Embedded SDK - Freescale Semiconductor

Freescale Semiconductor, Inc... 

ARCHIVED BY FREESCALE SEMICONDUCTOR, INC. 2005 

© Motorola, Inc., 2003. All rights reserved. 

Freescale Semiconductor, Inc. 


Embedded SDK 

(Software Development Kit) 

Targeting Motorola DSP56F80x Platform 

For More Information On This Product, 

Go to: www.freescale.com 

SDK126/D 

Rev. 4, 03/21/2003 

Because of an order from the United States International Trade Commission, BGA-packaged product lines and part numbers indicated here currently are not 

available from Freescale for import or sale in the United States prior to September 2010: DSP56F807VF80, DSP56F807VF80E











Contents 

About This Book 

Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlvii 

Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlvii 

Suggested Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlvii 

Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlviii 

References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlix 

Chapter 1 

Introduction 

1.1 Before You Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1 

1.2 Quick Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1 

1.2.1 Install CodeWarrior Development Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1 

1.2.2 Install DSP56F80xEVM Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2 

1.2.3 Install SDK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2 

1.2.4 Build Released Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3 

Chapter 2 

Directory Structure 

2.1 DSP56F80x SDK Directory Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1 

Chapter 3 

Target Configuration for DSP56F80x 



3.1 SDK Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1 

3.1.1 3DES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1 

3.1.2 ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2 

3.1.3 AEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2 

3.1.4 BLDC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2 

3.1.5 BSP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3 

3.1.6 BUTTON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3 

3.1.7 CALLER_ID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4 

3.1.8 CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4 

3.1.9 CAS_DETECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4 

3.1.10 COP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5 

3.1.11 CORE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5 

3.1.12 CPT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5 

3.1.13 DAC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6 

3.1.14 DECODER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6 

3.1.15 DES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7 

MOTOROLA Table of Contents 



i 






3.1.16 


DSPFUNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7 

3.1.17 DTMF_DET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8 

3.1.18 DTMF_GEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8 

3.1.19 FILEIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-9 

3.1.20 FLASH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-9 

3.1.21 G.165. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10 

3.1.22 G.711. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10 

3.1.23 G.726. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10 

3.1.24 GPIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-11 

3.1.25 IO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-11 

3.1.26 ITCN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-12 

3.1.27 LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-12 

3.1.28 MCFUNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-13 

3.1.29 MEMORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-13 

3.1.30 PCMASTER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-14 

3.1.31 PLL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-14 

3.1.32 PWM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-15 

3.1.33 QUAD_TIMER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-15 

3.1.34 SCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-16 

3.1.35 SIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-16 

3.1.36 SPI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-17 

3.1.37 SRM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-17 

3.1.38 STACK_CHECK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-18 

3.1.39 SWITCH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-18 

3.1.40 TIMER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-19 

3.1.41 VAD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-19 

3.1.42 V.8bis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-19 

3.1.43 V.22bis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-20 

3.1.44 V.42bis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-20 

3.2 Memory Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-21 

3.2.1 External Memory Operation for DSP56F801 & DSP56F802 . . . . . . . . . . . .3-21 

3.2.2 External Memory Operation for DSP56F803 & DSP56F805 . . . . . . . . . . . .3-21 

3.2.2.1 Linker Command File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-21 

3.2.2.2 Linking: Set Up Memory Partitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-24 

3.2.2.3 Programming Target Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-25 

3.2.3 External Memory Operation for DSP56F807. . . . . . . . . . . . . . . . . . . . . . . . .3-26 




3.2.4 Internal (Flash) Memory Operation for DSP56F801 & DSP56802 . . . . . . . .3-31 



3.2.4.3 Linking: Initialized Data for Data RAM. . . . . . . . . . . . . . . . . . . . . . . . . .3-35 


3.2.5 Internal (Flash) Memory Operation for DSP56F803 and DSP56F805 . . . . .3-37 

ii Targeting Motorola DSP56F80x Platform 



MOTOROLA 






3.2.6 


Internal (Flash) Memory Operation for DSP56F807 . . . . . . . . . . . . . . . . . . .3-37 




