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Overview

This repository contains a BLDC-Motor-Controller with field-oriented-motor-control (FOC) using the TI C2000 TMS320F280049 with InstaSPIN-FOC control using a TI DRV8320RS SPI-Gatedrive.

The C2000 microcontroller receives its set-points either via SCI/UART based on a simple ASCII-command-system. Via SCI/UART it will return status-information about status-information for a planned Headup-Display.

(Planned) Features:

• input-voltages either 24V, 36V or 48V with input-currents of up to 20A (1kW@48V)
• field-oriented-motor-control using TI InstaSPIN-FOC, TI Motorcontrol-SDK v5.0 and CodeComposerStudio 12.4
• speed-controller controlled via SCI
• two full-featured B6-inverters to control up to two motors independently. Up to now I'm using two TI BOOSTXL-DRV8320RS for testing
• touchscreen headup-display using a RaspberryPi Zero. Up to now there is a Windows-GUI programmed in Delphi 7 that can be used to control the hardware

Commands

• AS0+xxxxCE / AS1+xxxxCE = Set forward-speed for motor 1/2 (with xxxx between 0rpm and 9999rpm)
• AS0-xxxxCE / AS1-xxxxCE = Set reverse-speed for motor 1/2 (with xxxx between 0rpm and 9999rpm)
• AA0+xxxxCE / AA1+xxxxCE = Set maximum acceleration for motor 1/2 (with xxxx between 0rpm/s and 9999rpm/s)
• AT0+0000CE / AT1+0000CE = switch to speed-controlled-mode for motor 1/2 (all reference-values [current or speed] will be set to zero)
• AT0+0001CE / AT1+0001CE = switch to current-(torque)-controlled-mode for motor 1/2 (all reference-values [current or speed] will be set to zero)
• AQ0+xxxxCE / AQ1+xxxxCE = set forward Iq-current (in current-(torque)-controlled-mode) (with xxxx between 0 and 9999, which represents 0...Imax)
• AQ0-xxxxCE / AQ1-xxxxCE = set reverse Iq-current (in current-(torque)-controlled-mode) (with xxxx between 0 and 9999, which represents 0...Imax)
• AF0+0003CE / AF0+0000CE = Start/Stop system (for both motors same command)
• AV0+0000CE / AV1+0000CE = Read data for motor 1/2
• AG0+0000CE / AG1+0000CE = Get status of Gatedriver for motor1/2
• AI0+0000CE = Get general information about the control

"C" = ErrorCheckByte = sum of all bytes between "A" and "C" divided by number of bytes. For example: AV0+0000CE -> C = trunc(sum("V0+0000")/7)

All commands are available as ASCII-coded-values (upper-case-commands) or 32-bit-float-coded-values (lower-case-commands). ASCII-commands are convenient for controlling via a terminal-program. float-based-commands have higher resolution for the setpoints, but require a bit more effort on the code.

Instructions to use this project

• Download and install TI CodeComposerStudio from https://www.ti.com/tool/download/CCSTUDIO (v12.4 has been used for compiling)
• Download and install TI C2000Ware from https://www.ti.com/tool/C2000WARE
• Download and install TI C2000Ware-Motorcontrol-SDK from https://www.ti.com/tool/C2000WARE-MOTORCONTROL-SDK
• Clone the GitHub-Project to a directory of your choice and load the CCS-project
• change the file main.h to your needs and compile the project
• Upload the binary to an LAUNCHXL-F280049C with TI BOOSTXL-DRV8320RS or the self-made eGoCart-PCB
• connect motor(s), connect the RaspberryPi Zero and have fun!

If compilation of project fails

• Update compiler-variable ${C2000WARE_MC_SDK_LOC} to the correct path (standard is "C:\ti\c2000\C2000Ware_MotorControl_SDK_5_00_00_00")
• following paths have to be set as search paths in compiler include options: ${C2000WARE_MC_SDK_LOC}/c2000ware/device_support/f28004x/headers/include/ and ${C2000WARE_MC_SDK_LOC}/c2000ware/device_support/f28004x/common/include/
• following files have to be included to the project: ${C2000WARE_MC_SDK_LOC}/c2000ware/device_support/f28004x/... .../headers/cmd/f28004x_header_nonbios.cmd, .../headers/source/f28004x_globalvariabledefs.c, .../common/targetConfigs/TMS320F280049C_LaunchPad.ccxml