variables being used in the project. Add variables to the watch window. By right-clicking on the variable it is possible to change the number format of the variable. Refer to the project-specific document to know what variables need to be added to the watch window. You can select the appropriate Q format for the variable you want to watch.
2. Within each project folder is a CCS Java Script file that can automatically populate a watch window with some default variables. Select View->Scripting Console to open the Java Scripting Console. Next, in the Scripting Console window, click the open folder and browse to the project folder. controlSUITE\developement_kits\DRV830x-HC-C2-KITv*\<project directory> Select the AddWatchWindowVars_F280xx.js file that corresponds to your target MCU.
3. Click on the Continuous Refresh button in the watch window. This enables the window to run with real-time mode. By clicking the down arrow in this watch window, you may select “Customize Continuous Refresh Interval” and edit the refresh rate of the watch window. Note that choosing too fast an interval may affect performance.
4. The datalog buffers point to different system variables depending on the build level. They provide a means to visually inspect the variables and judge system performance. Open and set up time graph windows to plot the data log buffers. Alternatively, the user can import graph configurations files in the project folder; however, these files are not supported by all CCS4 versions. In order to import them, Click: Tools -> Graph -> DualTime… and select import and browse to the following location. controlSUITE\developement_kits\DRV830x-HC-C2-KITv*.*\ <project directory> and select Graph1.graphProp, the Graph Properties window should now look like the Figure 10. Hit OK, this should add the Graphs to your debug perspective. Click on Continuous Refresh button on the top left corner of the graph tab.

Note: If a second graph window is used, you could import Graph2.prop, the start Addresses for this should be DLOG_4CH_buff3 and DLOG_4CH_buff4.

Note: The default dlog.prescaler is set to 5 which will allow the dlog function to only log one out of every five samples.

How do you run the code?

1. Run the code by pressing the Run Button in the Debug Tab.
2. The project should now run, and the values in the graphs and watch window should keep on updating. Below are some screen captures of typical CCS perspective while using this project. You may want to resize the windows according to your preference.
3. Once complete, reset the processor (Target->Reset->Reset CPU) and then terminate the debug session by clicking (Target->Terminate All). This will halt the program and disconnect Code Composer from the MCU.

What are the next steps after completing the above procedure?

1. It is not necessary to terminate the debug session each time the user changes or runs the code again. Instead, the following procedure can be followed. After rebuilding the project, (Target->Reset->Reset CPU), (Target->Reset->Restart), and enable real-time options. Once complete, disable real-time options, and reset CPU. Terminate the project if the target device or the configuration is changed (Ram to Flash or Flash to Ram), and before shutting down CCS.
2. Customize the project to meet your motor. Change the motor parameters which can be found in [motorproject].h. Feel free to also change the PWM switching frequency (ISR frequency) and the base Q-value to balance accuracy and CPU bandwidth.
3. Now the user can open the lab manual found in: controlSUITE\development_kits\DRV830x-HC-C2-KITv*\[Project-Name]\~Docs and start experiments.