3.3 DSP56F80x Boot Sequence Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-42 

3.3.1 Start-up Sequence Without Bootloader . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-42 

3.3.1.1 Step 1: Power-up/Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-43 

3.3.1.2 Step 2: Start-up Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-43 

3.3.2 Start-up Sequence with Bootloader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-43 

3.3.2.1 Step 1: Power-up/Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-45 

3.3.2.2 Step 2: Transition to Application’s Entry Point . . . . . . . . . . . . . . . . . . . .3-45 

3.3.2.3 Step 3: Start-up Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-45 

3.4 Clock (PLL) Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-46 

Chapter 4 

Interrupt Processing for the DSP56F80x 

4.1 Interrupt Dispatcher . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1 

4.1.1 Super Fast Interrupt Dispatcher . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1 

4.1.2 Fast Interrupt Dispatcher . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1 

4.1.3 Normal Interrupt Dispatcher. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1 

4.1.4 SDK ISR Overhead. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2 

4.1.5 SDK ISR Stack Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3 

4.2 Nested Interrupts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3 

4.3 Interrupt Priorities. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5 

4.4 Device Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5 

4.4.1 ADC Driver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5 

4.4.2 Button Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6 

4.4.3 CAN Driver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6 

4.4.4 DAC Driver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6 

4.4.5 Decoder Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6 

4.4.6 File I/O Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6 

4.4.7 Flash Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7 

4.4.8 GPIO Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7 

4.4.9 LED Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7 

4.4.10 PC Master Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7 

4.4.11 PWM Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7 

4.4.12 Quad Timer Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7 

4.4.13 SCI Driver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-8 

4.4.14 SPI Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-8 

4.4.15 Switch Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-8 

4.4.16 Timer Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-8 




iii 







Chapter 5 

On-Chip Drivers 

5.1 SPI Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1 

5.1.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1 

5.1.2 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1 

5.1.3 API Definition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2 

5.1.4 SPI Device Independent I/O API Specifications . . . . . . . . . . . . . . . . . . . . . . .5-3 

5.1.4.1 open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4 

5.1.4.2 write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-5 

5.1.4.3 read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-6 

5.1.4.4 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-7 

5.1.4.5 ioctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8 

5.1.5 SPI Low-Level I/O API Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-10 

5.1.6 SPI Driver Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-10 

5.2 Flash Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-12 

5.2.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-12 

5.2.2 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-13 

5.2.3 API Definition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-14 

5.2.4 FLASH Device-Independent I/O API Specifications. . . . . . . . . . . . . . . . . . .5-16 

5.2.4.1 open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-17 

5.2.4.2 write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-18 

5.2.4.3 read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-19 

5.2.4.4 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-20 

5.2.4.5 ioctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-21 

5.2.5 Flash Low-Level I/O Specification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-22 

5.2.6 Flash Driver Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-22 

5.3 SCI Driver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-22 

5.3.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-22 



5.3.4 SCI Device Independent I/O API Specifications . . . . . . . . . . . . . . . . . . . . . .5-26 

5.3.4.1 open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-27 

5.3.4.2 write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-28 

5.3.4.3 read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-29 

5.3.4.4 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-30 

5.3.4.5 ioctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-31 

5.3.5 SCI Low-Level I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-34 

5.3.6 SCI Driver Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-34 

5.4 ADC Driver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-35 

5.4.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-35 



5.4.4 ADC Device-Independent I/O API Specifications . . . . . . . . . . . . . . . . . . . . .5-40 

5.4.4.1 open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-41 

5.4.4.2 read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-42 

5.4.4.3 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-43 

5.4.4.4 ioctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-44 

iv Targeting Motorola DSP56F80x Platform 



MOTOROLA 






5.4.5 


ADC Low-Level I/O API Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-46 

5.4.5.1 adcOpen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-47 

5.4.5.2 adcRead. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-48 

5.4.5.3 adcClose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-49 

