Freescale Motor Control Software Library

Freescale Motor Control Software Library

TM

July 19, 2013

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-

Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC, Processor

Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack,

CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC

Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and Xtrinsic are trademarks of

Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

TM

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-

Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC, Processor

Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack,

CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC

Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and Xtrinsic are trademarks of

Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

1. Select Target Motor

PMSM, IM, BLDC, SRM, DC…………….

2. Select Control Algorithm and Target Performance

Sensorless, Sensored

, Target Control Response…….

3. Select Target MCU

Core, Core Speed, ADC performance, Vcc

Level….

TM

3

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

0. Read & Understand Datasheet, Reference Manual and Errata

1. Peripheral Setting :

ADC, PWM, Timer……

2. Implementation Motor Control Algorithm :

Vector Control, Encoder

Interface…..

3. Tuning Motor performance :

PI Gain Tuning..

4. Application Implementation :

Washing Machine, Robot….

5. Application Tuning

6. TEST and Debugging

7. TEST and Debugging

8. TEST and Debugging

TM

4

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

1. Peripheral Setting : ADC, PWM, Timer……

ProcessorExpert, Quick Start(GCT)

2. Implementation Motor Control Algorithm :

Vector Control, Encoder Interface…..

FSL Library, ProcessorExpert

3. Tuning Motor performance :

PI Gain Tuning.. freemaster

4. Application Implementation :

Washing Machine, Robot….

FSL Library, ProcessorExpert

5. Application Tuning freemaster

Implementation & Setting

Monitoring

TM

5

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

• GUI

TM

6

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Memory Manager

• Dynamic allocation

Feature Phone Library

• CallerID type 1&2,

CallerID Parser,

Generic Echo Cancellor

DSP Library

• FIR, IIR, FFT, Auto

Correlation, Bit

Reversal

Telephony Libraries

• AEC, AGC, Caller ID,

• CAS, CPT, CTG, DTMF

• G165, G168, G711

• G723, G726, G729

Modem Libraries

• V.8bis, V.21, V.22bis,

V.42bis

Security Libraries

• RSA, DES, 3DES,

Motor Control

• BLDC, ACIM, SR motor specific algorithms

• General purpose algorithms

Math Libraries

• Matrix, Fractional, Vector

• Trigonometric

Tools Library

• Cycle Count, FIFO,

FileIO, Test

TM

7

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

• Can change Bean name

• Select a pin

• Configure pin properties:

− Enable/disable pullup

− Open drain/pushpull

Must configure the

Init. Direction to

Output

and

Select a value at initialization

TM

8

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

What is QuickStart?

• QuickStart Low-level Drivers

Project Stationary

Graphical Configuration Too

• QuickStart Highlights

TM

9

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Quick Start = Easy-to-use SW Development Environment

Set of

Low-level Drivers

for

all Peripheral

Modules

C-language structures of peripheral memory space

Unified way of accessing peripheral registers

Highly optimized to achieve an

optimal assembly

generated

Ready-touse Project Templates (“Project Stationery”)

Compiler configurations (RAM-debug, Flash-standalone targets)

Processor start-up code

Interrupt tables or Interrupt Dispatcher

Debugger initialization files

Graphical

Configuration Tool

User-friendly insight to processor configuration (cont.)

TM

10

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Graphical Configuration Tool

Edits post-reset processor configuration graphically

Configuration saved/read from a single ANSI C header file

GUI to configuration bits of all peripheral module registers

Possible conflict warnings

Pin-out view of processor I/O pins

Sample Applications

Demonstrating usage of GCT, processor peripheral modules and low-level drivers

User Manual

Low-level drivers & tools guide

Latest device User Manual

TM

11

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

CodeWarrior Integration

Quick Start project stationery is installed directly into the CW

Support for CW debugger and Flash Programmer

GCT invoked from CW IDE

Other Tools

MPC500/MPC5500 supports makefile-based tools

(Diab, Green Hills)

Lauterbach Debugger

TM

12

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

ArchIO

– global symbol

Provides a C interface (structure type) to all peripheral and core registers mapped in data memory

All registers are accessed via this structure - no need to know and specify the concrete addresses of the registers to write or read

ArchIO - declared in the arch.h file

ArchIO structure definition

ArchIO defined as the extern variable

 Its address defined by a directive in linker command file

TM

13

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

typedef volatile struct

{

arch_sTimer TimerA;

arch_sTimer TimerB_unused;

arch_sADC

arch_sPWM

Adc;

Pwm;

arch_sIntc Intc;

arch_sSIM Sim;

arch_sCOP Cop;

arch_sPLL Pll;

arch_sLVI Lvi;

/* TMRA_BASE 0xF000 */

/* ADC_BASE 0xF080 */

/* PWM_BASE 0xF0C0 */

/* INTC_BASE 0xF0E0 */

/* SIM_BASE 0xF100 */

/* COP_BASE 0xF120 */

/* PLL_BASE 0xF130 */

/* LVI_BASE 0xF140 */

.

.

