Motor Control Firmware
UG0692 User Guide
Table of Contents
1. Introduction ................................................................................................4
2. Type Definitions .........................................................................................7
2.1 MC_BLDC_FOC_type1 ....................................................................................................... 7
2.2 bldc_motor_type................................................................................................................... 8
2.3 stepper_type1 ...................................................................................................................... 9
2.4 mc_graph_type1 ................................................................................................................ 10
3. MCCalc Module ........................................................................................ 11
3.1 MC_StepperInit .................................................................................................................. 11
3.2 MC_StepperConstCal ........................................................................................................ 11
3.3 MC_BLDCInit ..................................................................................................................... 12
3.4 MC_BLDCConstCal ........................................................................................................... 12
4. MCFPGAIF Module................................................................................... 13
4.1 MotorControl_Init................................................................................................................ 13
4.2 MotorControl_Start ............................................................................................................. 13
4.3 MotorControl_Stop ............................................................................................................. 14
4.4 MC_WClearFault................................................................................................................ 14
4.5 MC_GetStatus.................................................................................................................... 14
4.6 MC_BLDCSetDirn .............................................................................................................. 15
4.7 MC_BLDCGetSpdI ............................................................................................................. 15
4.8 MC_BLDCSetFabReg ........................................................................................................ 15
4.9 MC_StepperSetDirn ........................................................................................................... 16
4.10 MC_StepperGetI .............................................................................................................. 16
4.11 BLDC_SetSpeedSRamp.................................................................................................. 16
4.12 MC_StepperSetFabReg ................................................................................................... 17
4.13 abs_function ..................................................................................................................... 18
5. USBMsgHandler Module ......................................................................... 19
5.1 USB_init ............................................................................................................................. 19
5.2 USBMsgHandler ................................................................................................................ 19
List of Changes ............................................................................................ 21
Product Support .......................................................................................... 22
Customer Service..................................................................................................................... 22
Customer Technical Support Center ........................................................................................ 22
Technical Support .................................................................................................................... 22
Website .................................................................................................................................... 22
Contacting the Customer Technical Support Center ............................................................... 22
Email
22
My Cases
22
2
UG0692: Motor Control Firmware User Guide
Outside the U.S.
23
ITAR Technical Support ........................................................................................................... 23
UG0692: Motor Control Firmware User Guide
3
1. Introduction
The motor control firmware resides in the microcontroller subsystem (MSS). The MSS communicates with
®
the field programmable gate array (FPGA) fabric through the AMBA APB bus, and exposes a USB-HID
interface to communicate with SF2 Dual Axis Motor Control GUI on a host PC.
Host PC
USB
MSS
APB
FPGA Fabric
SmartFusion®2
Figure 1 · MSS as an Interface Between External GUI and FPGA Fabric
The firmware plays two major roles in the motor control system – it initializes the FPGA fabric at reset, and
acts as an interface between a GUI running on an external host and the FPGA fabric.
Table 1 lists the files present in the motor control firmware. The type definitions are discussed in detail in
Introduction. The APIs in USBMsgHandler, MCCalc, and the MCFPGAIF modules are described in detail in
the following sections.
Table 1. List of Files Present in the Motor Control Firmware
File
main.c
USBMsgHandler.h,
USBMsgHanlder.c
Contains the main function.
Declares and defines APIs to handle incoming USB
messages.
MCCalc.h, MCCalc.c
Declares and defines APIs to initialize control parameters
and compute derived parameters.
MCFPGAIF.h, MCFPGAIF.c
Declares and derives APIs to communicate with FPGA for
various control functions.
MC_System.h
4
Function
Contains APB addresses of various FPGA registers that can
UG0692: Motor Control Firmware User Guide
File
config.h
TypeDef.h
usb_user_descriptors.c
UG0692: Motor Control Firmware User Guide
Function
be read or written.
Contains default configuration parameters.
Contains structures to hold motor or system data.
Contains USB HID parameters such as product ID and
vendor ID.
5
2. Type Definitions
This section describes the type definitions that define the various motor parameters and the field oriented
control (FOC) parameters. These type definitions are declared in Typedef.h.