5.4.5.4 adcIoctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-50 

5.4.6 ADC Driver Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-52 

5.5 Quad Timer Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-53 

5.5.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-53 



5.5.4 Quad Device-Independent I/O API Specifications. . . . . . . . . . . . . . . . . . . . .5-59 

5.5.4.1 open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-60 

5.5.4.2 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-61 

5.5.4.3 ioctl and qtIoctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-62 

5.5.5 Quad Timer Low-Level I/O API Specifications. . . . . . . . . . . . . . . . . . . . . . .5-66 

5.5.5.1 qtOpen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-67 

5.5.5.2 qtClose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-68 

5.5.5.3 qtIoctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-69 

5.5.6 Quad Timer Driver Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-70 

5.6 GPIO Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-71 

5.6.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-71 



5.6.4 GPIO Device-Independent I/O API Specifications . . . . . . . . . . . . . . . . . . . .5-73 

5.6.4.1 open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-74 

5.6.4.2 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-75 

5.6.4.3 ioctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-76 

5.6.5 GPIO Low-Level I/O API Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . .5-79 

5.6.5.1 gpioOpen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-80 

5.6.5.2 gpioClose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-81 

5.6.5.3 gpioIoctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-82 

5.6.6 GPIO Driver Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-83 

5.7 Quadrature Decoder Driver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-83 

5.7.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-83 



5.7.4 Quadrature Decoder Device-Independent I/O API Specification. . . . . . . . . .5-86 

5.7.4.1 open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-87 

5.7.4.2 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-88 

5.7.4.3 decIoctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-89 

5.7.5 Low-Level Device Driver I/O API Specification . . . . . . . . . . . . . . . . . . . . . .5-97 

5.7.5.1 decoderOpen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-98 

5.7.5.2 decoderClose. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-99 

5.7.5.3 decoderIoctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-100 

5.7.6 Quadrature Decoder Driver Application. . . . . . . . . . . . . . . . . . . . . . . . . . . .5-100 




v 





5.8 


PWM Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-101 

5.8.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-101 

5.8.2 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-101 

5.8.3 API Definition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-103 

5.8.4 PWM Device-Independent I/O API Specification . . . . . . . . . . . . . . . . . . . .5-106 

5.8.4.1 open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-107 

5.8.4.2 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-108 

5.8.4.3 pwmIoctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-109 

5.8.5 Low-Level Device Driver I/O API Specification . . . . . . . . . . . . . . . . . . . . .5-120 

5.8.5.1 pwmOpen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-121 

5.8.5.2 pwmClose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-122 

5.8.6 PWM Driver Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-123 

5.9 PLL Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-124 


5.9.2 API Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-126 

5.9.2.1 plldrvInitialize. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-127 

5.9.2.2 plldrvCalibrate - (DSP56F801 and DSP56F802 only) . . . . . . . . . . . . . .5-131 

5.9.3 PLL Test Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-132 

5.9.4 PLL Status Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-132 

5.9.5 DSP56F801 and DSP56802 Clock Operation . . . . . . . . . . . . . . . . . . . . . . .5-132 

5.9.5.1 DSP56F801 Clock Switch-Over Procedure . . . . . . . . . . . . . . . . . . . . . .5-133 

5.9.5.1.1 Disabling EXTAL and XTAL Pull Up Resistors . . . . . . . . . . . . . . .5-135 

5.9.5.1.2 External Crystal Oscillator Stabilization Delay . . . . . . . . . . . . . . . .5-135 

5.9.5.1.3 External Crystal Oscillator Select. . . . . . . . . . . . . . . . . . . . . . . . . . .5-135 

5.9.5.2 Internal Oscillator Control Register (IOSCTL) . . . . . . . . . . . . . . . . . . .5-135 

5.10 Computer Operating Properly (COP) Driver . . . . . . . . . . . . . . . . . . . . . . . . . . .5-137 



5.10.2.1 copInitialize() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-140 

5.10.2.2 copReload(). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-141 

5.10.2.3 copForceReset() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-142 

5.10.2.4 copGetSysStatus() and copClrSysStatus() . . . . . . . . . . . . . . . . . . . . . . .5-143 

5.10.3 COP Driver Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-145 

5.11 Core Configuration Registers (CORE) Driver . . . . . . . . . . . . . . . . . . . . . . . . . .5-147 

5.12 Interrupt Controller (ITCN) Driver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-147 

5.13 System Integration Module (SIM) Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-149 


5.14 CAN Driver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-151 

5.15 Timer Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-151 

Chapter 6 

Off-Chip Drivers 


6.1 LED Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1 

6.1.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1 

6.1.2 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1 

6.1.3 API Definition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1 

vi Targeting Motorola DSP56F80x Platform 



MOTOROLA 






6.1.4 


LED Device-Independent I/O API Specifications . . . . . . . . . . . . . . . . . . . . . .6-2 