UWord16 reserved4[0xFF0600];

arch_sEOnCE EOnCE; /* EOnCE_BASE 0xFFFF00 */

} arch_sIO;

TM

14

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

• COP structure

– defined in arch.h file

typedef volatile struct

{

ARCH_REG2(UWord16, copctl, ControlReg);

ARCH_REG2(UWord16, copto, TimeoutReg);

ARCH_REG2(UWord16, copctr, ServiceReg);

ARCH_REG1(UWord16, reserved[13]);

} arch_sCOP;

TM

15

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

• arch.h file

– extern declaration of ArchIO variable

/* The location of the following structure is defined in linker.cmd */ extern arch_sIO ArchIO;

Linker command file

– address assignment to the structure

FArchIO = ADDR(.x_onchip_peripherals);

TM

16

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

• Example of read/write operation using ArchIO structure

UWord16 RegValue; // variable definition

RegValue = ArchIO.TimerA.Channel0.HoldReg; // read register

ArchIO.TimerA.Channel0.CompareReg1 = 0x8000; // write number to reg

Example of the same operation as previous case using

periphMemRead and periphMemRead macros

UWord16 RegValue; // variable definition

RegValue = periphMemRead(&ArchIO.TimerA.Channel0.HoldReg); periphMemWrite(0x8000 , &ArchIO.TimerA.Channel0.CompareReg1);

TM

17

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

What is QuickStart?

• QuickStart Low-level Drivers

Project Stationary

Graphical Configuration Too

• QuickStart Highlights

TM

18

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Quick Start Low-level Drivers

− Full control over and full access to all processor resources

− Unifies access to peripheral memory space (

ioctl call)

− Registers are not accessed directly, although this is still possible

ioctl calls are optimally compiled macros or functions

ioctl(SCI_0, SCI_SET_BAUDRATE, SCI_BAUD_9600)

Module identifier

Command to perform

Command

Parameter

TM

19

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

• ioctl

– Input Output Control ioctl

– general syntax

ioctl(

module_ID , cmd_name , cmd_spec_param

);

module_ID

– module identifier

 Predefined symbolic constant corresponding to names of peripheral modules

 Example: GPIO_A, GPIO_B, ADC, ADC_A, ADC_B, PWM, PWM_A,

PWM_B, COP, etc.

The base address of the peripheral module

List of module identifiers

– “*.h” corresponding to managed peripheral

 Example: gpio.h, adc.h, pwm.h, sci.h, spi.h, qtimer.h, etc.

TM

20

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

cmd_name

– specifies action performed on a peripheral module

Command is depended to performed operation

List of commands

– “*.h” corresponding to managed peripheral

 Example: gpio.h, adc.h, pwm.h, sci.h, spi.h, qtimer.h, etc.

Set of commands for each peripheral

Example for pwm.h:

PWM_SET_PRESCALER

PWM_SET_RELOAD_FREQUENCY

PWM_FAULT_INT_ENABLE

Etc.

Self-explaining name of commands

 No need to dive into deep documentation studying

INIT command

– essential command for each peripheral

Example: COP_INIT, ADC_INIT, PWM_INIT, GPIO_INIT, etc.

TM

21

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

cmd_spec_param

– command specific parameter

 Specifies other data required to execute the command

 In general, it can be

 Pointer to the structure

 NULL value

 Variable-value in dependency with the specific command

List of recommended parameters

– “*.h” corresponding to managed peripheral

 Example: gpio.h, adc.h, pwm.h, sci.h, spi.h, qtimer.h, etc.

 Example for pwm.h:

• #define PWM_PRESCALER_DIV_1 0

#define PWM_PRESCALER_DIV_2 1

#define PWM_PRESCALER_DIV_4 2

#define PWM_PRESCALER_DIV_8 3

Etc.

TM

22

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

• ioctl command - macro

#define ioctl(

fd

, cmd , prm ) ioctl## cmd ((

fd

),( prm ))

Macro definition

– periph.h

• fd

Peripheral module base address

 Address assigned from ArchIO structure

TM

23

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Example for GPIO

– general command

 gpio.h

#define GPIO_A (&ArchIO.PortA

) // GPIO_A base address

 User source code - *.c

ioctl( GPIO_A , GPIO_SET_PIN , BIT_0 );

 periph.h

#define periphBitSet(mask, addr) (*(addr) |= (mask))

 gpio.h

#define ioctl GPIO_SET_PIN (pGpioBase, param ) periphBitSet ( param , &(( pGpioBase )->dr))

 Compiler result

– assembly code

ioctl( GPIO_A , GPIO_SET_PIN , BIT_0 );

P:0000414A: 8254F1510001 bfset # 1 ,X:0x00f151

TM

24

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

• Example for GPIO

– INIT command

 gpio.h

#define GPIO_A (&ArchIO.PortA

) // GPIO_A base address

 User source code - *.c

ioctl( GPIO_A , GPIO_INIT , NULL );

 gpio.h

void gpioInit(arch_sPort *pGpioBase); // declaration

#define ioctl GPIO_INIT ( pGpioBase , param) gpioInit ( pGpioBase )

 gpioInit() function execution

 Function definition - gpio.c

 Usually executed just ones during chip initialization

 Performs setting stored in appconfig.h file

 appconfig.h file modified by GCT (Graphical Configuration Tool)

TM

25

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Why not to use direct access to peripheral registers?

− Most of

ioctl calls are “macroized” to direct register access anyway (either read/write or bit-set/bit-clear instructions used)

− Some registers do need special attention,

ioctl usage brings kind-of

abstraction and transparency to an application code while still being optimally compiled

Exercise

:

Suppose you want to clear DIRQ bit only, while not modifying the rest of the register. Also you must not clear the HIRQ and XIRQ bits.

What C or assembly statement will you use on 56F800E? solution on the next slide...

TM

26

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

#define DECCR_DIRQ 0x0010

/* DIRQ bit constant */

ArchIO.Decoder0.deccr

/* register in the peripheral structure */

C-language:

ArchIO.Decoder0.deccr = DECCR_DIRQ;

56F800E Assembler: asm ( move.w #>16,X:0x00f180 );

• DIRQ gets cleared ... OK

• XIRQ and HIRQ remain unchanged ... OK

• All other bits get reset! ... Wrong

!

