This code example demonstrates the use of MOTIF IP in Hall sensor mode to control a BLDC motor with trapezoidal commutation.
Provide feedback on this code example.
- ModusToolbox™ v3.8 or later
- Board support package (BSP) minimum required version:
- KIT_PSC3M5_CC2: v1.0.3
- Programming language: C
- Associated parts: All PSOC™ Control C3 MCUs
- GNU Arm® Embedded Compiler v14.2.1 (
GCC_ARM) – Default value ofTOOLCHAIN - Arm® Compiler v6.22 (
ARM) - IAR C/C++ Compiler v9.70.4 (
IAR)
- PSOC™ Control C3M5 Motor Drive Control Card (
KIT_PSC3M5_CC2) – Default value ofTARGETand validated firmware target - PSOC™ Control C3M5 Complete System Motor Control Kit (
KIT_PSC3M5_MC1) – Complete system setup reference; confirm the board-specific pin mapping before changingTARGET
See the kit user guide to ensure that the board is configured correctly.
Use the KIT_PSC3M5_MC1 Complete System Motor Control Kit as the complete setup reference. It includes the motor control card, drive adapter, 250 W power board, and 24 V BLDC motor. The firmware in this project is validated for KIT_PSC3M5_CC2; verify the board-specific pin mapping before using it with MC1. Refer to the MC1 user guide for connector locations, power sequencing, and electrical limits.
Figure 1. KIT_PSC3M5_MC1 setup
Use the image and the MC1 documentation for the physical setup.
- Connect the motor phases, Hall cable, and DC supply as described in the MC1 documentation.
- Connect the PC to the appropriate programmer/debugger interface and leave motor power disabled.
- Set the potentiometer to the zero-speed position.
Pin and resource assignments are listed in the application-resources table below. Follow the MC1 documentation for the physical Hall-cable connection.
See the ModusToolbox™ tools package installation guide for information about installing and configuring the tools package.
The ModusToolbox™ tools package provides the Project Creator as both a GUI tool and a command line tool.
Use Project Creator GUI
-
Open the Project Creator GUI tool.
There are several ways to do this, including launching it from the dashboard or from inside the Eclipse IDE. For more details, see the Project Creator user guide (locally available at {ModusToolbox™ install directory}/tools_{version}/project-creator/docs/project-creator.pdf).
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On the Choose Board Support Package (BSP) page, select a kit supported by this code example. See Supported kits.
Note: To use this code example 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.
-
On the Select Application page:
a. Select the Applications(s) Root Path and the Target IDE.
Note: Depending on how you open the Project Creator tool, these fields may be pre-selected for you.
b. Select this code example from the list by enabling its check box.
Note: You can narrow the list of displayed examples by typing in the filter box.
c. (Optional) Change the suggested New Application Name and New BSP Name.
d. Click Create to complete the application creation process.
Use Project Creator CLI
The 'project-creator-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™ 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™ installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ 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 following example clones the "MOTIF Hall sensor mode" application with the desired name "MotifTrapCtrl" configured for the KIT_PSC3M5_CC2 BSP into the specified working directory, C:/mtb_projects:
project-creator-cli --board-id KIT_PSC3M5_CC2 --app-id mtb-example-ce240615-motif-3-hall-sensor-mode --user-app-name MotifTrapCtrl --target-dir "C:/mtb_projects"
The 'project-creator-cli' tool has the following arguments:
| Argument | Description | Required/optional |
|---|---|---|
--board-id |
Defined in the field of the BSP manifest | Required |
--app-id |
Defined in the 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 |
Note: The project-creator-cli tool uses the
git cloneandmake getlibscommands to fetch the repository and import the required libraries. For details, see the "Project creator tools" section of the ModusToolbox™ tools package user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mtb_user_guide.pdf).
After the project has been created, you can open it in your preferred development environment.
Eclipse IDE
If you opened the Project Creator tool from the included Eclipse IDE, the project will open in Eclipse automatically.
For more details, see the Eclipse IDE for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_ide_user_guide.pdf).
Visual Studio (VS) Code
Launch VS Code manually, and then open the generated {project-name}.code-workspace file located in the project directory.
For more details, see the Visual Studio Code for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_vscode_user_guide.pdf).
Arm® Keil® µVision®
Double-click the generated {project-name}.cprj file to launch the Keil® µVision® IDE.
For more details, see the Arm® Keil® µVision® for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_uvision_user_guide.pdf).
IAR Embedded Workbench
Open IAR Embedded Workbench manually, and create a new project. Then select the generated {project-name}.ipcf file located in the project directory.
For more details, see the IAR Embedded Workbench for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_iar_user_guide.pdf).
