If your PCB uses a different current sense amplifier (e.g., INA240 vs onboard DRV8320), you must adjust the gain in hal.c :
Demystifying Texas Instruments’ C2000Ware Motor Control SDK: Architecture, Capabilities, and Workflow
The user_mtr1.h file is critical. It contains macros like USER_MOTOR_RES_Ohm , USER_MOTOR_IND_H , USER_MOTOR_FLUX_LINK_VB_PER_HZ . The SDK uses these to tune the FAST observer gains automatically at compile time. c2000ware motor control sdk work
Once the system starts, the MCU enters a background loop, waiting for the periodic hardware interrupt. When the interrupt triggers, the following operations execute sequentially:
| Challenge | Solution using SDK | |-----------|--------------------| | Motor didn’t start smoothly | Adjusted FAST startup ramp and initial alignment current. | | Low-speed instability | Switched to HFI (high-frequency injection) available in SDK. | | Overcurrent fault | Modified DCL links trip zone configuration and added soft-start. | | Debugging control bandwidth | Used SFRA to measure open-loop response and tune PI manually. | If your PCB uses a different current sense amplifier (e
Here you find:
"Ready?" she asked, hovering the mouse over the "Start" button in the MotorControl GUI that came with the SDK. Once the system starts, the MCU enters a
The system operates in an open loop using a simulated rotor angle generator (ramp generator) to drive the motor without feedback. Build Level 2: Current Loop Verification Goal: Validate the inner current loops ( Idcap I sub d Iqcap I sub q PI controllers).