2.1 MC_BLDC_FOC_type1
Table 2 describes the type definition used in the MC_BLDC_FOC_type1 type definition.
Table 2. Specification of MC_BLDC_FOC_type1
Name
MC_BLDC_FOC_type1
Type
typedef struct MC_BLDC_FOC_type1 mc_bldc_foc_type1;
struct MC_BLDC_FOC_type1{
int32_t speed_ramp;
int32_t speed_ref;
uint32_t speed_kp_gain;
uint32_t speed_ki_gain;
uint32_t i_kp_gain;
uint32_t i_ki_gain;
uint32_t angle_kp_gain;
uint32_t angle_ki_gain;
uint16_t open_loop_voltage;
uint16_t open_loop_current;
uint16_t closed_loop_speed;
int8_t direction;
int8_t run_status;
uint8_t seq_controller_config;
uint16_t encoder_resolution;
mc_graph_type mc_graph;
};
Description
int32_t speed_ramp;
Speed ramp value (in RPM/s)
int32_t speed_ref;
Reference speed input
uint32_t speed_kp_gain;
Speed Kp gain
uint32_t speed_ki_gain;
Speed Ki gain
uint32_t i_kp_gain
Current Kp gain
uint32_t i_ki_gain
Current Ki gain
uint32_t angle_kp_gain;
Angle PI Kp gain
uint32_t angle_ki_gain;
Angle PI Ki gain
uint16_t open_loop_voltage;
Open loop voltages in per unit
uint16_t open_loop_current;
Open loop motor current in per unit
uint16_t closed_loop_speed;
Closed loop threshold speed in per unit
UG0692: Motor Control Firmware User Guide
7
int8_t direction;
Motor direction
int8_t run_status
Motor running status
uint8_t seq_controller_config
Sequence controller configuration
uint16_t encoder_resolution
Encoder resolution
mc_graph_type mc_graph
Structure for graph variables
2.2 bldc_motor_type
Table 3 describes the type definition used in bldc_motor_type.
Table 3. Specification of bldc_motor_type
Name
bldc_motor_type
Type
typedef struct bldc_motor1 bldc_motor_type;
struct bldc_motor1{
uint32_t speed_RPM;
uint32_t Npp;
uint32_t Rs_mohm;
uint32_t Ls_uhenry;
uint32_t switching_freq_kHz;
uint16_t dc_voltage_mV;
uint16_t current_mA;
};
Description
8
int32_t speed_RPM;
Rated motor speed (in RPM)
int32_t Npp;
Number of pole pairs
uint32_t Rs_mohm;
Phase resistance (in mohm)
uint32_t Ls_uhenry;
Phase inductance (in uhenry)
uint32_t switching_freq_kHz
Switching frequency (in kHz)
uint16_t dc_voltage_mV
DC Voltage (in mV)
uint16_t current_mA;
Motor current (in mA)
UG0692: Motor Control Firmware User Guide
2.3 stepper_type1
Table 4 describes the type definition used in stepper_type1.
Table 4. Specification of stepper_type1
Name
stepper_type1
Type
typedef struct stepper_type1 stepper_type;
struct stepper_type1{
int8_t mode;
int8_t direction;
int8_t run_status;
int16_t microstep_res;
int16_t speed_rpm;
int16_t step_num;
int32_t cmd_steps;
int32_t i_ref;
uint32_t i_kp_gain;
uint32_t i_ki_gain;
uint8_t seq_controller_config;
mc_graph_type mc_graph;
};
Description
int8_t mode
Mode (Position/Speed)
int8_t direction
Direction
int8_t run_status
Running status
int16_t microstep_res
Microstep resolution
int16_t speed_rpm
Speed (in RPM)
int16_t step_num
Step number of the motor
int32_t cmd_steps
Command number of steps in position mode
int32_t i_ref
Current reference
uint32_t i_kp_gain
Current Kp gain
uint32_t i_ki_gain
Current Ki gain
uint8_t seq_controller_config
Sequence controller configuration
mc_graph_type mc_graph
Structure for graph variables
UG0692: Motor Control Firmware User Guide
9
2.4 mc_graph_type1
Table 5 describes the type definition used in mc_graph_type1.