27

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

TM

#define DECCR_DIRQ 0x0010

/* DIRQ bit constant */

ArchIO.Decoder0.deccr

/* register in the peripheral structure */

C-language:

ArchIO.Decoder0.deccr |= DECCR_DIRQ;

56F800E Assembler:

asm ( bfset #0x10,X:0x00f180 );

• DIRQ gets cleared ... OK

• Other register bits unchanged ... OK

• XIRQ or HIRQ gets reset if they read as “1”

(i.e. when interrupt request is pending!)

TM

28

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

#define DECCR_DIRQ 0x0010

/* DIRQ bit constant */

#define DECCR_HIRQ 0x8000

/* HIRQ bit constant */

#define DECCR_XIRQ 0x0100

/* XIRQ bit constant */

ArchIO.Decoder0.deccr

/* register in the peripheral structure */

C-language:

ArchIO.Decoder0.deccr &= ~(~(DECCR_DIRQ) &

(DECCR_HIRQ | DECCR_XIRQ));

Better work with QuickStart and use the

56F800E Assembler: asm ( bfclr #0x8100,X:0x00f180 ); ioctl(DEC_0, DEC_INT_REQUEST_CLEAR, DEC_DECCR_DIRQ);

TM

29

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

• Full control over all processor resources

Real-world application development know-how inside

− transparent solution to tricky register access

− higher abstraction and code readability without loosing performance

Delivered as source code

• Fully tested and documented

TM

30

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

What is QuickStart?

• QuickStart Low-level Drivers

Project Stationary

Graphical Configuration Too

• QuickStart Highlights

TM

31

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

CodeWarrior concept of creating a new project

CodeWarrior “clones” the project template and creates a ready-touse skeleton of a new application

− In Quick Start, a dedicated project stationery exists for each processor and evaluation board (EVB)

 Processors differ in memory layout, peripheral modules etc.

 For a given processor, more than one EVB may exist, differing in how the processor is connected with external components

TM

32

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Multiple Compiler configurations per project

RAM-based debugging targets

Standalone Flash-based (release) targets

− CPU Simulator target

Start-up code, Board Initialization, Interrupt tables

Linker Command Files

− provide the linker with information about how to arrange a

C-code in memory

Debugger Configuration Files

− Making the EVB ready for RAM-based debugging

− Making the EVB ready for Flash Programmer

− Memory description files

TM

33

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

What is QuickStart?

• QuickStart Low-level Drivers

Project Stationary

Graphical Configuration Tool

• QuickStart Highlights

TM

34

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

A desktop application for MS Windows

Used to edit the ANSI C-compatible application configuration header file (typically appconfig.h for QuickStart applications)

Pre-defined keystroke makes GCT open up the appconfig.h of the current project

Metrowerks CodeWarrior IDE

#include “appconfig.h”

#defines used to initialize peripherals

TM appconfig.h file

Graphical Configuration Tool

Read & Write access to appconfig.h

35

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

TM

36

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

A single macro constant per peripheral register

Configuration summary comments

Read / Write in GCT

− Enables manual editing of the

appconfig.h file

− Copy & paste migrating to other CPUs

− GCT supports importing of module configuration within a single project or between projects

Private section in appconfig.h file

− Users put other global symbols & definitions here

− The file can be a real application configuration file

(not only the processor configuration)

TM

37

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

• Different Control Page for each Peripheral Module

Module Configuration Page

Clocks Summary

Registers Summary

Warnings Summary

Peripheral Modules Tree

TM

38

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Direct Register Value View

TM

39

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Conflict Warnings

Warning detail

GPIO A6 mode bad

More detailed warning description

Timer Pin #0 is not set to Timer mode in GPIO_A6

TM

More detailed warning description

Module QT_A0 is configured for use but its peripheral clock is disabled

40

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

What is QuickStart?

• QuickStart Low-level Drivers

Project Stationary

Graphical Configuration Tool

• QuickStart Highlights

TM

41

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Highlights

− QuickStart helps users to get familiar with the processor quickly

GCT helps to understand individual bits of peripheral registers

Sample applications demonstrate how to access the peripheral modules

− QuickStart helps users to jump in the SW development quickly

A ready-to-use project stationery to start a new project

GCT immediately available

− No performance penalty when using QuickStart

 Optimal code, each instruction matters

Suitable for hard real-time applications (motor control)

Source files available, everything under control, no hidden code

Quality

Developed under CMM-Level 3 certified process

TM

42

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

TM

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-

Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC, Processor

Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack,

CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC

Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and Xtrinsic are trademarks of

Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

3 Phase High Voltage Power Stage

U_Dc bus

DSC FSLESL functions

FreeMaster

START/STOP

PMSM

Resolver HW

Load

Faults PWM

SCI

Driver

Application Control

GPIO

GPIO

Driver

Speed

Controller

Field

Weakening

Controller

PWM

QT

Is_q_ Req

Fault

Protection

Driver

Duty cycle

a

Duty cycle

b

Duty cycle

c

Driver

PWM

Modulation

Driver

Sector

Us_alpha_comp

Us_beta_comp

Current

q

PI

Controller

Current

d

PI

Controller

Us_q

Us_d

Inverse Park

Transformation d,q >alpha,beta

Us_alpha

Us_beta

DC bus ripple compensation theta_ actual sin cos

Is_q

Is_d

Is_beta

Forward Park

Transformation alpha,beta >d,q

Is_alpha

Forward Clark

Transformation a,b,c >alpha,beta

ADC

Driver

Is_a

Is_b

Is_c

Current

Sensing

Processing

Ref

QT

Driver

Angle

Tracking

Observer

Angle

Tracking

Observer

Software switch

DSC

TM

44

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Library Provides:

− Optimized and tested algorithms

Full algorithms documentation

S/W library in “.lib” form that can be included into any project

Algorithms:

− ASM coded optimized fully tested using Matlab models

Algorithm Sets:

− General Functions / Math

Motor Control

Digital Filters

− Advanced Library (sensorless)

Supported devices

Anquilla/Hawk V2 DSC

ColdFire V1 (selected algorithms)

CortexM4

TM

45

Implemented Algorithms

Library Core 56800E MCF51

GFLIB

MCLIB

GDFLIB

ACLIB

Sine

Cosine

Tangent

Arcus Sine

Arcus Cosine

Arcus Tangent

Arcus Tangent YX

Sifted Arcus Tangnet YX

Square Root

Ramp

Dynamic Ramp

Limiter

Hysteresis

Signum

Look-up Table

PI Controller

PID Controller

Clarke Transformation

Inverse Clarke Transformation

Park Transformation

Inverse Park Transformation

Space Vector Modulation

Vector Limiter

PMSM Decoupling

DC Bus Ripple Elimination

IIR Filter

Moving Avg. Filter

Angle Tracking Observer

Tracking Observer

PMSM BEMF Observer in Alpha/Beta

PMSM BEMF Observer in D/Q

Integrator

3

2

2

1

1

6

1

2

2

1

1

1

1

2

1

1

3

3

1

1

1

6

2

1

2

2

1

2

1

2

1

1

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

1

0

0

0

1

2

0

2

0

0

0

0

0

1

1

0

1

1

1

1

1

1

1

1

1

1

1

1

0

1

0

0

Cortex

M4

2

0

1

1

1

3

1

1

0

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

1

0

0

0

0

0

Written in assembler

Documentation describes transformation theory and implemented equations

Function

MCLIB_ClarkTrfm

MCLIB_ClarkTrfmInv

MCLIB_ParkTrfm

Properly tested and used on many millions of running applications

Clark Transform

MCLIB_ParkTrfmInv

Park Transform

Phase A

Phase B

Phase C

3-Phase to

2-Phase

Field

d

Stationary to

Rotating q

Code Size

(words)

9

12

9

9

Execution

Clocks

21/22

24/25

24/25

24

Inverse Park

Transform

Inv. Clark Transform

& SVM techniques

Field

d q

Rotating to

Stationary

Phase A

Space

Vector

Modulation

Phase B

Phase C

TM

3-Phase

System

3-Phase

System

AC

Stationary Reference Frame

2-Phase

System

DC

2-Phase

System

AC

3-Phase

System

Rotating Reference Frame Stationary Reference Frame

46

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Transforms directly the stator voltage vectors from the two-phase coordinate system fixed with stator to PWM signals

Output voltage vector is created by continuous switching of two adjacent vectors and the “NULL” vectors

U

120

(010)

[1/

3,-1]

-axis

U

60

(110)

[1/

3, 1]

II.

U

180

(011)

[-2/

3,0]

III.

IV.

[-1/

3,-1]

U

240

(001)

TM

u

T /T*U

60

60

U

S u

T /T* U

0

30 degrees

VI.

V.

[-1/

3,1]

U

300

(101)

Maximal phase voltage magnitude = 1

U

0

(100)

[2/

3,0]

-axis alpha* beta*

Space Vector

Modulation sector pwm duty cycle A pwm duty cycle B pwm duty cycle C

Components of the Stator Reference Voltage Vector

1

0.5

0

-0.5 alpha beta

1

0.9

0.8

60 120 180 240 300 360

Standard Space Vector Modulation Technique angle

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0

0 60 120 180 240 300

Phase A

Phase B

Phase C

360 angle

47

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

TM

48

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

TM

49

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

TM

50

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

TM

\

51

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

TM

52

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

TM

53

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

TM

54

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Analogue quantities (voltage, current, frequency) are scaled to the maximum measurable range

– depended on hardware

Relation between a real and a fractional representation

Fractional Value

Real value

Real quantity Range

Fractional Value

– fractional representation of the real value [Frac16]

Real Value

– real value of the quantity [V, A, RPM, etc.]

Real Quantity Range

– maximum range of the quantity, defined in the application [V,A,RPM, etc.]

Angles are represented as a 16-bit fractional values in the range [-1,1] which corresponds to the angle [-PI,PI]

 pi

0 x 8000 pi

(1.0

2

15

)

0 x 7 FFF

TM

55

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Example:

Vmax = 407 V - maximum measurable voltage range of the power stage

Vmeasured = 303.5

– DC-Bus voltage measured with ADC

(Frac16)vo ltage_vari able

V

MEASURED

V

MAX

303.5

407

0.7457

 Fractional variables are internally stored as signed 16-bit integer values

(Int16)vol tage_varia ble

(Frac16)vo ltage_vari able

2

15

0.7457

2

15

24435

DC bus voltage

407V

303.5V

0

ADC pin voltage

3.3V

2.46V

0

TM

Fractional view

1.0

0.7457

0

-1.0

DSC view

32767

24435

0

-32768

56

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

What is FreeMASTER?

• Real-Time Monitor

Graphical User Interface to the Embedded Application

Demonstration Platform & Selling Tool

TM

57

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

• Real-time Monitor

Graphical Control Panel

Demonstration Platform & Selling

Tool

FOR YOUR

EMBEDDED

APPLICATION

TM

58

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

What is FreeMASTER?