6.1.4.1 open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3 

6.1.4.2 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-4 

6.1.4.3 ioctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5 

6.1.5 Low-Level Device Drivers I/O API Specifications . . . . . . . . . . . . . . . . . . . . .6-7 

6.1.5.1 ledOpen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-8 

6.1.5.2 ledClose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-9 

6.1.5.3 ledIoctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-10 

6.1.6 LED Driver Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-10 

6.2 FILE I/O Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-11 

6.2.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-11 



6.2.4 File I/O Device-Independent I/O API Specifications . . . . . . . . . . . . . . . . . . .6-13 

6.2.4.1 open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-14 

6.2.4.2 write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-15 

6.2.4.3 read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-16 

6.2.4.4 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-17 

6.2.4.5 ioctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-18 

6.2.5 Low-Level I/O Services API Specifications. . . . . . . . . . . . . . . . . . . . . . . . . .6-19 

6.2.6 FILE I/O Driver Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-19 

6.3 PC Master SCI Communication Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-20 

6.3.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-20 


6.3.3 API Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-20 

6.3.4 PC Master Driver Low-Level I/O API Specification . . . . . . . . . . . . . . . . . . .6-23 

6.3.4.1 pcmasterdrvInit - Initialize PC Master Driver Communication . . . . . . . .6-24 

6.3.4.2 pcmasterdrvGetAppCmdSts - Get Application Command Status . . . . . .6-25 

6.3.4.3 pcmasterWriteAppCmdSts - Write Application Command Status. . . . . .6-26 

6.3.4.4 pcmasterdrvIsr - Main communication function . . . . . . . . . . . . . . . . . . .6-27 

6.3.4.5 pcmasterdrvRecorder - Sample recorded variables . . . . . . . . . . . . . . . . .6-28 