Table 5. Specification of mc_graph_type1
Name
mc_graph_type
Type
typedef struct mc_graph_type1 mc_graph_type;
struct mc_graph_type1{
int32_t variable1;
int32_t variable2;
int32_t variable3;
int32_t variable4;
int32_t rpm;
int32_t current;
};
Description
10
int32_t variable1
Variable 1 to be plotted
int32_t variable2
Variable 2 to be plotted
int32_t variable3
Variable 3 to be plotted
int32_t variable4
Variable 4 to be plotted
int32_t rpm
Motor speed (in RPM)
int32_t current
Motor current (in mA)
UG0692: Motor Control Firmware User Guide
3. MCCalc Module
This section describes the various functions available in the MCCalc module. These functions initialize and
calculate various constants in the system.
3.1 MC_StepperInit
This function initializes the values in stepper_type1 with default values from the config.h file. Table 6 lists
the specifications of this function.
Table 6. Specification of API MC_StepperInit
Syntax
void MC_StepperInit()
Re-Entrancy
Non re-entrant
Parameters
(Inputs)
None
Parameters
(Output)
None
Return
None
3.2 MC_StepperConstCal
This function calculates stepper constants that are derived from other constant inputs. Table 7 lists the
specifications of this function.
Table 7. Specification of API MC_StepperConstCal
Syntax
void MC_StepperConstCal()
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
None
Parameters
(Output)
None
Return
None
UG0692: Motor Control Firmware User Guide
11
3.3 MC_BLDCInit
This function initializes the values in MC_BLDC_FOC_type1 and bldc_motor_type with default values from
config.h. Table 8 lists the specifications of this function.
Table 8. Specification of API MC_BLDCInit
Syntax
void MC_BLDCInit()
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
None
Parameters
(Output)
None
Return
None
3.4 MC_BLDCConstCal
This function calculates BLDC constants that are derived from other constant inputs. Table 9 lists the
specifications of this function.
Table 9. Specification of API MC_BLDCConstCal
12
Syntax
void BLDCConstCal()
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
None
Parameters
(Output)
None
Return
None
UG0692: Motor Control Firmware User Guide
4. MCFPGAIF Module
This section describes the various functions available in the MCFPGAIF module. These functions provide
interface to the FPGA fabric through the APB.
4.1 MotorControl_Init
This function initializes the system, and calculates brushless DC (BLDC) and Stepper parameters by calling
functions from MCCalc module. This function passes the values of these two parameters to the FPGA fabric
by calling the MC_BLDCSetFabReg and MC_StepperSetFabReg functions. Table 10 lists the specifications
of this function.
Table 10. Specification of API MotorControl_Init
Syntax
void MotorControl_Init()
Re-Entrancy
Non re-entrant
Parameters
(Inputs)
None
Parameters
(Output)
None
Return
None
Algorithm
Call MC_BLDCInit from MCCalc
Call MC_BLDCConstCal from MCCalc
Call MC_StepperInit from MCCalc
Call MC_StepperConstCal from MCCalc
Call MC_BLDCSetFabReg from MCFPGAIF
Call MC_StepperSetFabReg from MCFPGAIF
4.2 MotorControl_Start
This function starts the motor by setting appropriate value in the C_STOP_MOTOR_ADDR and
C_START_MOTOR_ADDR addresses . This function changes the global variable g_base_address to
BASE_ADDR_0 (BLDC) or BASE_ADDR_1 (Stepper) for motor axis. Table 11 lists the specifications of this
function.
Table 11. Specification of API MotorControl_Start
Syntax
void MotorControl_Start ()
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
None
Parameters
(Output)
None
Return
None
Algorithm
Write zero into the C_STOP_MOTOR_ADDR
Wait for 3 clock cycles
Write one into the C_START_MOTOR_ADDR
UG0692: Motor Control Firmware User Guide
13
4.3 MotorControl_Stop
This function stops the motor by setting appropriate values in the C_STOP_MOTOR_ADDR and
C_START_MOTOR_ADDR addresses. This function changes the global variable g_base_address to
BASE_ADDR_0 (BLDC) or BASE_ADDR_1 (Stepper) for motor axis. Table 12 lists the specifications of this
function.