Command line
If you prefer to use the CLI, open the appropriate terminal, and navigate to the project directory. On Windows, use the command-line 'modus-shell' program; on Linux and macOS, you can use any terminal application. From there, you can run various make commands.
For more details, see the ModusToolbox™ tools package user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mtb_user_guide.pdf).
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Connect the board to your PC using the provided USB cable through the Debug USB connector on the board
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Open a terminal program and select the Virtual COM port. Set the serial port parameters to 8N1 and 115200 baud
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Program the board using one of the following:
Using Eclipse IDE
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Select the application project in the Project Explorer
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In the Quick Panel, scroll down, and click <Application Name> Program (KitProg3_MiniProg4) or <Application Name> Program (JLink)
In other IDEs
Follow the instructions in your preferred IDE.
Using CLI
From the terminal, execute the
make programcommand to build and program the application using the default toolchain to the default target. The default toolchain is specified in the application's Makefile but you can override this value manually:make program TOOLCHAIN=<toolchain>Example:
make program TOOLCHAIN=GCC_ARM -
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After programming, the application starts automatically. Confirm that the yellow LED is on, enable motor power, and turn the potentiometer slowly. If a fault occurs, remove power, correct the cause, and reset the board before restarting.
You can debug the example to step through the code.
In Eclipse IDE
Use the <Application Name> Debug (KitProg3_MiniProg4) or <Application Name> Debug (JLink) configuration in the Quick Panel. For details, see the "Program and debug" section in the Eclipse IDE for ModusToolbox™ user guide.
In other IDEs
Follow the instructions in your preferred IDE.
This code example demonstrates the use of MOTIF IP in Hall sensor mode to control a BLDC motor with trapezoidal commutation.
- Initializes the clocks and system resources through the BSP, then initializes the TCPWM, MOTIF, ADC, and GPIOs.
- Takes a fresh Hall sample at startup and when the motor returns to standstill, then applies the commutation pattern after a short timer delay.
- Uses the MOTIF wrong-Hall event and the external
N_FAULT_HWinput as independent hardware shutdown sources for all three PWM phases. - Keeps the motor state in a
MOTIF_HALL_DRIVE_thandle initialized from Device Configurator-generated resources. - Keeps the yellow LED on during normal operation; a Hall or hardware fault turns on the red LED and remains latched until reset.
The following table lists the resources and pin assignments used in this example.
Table 1. Application resources and pin assignments
| Resource | Alias/object | Pin or purpose |
|---|---|---|
| TCPWM (PDL) | PWM_U | Phase U PWM; P4_0/P4_1 high/low outputs |
| TCPWM (PDL) | PWM_V | Phase V PWM; P4_2/P4_3 high/low outputs |
| TCPWM (PDL) | PWM_W | Phase W PWM; P4_4/P4_5 high/low outputs |
| TCPWM (PDL) | PattUpdate_Timer | One-shot delay for Hall re-sampling and commutation update |
| Motif0 (PDL) | MOTIF0 | MOTIF Hall interface and commutation pattern |
| GPIO (PDL) | HALL_0 | P7_4, Hall input to MOTIF |
| GPIO (PDL) | HALL_1 | P7_5, Hall input to MOTIF |
| GPIO (PDL) | HALL_2 | P7_6, Hall input to MOTIF |
| GPIO (PDL) | DIR_LED | P9_4, application active indicator |
| GPIO (PDL) | FAULT_LED_ALL | P9_5, latched fault indicator |
| GPIO (PDL) | N_FAULT_HW | P8_0, active-low hardware fault input |
| HPPASS (PDL) | CYBSP_POT | Potentiometer speed command |
For the complete peripheral and clock configuration, refer to the target's design.modus file.
| Resources | Links |
|---|---|
| Documentation | PSOC™ Control C3 MCU documents |
| Development kits | PSOC™ Control C3 development kits |
| Tools, BSPs, libraries, and code examples | ModusToolbox™ – ModusToolbox™ software is a collection of easy-to-use libraries and tools enabling rapid development with Infineon MCUs for applications ranging from wireless and cloud-connected systems, edge AI/ML, embedded sense and control, to wired USB connectivity using PSOC™ Industrial/IoT MCUs, AIROC™ Wi-Fi and Bluetooth® connectivity devices, XMC™ Industrial MCUs, and EZ-USB™/EZ-PD™ wired connectivity controllers. ModusToolbox™ incorporates a comprehensive set of BSPs, HAL, libraries, and configuration tools with support for industry-standard IDEs. |
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.
Document title: CE240615 - MOTIF Hall sensor mode
| Version | Description of change |
|---|---|
| 1.0.0 | New code example |
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