6.3.5 PC Master Driver Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-29 

6.4 Switch Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-29 

6.4.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-29 



6.4.4 Switch Device-Independent I/O API Specifications . . . . . . . . . . . . . . . . . . .6-30 

6.4.4.1 open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-31 

6.4.4.2 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-32 

6.4.4.3 ioctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-33 


6.4.5.1 switchOpen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-36 

6.4.5.2 switchClose. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-37 

6.4.5.3 switchIoctl. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-38 

6.4.6 Low-Level I/O Services API Specification . . . . . . . . . . . . . . . . . . . . . . . . . .6-39 

6.4.7 Switch Driver Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-39 

6.4.8 Switch Driver Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-39 




vii 





6.5 


Brake Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-40 

6.5.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-40 



6.5.4 Brake Device-Independent I/O API Specifications . . . . . . . . . . . . . . . . . . . .6-41 

6.5.4.1 open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-42 

6.5.4.2 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-43 

6.5.4.3 ioctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-44 

6.5.5 Brake Driver Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-45 

6.6 Button Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-46 

6.6.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-46 



6.6.4 Button Device-Independent I/O API Specifications. . . . . . . . . . . . . . . . . . . .6-47 

6.6.4.1 open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-48 

6.6.4.2 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-49 


6.6.5.1 buttonOpen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-51 

6.6.5.2 buttonClose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-52 

6.6.6 Button Driver Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-53 

6.7 Digital to Analog Converter (DAC) Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-53 

6.7.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-53 



6.7.4 DAC Device-Independent I/O API Specification. . . . . . . . . . . . . . . . . . . . . .6-54 

6.7.4.1 open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-55 

6.7.4.2 write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-56 

6.7.4.3 close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-57 

6.7.4.4 ioctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-58 

6.7.5 Low-Level I/O Services API Specification . . . . . . . . . . . . . . . . . . . . . . . . . .6-59 

6.7.5.1 dacOpen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-60 

6.7.5.2 dacWrite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-61 

6.7.5.3 dacClose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-62 

6.7.5.4 dacIoctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-63 

6.7.6 DAC Driver Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-64 

Chapter 7 

Libraries 


7.1 Signal Processing Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1 

7.1.1 DSP Functional Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-2 

7.1.1.1 Trigonometric Math Function Performance . . . . . . . . . . . . . . . . . . . . . . . .7-2 

7.1.1.2 Signal Processing Function Performance . . . . . . . . . . . . . . . . . . . . . . . . . .7-2 

7.1.1.2.1 autoCorr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-3 

7.1.1.2.2 cbitrev . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-3 

7.1.1.2.3 cfft. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-3 

7.1.1.2.4 cifft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-4 

7.1.1.2.5 corr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5 

viii Targeting Motorola DSP56F80x Platform 



MOTOROLA 






7.1.2 


fir. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5 

7.1.2.1 iir. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5 

7.1.2.2 rfft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-6 

7.1.2.3 rifft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-7 

7.2 Motor Control Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-7 

7.2.1 Motor Control Function Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-7 

7.2.2 AC Induction Motor Library. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-8 

7.2.3 Switched Reluctance Motor Library. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-8 

7.2.4 Brushless DC Motor Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-8 

7.3 Modem Libraries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-8 

7.3.1 V.8bis Library. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-8 

7.3.1.1 Background. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-9 

7.3.1.2 Features and Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-9 

7.3.2 V.21 Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-10 

7.3.2.1 Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-10 

7.3.3 V.22bis Library. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-11 

7.3.3.1 Background. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-11 

7.3.3.2 Features and Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-12 

7.3.4 V.42bis Library. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-13 

7.3.4.1 Features and Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-13 

7.4 Security Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-14 

7.4.1 Data Encryption Standard (DES) Library. . . . . . . . . . . . . . . . . . . . . . . . . . . .7-14 

7.4.2 Triple Data Encryption Standard (3DES) Library . . . . . . . . . . . . . . . . . . . . .7-16 

7.4.3 RSA Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-17 

7.5 Telephony Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-18 

7.5.1 Acoustic Echo Canceller Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-18 

7.5.2 Caller ID Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-19 

7.5.3 CAS Detect Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-20 

7.5.4 CPT Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-21 

7.5.5 Common Tone Generation Library. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-21 

7.5.6 DTMF Generation Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-22 

7.5.7 DTMF Detection Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-22 

7.5.8 G.165 Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-23 

7.5.9 G.168 Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-24 

7.5.9.1 Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-24 

7.5.10 G.711 Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-25 

7.5.11 G.726 Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-26 

7.5.12 MFCR2 Detection Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-26 

7.5.12.1 Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-27 

7.5.13 VAD Library. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-27 

7.6 Speech Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-28 

7.6.1 Voice Recognition (VRLite-1) Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-28 




ix 





Chapter 8 

Library Tests 

8.1 System Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1 

8.1.1 System Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1 

8.1.1.1 Set-up for System Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1 

8.1.1.2 Procedure for System Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1 

8.2 Tools Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2 

8.2.1 FIFO Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2 

8.2.1.1 Set-up for FIFO Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2 

8.2.1.2 Procedure for FIFO Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2 

8.3 DSP Functions Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2 

8.3.1 Math Tests. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2 

8.3.1.1 Set-up for Math Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2 

8.3.1.2 Procedures for Math Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3 

8.3.2 Filter Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3 

8.3.2.1 Set-up for Filter Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3 

8.3.2.2 Procedure for Filter Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3 

8.3.3 RFFT Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3 

8.3.3.1 Set-up for RFFT Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3 

8.3.3.2 Procedure for RFFT Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-4 

8.3.4 CFFT Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-4 

8.3.4.1 Set-up for CFFT Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-4 

8.3.4.2 Procedure for CFFT Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-4 

Chapter 9 

DSP56F801/802 Applications 



9.1 Porting 801 Applications to 802 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1 

9.2 Common Hardware Configuration for Motor Control Applications . . . . . . . . . . .9-1 

9.2.1 Settings for EVM Trimpots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1 

9.3 BLDC Sensorless with Back-EMF Zero Crossing Using ADC Application . . . . .9-2 

9.3.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-2 

9.3.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-3 

9.3.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-5 

9.3.3.1 EVM Jumper Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-5 

9.3.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-6 

9.3.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-7 

9.4 3-Phase AC Induction Motor Control V/Hz Application - Open Loop . . . . . . . . .9-7 