Table 12. Specification of API MotorControl_Stop
Syntax
void MotorControl_Stop()
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
None
Parameters
(Output)
None
Return
None
Algorithm
Write zero into the C_START_MOTOR_ADDR
Wait for 3 clock cycles
Write one into the C_STOP_MOTOR_ADDR
4.4 MC_WClearFault
This function clears a fault detected in the Sequence controller IP in FPGA fabric by setting appropriate
values in the C_CLR_FAULT_ADDR address. Table 13 lists the specifications of this function.
Table 13. Specification of API MC_WClearFault
Syntax
void MC_WClearFault()
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
None
Parameters
(Output)
None
Return
None
Algorithm
Write one into the C_CLR_FAULT_ADDR
Wait for 3 clock cycles
Write zero into the C_CLR_FAULT_ADDR
4.5 MC_GetStatus
This function gets the sequence controller FSM status from FPGA fabric. This value provides the system
status, and also enables fault detection. Table 14 lists the specifications of this function.
Table 14. Specification of API MC_GetStatus
14
Syntax
uint8_t MC_GetStatus()
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
None
Parameters
(Output)
uint8_t status
Return
None
UG0692: Motor Control Firmware User Guide
Algorithm
Return FSM state read from Sequence controller
4.6 MC_BLDCSetDirn
This function assigns motor direction to the BLDC motor by setting appropriate values in the
C_DIRECTION_CONFIG_ADDR address . Table 15 lists the specifications of this function.
Table 15. Specification of API MC_BLDCSetDirn
Syntax
void MC_BLDCSetDirn(uint32_t dirn)
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
uint32_t dirn
Parameters
(Output)
None
Return
None
Algorithm
Write dirn to C_DIRECTION_CONFIG_ADDR
4.7 MC_BLDCGetSpdI
This function gets motor speed and motor current, and converts these values from per unit to RPM and
milliamperes. This function also displays a smoothened waveform on the GUI by filtering these values. Table
16 lists the specifications of this function.
Table 16. Specification of API MC_BLDCGetSpdI
Syntax
void MC_BLDCGetSpdI()
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
None
Parameters
(Output)
None
Return
None
Algorithm
Get speed from FPGA fabric
Convert values from per unit to RPM
Filter the speed
Get current from FPGA fabric
Convert values from per unit to milliamperes
Filter the current
4.8 MC_BLDCSetFabReg
This function sets values in various FPGA fabric registers through the APB. This function also sets all the
values related to BLDC operation. Table 17 lists the specifications of this function.
Table 17. Specification of API MC_BLDCSetFabReg
Syntax
void MC_BLDCSetFabReg()
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
None
Parameters
None
UG0692: Motor Control Firmware User Guide
15
(Output)
Return
None
Algorithm
Write values into various FPGA fabric registers
(corresponding to BLDC motor)
4.9 MC_StepperSetDirn
This function sets the motor direction by computing motor direction using command_steps and
microstep_resolution.
This
function
assigns
the
motor
direction
value
to
the
C_THETA_GEN_CMD_STEP_NO_ADDR. Table 18 lists the specifications of this function.
Table 18. Specification of API MC_StepperSetDirn
Syntax
void MC_StepperSetDirn(uint32_t dirn)
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
uint32_t dirn
Parameters
(Output)
None
Return
None
Algorithm
Compute command_steps*microstep_resolution*dirn
Write computed value into
C_THETA_GEN_CMD_STEP_NO_ADDR
4.10 MC_StepperGetI
This function gets the motor current, and converts it from per unit to milliamperes. Table 19 lists the
specifications of this function.
Table 19. Specification of API MC_StepperGetI
Syntax
void MC_StepperGetI()
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
None
Parameters
(Output)
None
Return
None
Algorithm
Obtain motor current from FPGA fabric
Convert value from per unit to milliamperes.
4.11 BLDC_SetSpeedSRamp
This function sets the motor speed and speed ramp parameters after scaling these parameter values to per
unit. Table 20 lists the specifications of this function.