• Real-Time Monitor

Graphical User Interface to the Embedded Application

Demonstration Platform & Selling Tool

TM

59

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Connects to an embedded application

− SCI, UART

− JTAG/EOnCE (56F8xxx only)

− BDM (HCS08, HCS12 only)

− CAN Calibration Protocol

− Ethernet, TCP/IP

Any of the above remotely over the network

Enables access to application memory

− Parses ELF application executable file

− Parses DWARF debugging information in the ELF file

− Knows addresses of global and static C-variables

Knows variable sizes, structure types, array dimensions etc.

60

TM

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

• Displays the variable values in various formats:

Text, tabular grid

 variable name

 value as hex, dec or bin number

 min, max values

 number-to-text labels

Real Time Graph

Real-time waveforms

 up to 8 variables simultaneously in an oscilloscope-like graph

High-speed recorded data

 up to 8 variables in on-board memory transient recorder

Variable Watch

TM

61

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Additional features:

Variable Transformations

− Variable value can be transformed to custom unit

− Variable transformations may reference other variable values

Values are transformed back when writing a new value to variable

Application Commands

− Command code and parameters are delivered to an application for arbitrary processing

After processed (asynchronously to a command delivery) the command result code is returned to PC

Ability to protect memory regions

− Describing variables visible to FreeMASTER

− Declaring variables as read-write to read-only for FreeMASTER - the access is guarded by the embedded-side driver

TM

62

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Highlights:

FreeMASTER helps developers to debug or tune their applications

• Replaces debugger in situations when the processor core can not be simply stopped (e.g. motor control)

• Recorder may be used to visualize transitions in near 10-us resolution

TM

63

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

What is FreeMASTER?

• Real-Time Monitor

Graphical User Interface to the Embedded Application

Demonstration Platform & Selling Tool

TM

64

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

• Variable Watch pane enables direct setting of the variable value

Sending Application Commands from the application GUI

Time-table stimulation of the variable value

HTML Pages and Forms

− JScript or VBScript

− Push buttons

− Images, indicators

− Sounds, videos

− Sliders, gauges and other

3rd party ActiveX controls

TM

65

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Scripting in FreeMASTER

HTML pages are displayed directly in the FreeMASTER window

HTML may contain scripts and ActiveX objects

− FreeMASTER itself implements an invisible ActiveX object

− Script accesses the FreeMASTER functionality through this object

 Variable access

 Stimulator access

 Application Commands

 Recorder Data

HTML may host whole applications, for example Excel

− Excel Visual Basic macros may access FreeMASTER as well

TM

66

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Target-in-loop Simulations

FreeMASTER invisible ActiveX object is accessible also by external standalone applications

− Standard C++ or VB applications

− Excel & Visual Basic for Applications

− Matlab, Simulink

Target-in-loop Simulation

− Matlab or Simulink engine lets embedded application to perform calculations

TM

67

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

What is FreeMASTER?

• Real-Time Monitor

Graphical User Interface to the Embedded Application

Demonstration Platform & Selling Tool

TM

68

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

FreeMASTER helps Freescale Marketers to sell our work

FreeMASTER project can visualize any detail of how the embedded application works

HTML Pages embed text images, videos together with live application data

FreeMASTER acts as a web-browser so it is possible to navigate to online shop directly without even leaving a FreeMASTER environment

FreeMASTER helps Freescale customers to sell their work

TM

69

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

FreeMASTER is Free!

The FreeMASTER is freely available from the Freescale web

License agreement prevents using FreeMASTER with processors from competition

• Free redistribution enables Freescale customers to pack

FreeMASTER with their products http://www.freescale.com/webapp/sps/site/prod_summary.jsp?co

de=FREEMASTER&fsrch=1

TM

70

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

TM

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-

Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC, Processor

Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack,

CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC

Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and Xtrinsic are trademarks of

Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Experienced team with15 years of motor control history

Focusing on Advanced Motor Control and

Digital Power Conversion for Industrial and

Appliance

– Freescale Centre of Excellence

Covering all application specific products from

8-bit S08 up to16-bit DSC and 32-bit ColdFire &

Kinetis)

Providing global customer projects and support

Developing

Demos

− Reference designs

− S/W Libraries

− Application Notes

Sharing the expertise's world wide (trainings,

FAE support, exhibitions)

Publishing research results at conferences world wide, covering the technology with patents

Supporting NPI definition from application point of view

TM

72

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Motor Control

Running all kinds of 3-phase motors: ACIM, PMSM, BLDC, SR

Focus on advanced sensorless techniques (PMSM, SR)

− Applications include washers, vacuum cleaners, dryers, dishwashers, fans, HVAC, compressors, etc.

Digital Power Conversion

− Switched Mode Power Supplies

− Solar Panel Inverters

− Uninterruptable Power Supplies

− Light Ballast, PFC

NPI Support

− Supporting definition of new Freescale products inline with market requirements in motor control and power conversion area.

Integral part is the validation and application testing of new products

TM

73

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

DC motor

DC Motor with Speed and Current Closed Loops, driven by eTPU on MPC5554

Power Drill Control Software for MC68HC908QY4.