9.4.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-8 

9.4.2 Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-8 

9.4.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-13 

9.4.3.1 EVM Jumper Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-13 

9.4.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-14 

9.4.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-15 

9.5 Serial Bootloader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16 

9.5.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16 

9.5.2 Target Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16 

x Targeting Motorola DSP56F80x Platform 



MOTOROLA 





9.5.3 


Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-17 


9.5.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-17 

9.5.4.1 Download into Boot Flash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-17 

9.5.4.2 Host Terminal Program Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-18 

9.5.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-18 

9.5.6 Requirements for a Loaded Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-19 

9.6 ADC Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-20 

9.7 COP Driver Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-20 

9.8 PWM Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-21 

9.9 Quad Timer Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-21 

9.10 SCI Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-21 

9.11 Timer Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-21 

9.11.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-21 

9.11.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-21 

9.11.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-22 

9.11.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-22 

9.11.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-22 

Chapter 10 

DSP56F803 Applications 


10.1 Common Hardware Configuration for Motor Control Applications . . . . . . . . . .10-1 

10.1.1 Settings for EVM Trimpots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1 

10.1.2 Communication Port Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2 

10.2 BLDC Motor Control Application with Hall Sensors . . . . . . . . . . . . . . . . . . . . .10-2 

10.2.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2 


10.2.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-7 


10.2.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-9 

10.2.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-10 

10.3 BLDC Motor Control Application with Quadrature Encoder . . . . . . . . . . . . . .10-10 

10.3.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-10 

10.3.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-11 

10.3.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-15 

10.3.3.1 EVM Jumper Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-15 

10.3.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-17 

10.3.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-18 

10.4 Synchro PM Motor Control Application with Quadrature Encoder. . . . . . . . . .10-18 

10.4.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-18 


10.4.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-23 

10.4.3.1 PM Synchronous Motor Versus BLDC Motor . . . . . . . . . . . . . . . . . . . .10-23 


10.4.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-25 

10.4.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-26 




xi 






10.5 


BLDC Sensorless with Back-EMF Zero Crossing Application . . . . . . . . . . . . .10-27 

10.5.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-27 


10.5.3 Set-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-30 


10.5.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-35 

10.5.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-35 

10.6 BLDC Sensorless with Back-EMF Zero Crossing Using AD Converter 

Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-36 

10.6.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-36 


10.6.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-40 


10.6.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-44 

10.6.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-44 

10.7 3-Phase PM Synchronous Motor Vector Control . . . . . . . . . . . . . . . . . . . . . . . .10-45 

10.7.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-45 


10.7.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-52 

10.7.3.1 PM Synchronous Motor Versus BLDC Motor. . . . . . . . . . . . . . . . . . . .10-54 


10.7.4 .Build. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-55 

10.7.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-56 

10.7.6 PC Master Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-57 

10.8 3-Phase SR Motor Control Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-58 

10.8.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-58 


10.8.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-61 


10.8.4 .Build. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-65 

10.8.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-66 

10.9 3-Phase SR Sensorless Motor Control Application . . . . . . . . . . . . . . . . . . . . . .10-67 

10.9.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-67 


10.9.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-73 


10.9.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-75 

10.9.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-76 


10.10 3-Phase SR Motor Control with Encoder Application . . . . . . . . . . . . . . . . . . .10-78 

10.10.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-78 


10.10.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-82 


10.10.4 .Build. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-85 

10.10.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-86 


xii Targeting Motorola DSP56F80x Platform 



MOTOROLA 







10.11 3-Phase AC Induction Motor Control V/Hz Application - Open Loop . . . . . . .10-87 

10.11.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-87 

10.11.2 Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-88 

10.11.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-93 


10.11.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-95 

10.11.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-95 

10.12 3-Phase AC Induction Motor Control V/Hz Application - Closed Loop . . . . . .10-96 

10.12.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-96 


10.12.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-103 

10.12.3.1 EVM Jumper Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-104 

10.12.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-105 

10.12.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-105 

10.13 3-Phase ACIM Vector Control Application . . . . . . . . . . . . . . . . . . . . . . . . . . .10-106 