Table 20 Specification of API BLDC_SetSpeedSRamp
16
Syntax
void BLDC_SetSpeedSRamp()
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
None
UG0692: Motor Control Firmware User Guide
Parameters
(Output)
None
Return
None
Algorithm
Scale speed reference value from RPM to per unit.
Write value into C_RATE_LIMIT_REF_ADDR
Scale speed ramp value from RPM/s to per unit.
Write value into C_RATE_LIMIT_RATE_CNT_ADDR
4.12 MC_StepperSetFabReg
This function writes parameters to FPGA fabric addresses corresponding to the stepper motor through the
APB. Table 21 lists the specifications of this function.
Table 21. Specification of API MC_StepperSetFabReg
Syntax
void MC_StepperSetFabReg ()
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
None
Parameters
(Output)
None
Return
None
Algorithm
Write values into various FPGA fabric registers
(corresponding to Stepper motor)
UG0692: Motor Control Firmware User Guide
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4.13 abs_function
This function gets absolute value of the input parameter. Table 22 lists the specifications of this function.
Table 22. Specification of API abs_function
18
Syntax
void abs_function (int32_t data)
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
int32_t data
Parameters
(Output)
None
Return
None
Algorithm
Determine the absolute value of input parameter data
UG0692: Motor Control Firmware User Guide
5. USBMsgHandler Module
This section describes the various functions available in the USBMsgHandler module. These functions
initialize and calculate various constants in the system.
5.1 USB_init
This function initializes the USB HID driver. Table 23 lists the specifications of this function.
Table 23. Specification of API USB_init
Syntax
void USB_init()
Re-Entrancy
Non re-entrant
Parameters
(Inputs)
None
Parameters
(Output)
None
Return
None
5.2 USBMsgHandler
This function acts as an interrupt handler for data received through the USB from GUI. Table 24 lists the
specifications of this function.
Table 24. Specification of API USBMsgHandler
Syntax
void USBMsgHandler()
Re-Entrancy
Non Re-entrant
Parameters
(Inputs)
None
Parameters
(Output)
None
Return
None
command idSelect a particular GUI function using command ids. The first byte (byte[0]) of the USB packet
received is used as the command id. In some cases, a response is sent to the GUI. Table 25 lists
commands on Byte[0], and indicates if the command requires a response from the MSS.
Table 25. List of Commands and Functions
Byte[0]
Description
Response required by GUI
0x00
Start motor
No
0x01
Stop motor
No
0x02
Direction – Clockwise
No
0x03
Direction – Anticlockwise
No
0x04
Reset all parameters
No
0x05
Unused
0x06
Get data (MSS to GUI)
Yes
0x07
Set data
No
UG0692: Motor Control Firmware User Guide
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Byte[0]
Description
Response required by GUI
0x08
Data plotting enabled
No
0x09
Test USB connection
Yes
0x0A
BLDC speed and current plot
Yes
Yes
0x0B
USB Loop back
0x0C
Unused
0x0D
Clear fault (BLDC only)
Yes
0x0E
Set parameters in MSS
Yes
0x0F
Get parameters from MSS
Yes
0x10
Set BLDC parameters in MSS (BLDC
only)
Get BLDC parameters from MSS (BLDC
only)
Get fault status (BLDC only)
No
0x11
0x12
Yes
Yes
The second byte of the USB packet is used for axis selection. Table 26 lists axis selection on Byte[1].
Table 26. List of Values in Axis Selection (byte[1])
Byte[1]
20
Axis selection
0x00
BLDC motor
0x01
Stepper motor
UG0692: Motor Control Firmware User Guide
List of Changes
The following table lists important changes made in this document for each revision.
Date and Revision
Revision 1
(March 2016)
UG0692: Motor Control Firmware User Guide
Change
Initial release.
Page
NA
21
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Contact Customer Service for non-technical product support, such as product pricing, product upgrades,
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For Microsemi SoC Products Support, visit
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UG0692: Motor Control Firmware User Guide
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UG0692: Motor Control Firmware User Guide
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