Universal motor

Open Loop PWM Control of Univ. Motor for Vacuum Cleaner using MC68HC908QT4

BrushLess DC Motor

BLDC Control using Kinetis

BLDC Control using Anguilla Black

BLDC Sensorless Control using MC56F8006

BLDC Sensorless Control using MCF51AG128

BLDC Sensorless Control using S08MP16

– ADC utilization

BLDC Sensorless Control using S08MP16

– Comaprators utilization

BLDC Sensorless Control using MC56F8013

BLDC Sensorless Control - very high speed

– using MC56F8013

BLDC Control using MC9S08GT60 and MC33927

BLDC Sensorless Control using MC9S08AW60

BLDC Drive using DC/DC Inverter on MC56F8013

BLDC Control with Quadrature Encoder using DSP56F8346 - the PE solution

Low Power BLDC Drive for Fan using the MC68HC908QY4 MCU

High Voltage BLDC Drive for Domestic Appliances using MC68HC908MR8 MCU

BLDC Sensorless Control with BEMF Zero Crossing using MC68HC908MR32

BLDC Sensorless Control with BEMF Zero Crossing Using ADC for DSP56F805

Number of BLDC applications using TPU and eTPU

AC Induction Motor

Washing Machine 3-Phase ACIM Vector Control Based on MC56F8013

Washer 3-Phase ACIM Indirect Vector Control Based on MC56F8013

PWM Control of the Single-Phase ACIM Using the MC68HC908QT4 MCU

3-Ph. ACIM V/Hz Control using Hybrid Controller 56F8346 - the PE solution

3-Ph. ACIM Vector Control Using DSP56F80x

3-Ph. ACIM Vector Control with Single Shunt Current Sensing using 56F8013/23

3-Ph. ACIM Vector Control Using MPC555

3-Ph. ACIM Control V/Hz Application using MC68HC908MRxx

3-Ph. ACIM Control with Dead Time Distortion Correction using MC68HC908MR32

3-Ph. ACIM Volt Per Hertz Control System Based on DSP56F80x

Power Factor Correction for Motor Control Applications using 56F8013

DSP56F8xx Resolver Driver and Hardware Interface

Permanent magnet Synchronous Motor

Sensorless PMSM VC for appliance using DSC

Sensorless PMSM VC for appliance using Celis

PMSM VC with Encoder using Celis

PMSM VC with Encoder using Pictus

PMSM VC with Encoder using leopard

Sensorless PMSM VC with Sliding Mode Observer for Compressors using 56F8013

Permanent Magnet Synchronous Motor Vector Control, driven by eTPU on MCF523x

3-Phase PMSM Vector Control using MC56F8346

3-ph. PMSM Torque VC with Encoder and Resolver with MC56F80x/83xx (EPS Demo)

Electro-Mechanical Brake Demonstration Kit using PMSM motors

Synchronous PM Motor Control with Quadrature Encoder using DSP56F805

3-ph PM Synchronous Motor Torque Vector Control on DSP56F80x

3-Phase PM Synchronous Motor Vector Control using DSP56F80x

3-Phase PM Synchronous Motor Vector Control using DSP56F8013/23

3-Phase PM Synchronous Motor Vector Control using MCF51AC256

DSP56F8xx Resolver Driver and Hardware Interface

Stepper Motor

LIN-bus HID Lamp Levelling Stepper Motor Control Using MC908E625

Switched Reluctance Motor

3-Phase SR Motor Control with Hall Sensors Using DSP56F80x

3-Phase SR Sensorless Motor Control using DSP56F80x

Advanced 3-Phase SR Motor Control with Encoder Using DSP56F80x

Sensorless 2-phase SRM for Vacuum Cleaner using 56F8013

TPU and eTPU controlling motors

Four BLDC Motors Driven by One eTPU

3-Phase BLDC Motor Sensorless Control using MPC565

BLDC Motor with Speed Closed Loop driven by eTPU on MPC5554

DC Motor with Speed and Current Closed Loops, driven by eTPU on MPC5554

AC Induction Motor V/Hz Control, driven by eTPU on MCF523x

BLDC Motor with Quad. Enc. and Speed Closed Loop, driven by eTPU on MPC5554

3-Phase BLDC Motor with HS and Speed Closed Loop, driven by eTPU on MPC554

3 BLDC Motor Control with Hall Sensors driven by eTPU on MCF5235

Permanent Magnet Synchronous Motor Vector Control, driven by eTPU on MCF523x

TPU and eTPU Library Routines

Analogue support

Small Electric Vehicle with Analog DC Motor Driver (DMD)

3-phase Power Stage with DC/DC Inverter Lite using MC33883

3-Phase 12-Volt BLDC Power Stage with 33395 Driver

Specific Motor Control Hardware

Pictus Controller Board

Leopard Controller Board

Komodo Controller Boa

K40, Ang. Black, Ang. Blue / White, 51AG128, Leopard, S08MP16

– HV Power Stage card

MC56F8013/23/25 Controller Board

MC9S08AW60 Controller Board

MC56F8013/23 Controller Board

DSP56F802 Controller Board

MC56F8346 Controller Board

MC9S12E128 Controller Board

DSP56F805 Controller Board

Power Factor Correction Board

3-phase AC/BLDC High Voltage Power Stage Board

MC33927 Evaluation Board

3-phase Power Stage with DC/DC Inverter using MC33883

3-phase Micro Power Stage

3-Phase 12-Volt BLDC Power Stage with 33395 Driver

EVM Motor Board (3ph Low Voltage BLDC Power Stage)

3-Phase Low Voltage SR Power Stage

3-Phase High Voltage SR Power Stage

3-Phase Low Voltage AC/BLDC Power Stage

3-Phase High Voltage AC/BLDC Power Stage

Tower Power Stage

Specific Motor Control Software Libraries

TPU Library Routines for MPC555 eTPU Motor Control Libraries

Motor Control Libraries for 56F80xx

Motor Control Libraries for ColdFireV1

74

Motor Control Libraries for Pictus

Motor Control Libraries for Leopard / Komodo

Key Features

• Speed-close loop with PID controller

• Speed sensor on motor shaft (tachogenerator)

• Motor 3-phase currents reconstruction from DC-Bus current using single shunt sensor

• Rotor flux position evaluation from sensed currents and speed using rotor flux estimator

• Adaptive control circuit minimizes error of rotor flux estimator caused by motor parameter drift

• Motor current is decomposed into torque (Isq) and flux producing (Isd) components

• Field weakening algorithm controls excitation above nominal speed

• Space Vector Modulation is applied to generate output voltage

• Wide range of motor speed (0 – 18000 RPM)

• Washer algorithms implementation (tumble-wash, unbalance detection, spindry)

• FreeMASTER control interface

Description

This application demonstrates a direct vector control algorithm of a threephase AC induction motor based on

Freescale’s MC56F8013 /

MC56F8023 dedicated motor control devices.

Featured Products

• MC56F80xx

The presented design is targeted mainly for consumer applications.

The cost-effective solution and high reliability are two key requirements considered. Minimizing system cost the algorithm implements a singleshunt current sensing eliminating three current sensors to one. High range of motor operating speed up to 18000RPM is another advantage of the presented design. Adaptive closed loop rotor flux estimator enhances control performance and increases overall robustness of the system.

Key Markets

• Appliance (washers)

The demo consists of the washing machine, controller board based on

MC56F8013/23 and high voltage power stage.

TM

75

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Key Features

• Sensorless control of BLDC motor based on Back-EMF zero crossing sensing

• Targeted for the MC9S08MP16 Microcontroller

• Running on the 3-phase motor control drive universal low power board (24V) with

MC9S08MP16 daughter board

• Using on-chip comparators for zero crossing sensing

• Closed-loop speed control with automatic current regulation and limitation

• Start from any motor position with rotor alignment

• Manual interface (Run / Stop switch, Up / Down push button control)

• FreeMASTER software control interface (motor run / stop, speed/torque set-up)

• FreeMaster software remote monitor

Description

This application is a 3-phase Brushless DC (BLDC) motor sensorless drive for fans, pumps and compressors. It is based on the low-cost Freescale

MC9S08MP16 hybrid controller. The concept of the application is a closedloop speed-controlled BLDC drive, with no need for position or speed sensors. It serves as a reference design for a BLDC motor sensorless control system, especially for fan, pump and compressor applications.

Demo is based on 3-phase motor control drive universal low power board

(24V) with MC56F8006 daughter board. Application uses an on-chip comparators for back-EMF zaro-crossing evaluation. A designer reference manual provides a detailed description of the application, including the design of the hardware and the software.

Featured Products

• MC9S08MP16

• MC33395 3-Ph. Pre-Driver

Key Markets

• Appliance (compressors, fans,

HVAC, pumps)

• Industrial Drives

TM

76

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Key Features

• Sensorless Vector Control of Panckake Permanent Magnet Synchronous Motor in whole speed range

• Application based on MC56F80XX digital signal controller

• 3-phase AC/BLDC High Voltage Power Stage with 1-ph. line input 110/230VAC @ 50/60Hz

• Pancake Permanent Magnet Synchronous Motor with AC Induction motor as a brake

• Initial position detection using high frequency injection

• standstill torque generation

• low speed operation using high frequency injection

• nominal speed operation using back-EMF observer

• Application based on C-callable library functions (GFLIB, GDFLIB, MCLIB, ACLIB)

• FreeMASTER based control pages

• Fault Protection

Description

Presented demo of sensorless control maintains the electric drive performance and requires no mechanical position or speed sensor. Application of this sensorless control allows generation throughout motor whole speed range starting from zero up to the nominal speed and even motor reversal is achievable. The control of PM motor is based on field oriented control with implemented speed control loop. This includes inner current control loop with implemented decoupling of cross-coupled variables achieving good torque control performance. Application is a single chip solution based on MC56F80xx digital signal controller series without any additional supportive circuitry. The demo consists of the pancake PMSM and motor load, control board based on MC56F8013/23 and high voltage power stage.

TM

77

Featured Products

• MC56F80xx

Key Markets

• Appliance

• V-axis washing machine

• Industrial Drives

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Key Features

• Sensorless Control of Permanent Magnet Synchronous Motor based on Back-EMF Observer

• Application based on MC56F80XX digital signal controller

• 3-phase AC/BLDC High Voltage Power Stage with 1-ph. line input 110/230VAC @ 50/60Hz

• Industrial Permanent Magnet Synchronous Motor with braking mechanism

• Initial rotor position detection using high frequency injection

• Full torque at motor start-up

• Field weakening at high speeds

• Application based on C-callable library functions (GFLIB, GDFLIB, MCLIB, ACLIB)

• Current control loop execution time: 38us

• Speed control loop with Field weakening execution time : 11us

• Flash: ~ 6KB, RAM ~ 1.5KB

• FreeMASTER based control pages

• Fault Protection

Description

This application presents a motor control technique of permanent magnet motor (PM motor) without a need to use a rotor position transducer. This technique particularly targets horizontal axis (H-axis) washing machine with belt drive in fractional horsepower range

The PM motor control solution is based on field oriented control (FOC) with implemented speed control loop. This includes inner current control loop achieving good torque control performance. To maximize converter efficiency and minimize its rating, current loop. Even such sensorless control technique can be realized on low-cost 32-MIPS digital signal controller. Application is a single chip solution based on MC56F80XX digital signal controller series

The demo consists of the 3-phace PM motor, control board based on

MC56F8025 and high voltage power stage.

TM

78

Featured Products

• MC56F80xx

Key Markets

• Industrial Drives

• Appliance

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Key Features

• Sensorless Control of Permanent Magnet Synchronous Motor

• Control algorithm based on Back-EMF Observer tailored to dishwasher pump requirements

• Application based on MC56F8006 digital signal controller

• Low-cost 3-phase High Voltage Power Stage

• Dishwasher Permanent Magnet Synchronous Motor with water pump

• Typical pressure from 103 kPa (15 psi) to 827 kPa (120 psi) - speed range 1500-3500 rpm

• Fault Protection

Description

This application demonstrates a low cost dishwasher pump control solution. This new dishwasher pump employs a 3-phase Permanent

Magnet Synchronous Motor (PMSM), which provides quieter, more efficient, and more reliable operation than previous solutions. The PMSM requires a more complex hardware and software solution than conventional universal AC motor based pumps. To minimize system cost, it is essential to design the most inexpensive drive possible. The extremely low cost Freescale MC56F8006 device is an ideal solution, allowing designers to build an effective drive for dishwasher pumps based on a sensorless algorithm that eliminates a relatively expensive position sensor.

A back EMF observer tailored to the dishwasher pump motor is implemented here. It allows to control the dishwasher pump over required speed and torque range as required by the dishwasher application.

TM

79

Featured Products

• MC56F8006

Key Markets

• Appliance (dishwashers, dryers)

• Industrial drives (pumps, etc.)

• Handheld power tools

• Medical devices & equipments

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Key Features

• Vector control of PMSM using the Quadrature Encoder as a position sensor

• Vector control with speed closed-loop

• Two algorithms implemented:

•Encoder based position and speed measurement

•Sensorless position and speed estimation using Back-EMF Observer

• Start from any motor position (with rotor alignment)

• 4-quadrant operation

• 3-shunt current sensing

• Wide speed range

• FreeMASTER Control Interface

• Fault protection – over-current, over-voltage, under-voltage

Description

This application demonstrates an advanced design of a 3-phase Permanent

Magnet (PM) synchronous motor drive that is controlled sensorless or using an encoder. It is based on Freescale

Semiconductor’s MCF51AC256 controller. The concept of the application is a speed closed loop PM synchronous drive using a Vector Control technique. It serves as an example of a PMSM control. The application uses the Freescale libraries

(GFLIB, MCLIB, GDFLIB, ACLIB) that contained algorithms already compiled and optimized in assembler. This application utilizes a 3-phase power stage equipped with Freescale gate driver and a Freescale chip that creates a virtual COM port via USB for the Freemaster communication. The application contains very attractive graphical gauges web page control for the Freemaster software plus a lot of real time charts to explain the behavior of the system. .

TM

80

Featured Products

• S08MRxxx

Key Markets

• Appliance

• Diswasher pump drives

• Washing machine

• High-end pumps & Fans

• Industrial Drives

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

FreeMASTER

Motor Control

Libraries

Modular, expandable and cost-effective development platform

TWR-56F84789-KIT

Allows control of an application remotely from a graphical environment running on a PC

Comprehensive IDE that provides a highly visual, automated framework to accelerate development of some of the most complex embedded applications

Market-focused software components increasing ease of use and helping decrease time to market

QEDesign

Complimentary filtering tool ideal for designing FIR and

IIR filters

Connectivity

Processor

Expert

Reference

Designs

USB

Freescale

MQX

File

Syste m

BSP &

Drivers

Rapid application design tool that combines easy-to-use component-based application creation with an expert knowledge system

Complimentary gerbers, code and schematics for:

• PMSM/BLDC motor control

• LLC resonant converter

• Solar power conversion

Accelerate design success with complimentary RTOS that is simple to fine-tune for custom applications and scalable to fit requirements

TM

81

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

TM

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-

Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC, Processor

Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack,

CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC

Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and Xtrinsic are trademarks of

Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

For each motor types available:

System description

− Typical applications

− Highlighted products

− Documentation (AN's, brochures)

Reference designs

− HW tools

− SW tools

TM

External

Freescale Web (official doc) www.freescale.com/motorcontrol

83

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

BLDC

http://www.freescale.com/webapp/sps/site/application.jsp?nodeId=02nQXG7C9C&code=APLB

DCM&tab=Training_Support_Tab&aspll=1#ref_designs

3 PHASE AC Induction

http://www.freescale.com/webapp/sps/site/application.jsp?code=APLINDMOT&fasp=1&tab=Trai ning_Support_Tab

1 PHASE AC Induction

http://www.freescale.com/webapp/sps/site/application.jsp?code=APLPHACIND&fasp=1&tab=Tr aining_Support_Tab

PMSM

http://www.freescale.com/webapp/sps/site/application.jsp?code=APLPMSYNCMO&fasp=1&tab

=Training_Support_Tab

STEP

http://www.freescale.com/webapp/sps/site/application.jsp?code=APLSTEMOT&fasp=1&tab=Tra ining_Support_Tab

SRM

http://www.freescale.com/webapp/sps/site/application.jsp?code=APLSWRMOT&fasp=1&tab=Tr aining_Support_Tab

TM

84

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

Freescale has a longstanding track record of

providing long-term production support

for our products

• Freescale is pleased to offer a formal

product longevity program

for the market segments we serve

− For the automotive and medical segments,

Freescale will make a broad range of program devices available for a minimum of

15 years

− For all other market segments in which Freescale participates, Freescale will make a broad range of devices available for a minimum of

10 years

− Life cycles begin at the time of launch

• For terms and conditions and a list of participating

Freescale products

visit: www.freescale.com/productlongevity

TM

85

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, SafeAssure, the SafeAssure logo, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off.

Airfast, BeeKit, BeeStack, CoreNet, Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

TM

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