10.13.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-106 

10.13.2 Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-106 

10.13.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-113 


10.13.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-116 

10.13.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-117 

10.13.6 PC Master Software Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-118 

10.14 Digital Power Factor Correction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-118 

10.14.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-118 


10.14.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-121 


10.14.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-123 

10.14.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-123 

10.15 Digital Power Factor Correction for 3-phase AC Motor V/Hz Open Loop . . .10-124 

10.15.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-124 


10.15.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-125 


10.15.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-126 

10.15.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-126 

10.16 Serial Bootloader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-126 

10.16.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-126 


10.16.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-127 


10.16.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-127 

10.16.4.1 Download into Boot Flash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-128 

10.16.4.2 Host Terminal Program Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-128 

10.16.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-128 

10.16.6 Requirements for a Loaded Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-129 

10.16.7 DSP Peripheral Usage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-130 




xiii 






10.17 ADC Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-131 

10.18 COP Driver Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-131 

10.19 PWM Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-131 

10.20 Quad Timer Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-131 

10.21 SCI Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-131 

10.22 Timer Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-131 

10.22.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-131 

10.22.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-132 

10.22.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-132 

10.22.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-132 

10.22.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-133 

10.23 CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-133 

10.24 Flash Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-133 

Chapter 11 







11.2.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-2 


11.2.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-7 


11.2.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-9 

11.2.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-10 


11.3.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-11 


11.3.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-15 


11.3.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-17 

11.3.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-18 


11.4.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-19 


11.4.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-24 

11.4.3.1 PM Synchronous Motor versus BLDC Motor . . . . . . . . . . . . . . . . . . . .11-24 


11.4.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-26 

11.4.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-27 

11.5 BLDC Sensorless with Back-EMF Zero Crossing Application . . . . . . . . . . . . .11-28 

11.5.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-28 


11.5.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-32 


11.5.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-36 

xiv Targeting Motorola DSP56F80x Platform 



MOTOROLA 






11.5.5 


Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-36 


Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-37 

11.6.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-37 


11.6.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-41 


11.6.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-45 

11.6.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-45 


11.7.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-46 


11.7.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-53 

11.7.3.1 PM Synchronous Motor Versus BLDC Motor. . . . . . . . . . . . . . . . . . . .11-55 


11.7.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-56 

11.7.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-57 



11.8.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-59 


11.8.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-63 


11.8.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-67 

11.8.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-68 


11.9.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-69 


11.9.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-74 


11.9.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-76 

11.9.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-77 



11.10.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-79 


11.10.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-84 


11.10.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-86 

11.10.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-87 



11.11.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-88 


11.11.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-94 


11.11.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-97 




xv 






11.11.5 


Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-98 

11.12 3-Phase AC Induction Motor Control V/Hz Application - Closed Loop . . . . . .11-98 

11.12.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-98 


11.12.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-104 


11.12.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-107 

11.12.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-107 


11.13.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-108 


11.13.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-115 


11.13.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-118 

11.13.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-119 


11.14 Digital Power Factor Correction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-121 

11.14.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-121 


11.14.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-123 


Note: Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-126 

11.14.4 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-126 

11.15 Digital Power Factor Correction for 3-phase AC Motor V/Hz Open Loop . . .11-127 

11.15.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-127 


11.15.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-128 


11.15.3.2 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-130 

11.15.4 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-130 


11.16.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-130 


11.16.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-131 


11.16.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-131 



11.16.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-132 








xvi Targeting Motorola DSP56F80x Platform 



MOTOROLA 







11.22.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-135 


11.22.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-136 

11.22.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-136 

11.22.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-137 

11.23 CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-137 


11.25 DAC Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-137 

11.26 SPI Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-137 

Chapter 12 







12.2.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-2 


12.2.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-7 


12.2.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-9 

12.2.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-10 


12.3.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-10 


12.3.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-15 


12.3.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-17 

12.3.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-18 


12.4.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-19 


12.4.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-23 



12.4.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-25 

12.4.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-26 

12.5 BLDC Sensorless with Back-EMF Zero Crossing Application . . . . . . . . . . . . .12-26 

12.5.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-26 


12.5.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-30 


12.5.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-35 

12.5.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-36 




xvii 






12.6 


BLDC Sensorless with Back-EMF Zero Crossing Using AD Converter 

Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-37 

12.6.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-37 


12.6.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-40 


12.6.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-45 

12.6.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-46 


12.7.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-47 


12.7.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-54 



12.7.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-57 

12.7.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-58 



12.8.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-60 


12.8.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-63 


12.8.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-67 

12.8.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-68 


12.9.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-69 


12.9.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-74 


12.9.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-77 

12.9.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-78 



12.10.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-80 


12.10.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-85 


12.10.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-87 

12.10.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-88 



12.11.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-90 


12.11.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-96 


12.11.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-98 

12.11.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-99 

xviii Targeting Motorola DSP56F80x Platform 



MOTOROLA 







12.12 3-Phase AC Induction Motor Control V/Hz Application - Closed Loop . . . . .12-100 

12.12.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-100 


12.12.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-106 


12.12.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-109 

12.12.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-110 


12.13.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-111 


12.13.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-118 


12.13.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-121 

12.13.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-122 


12.14 Digital Power Factor Correction Application. . . . . . . . . . . . . . . . . . . . . . . . . .12-123 

12.14.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-123 


12.14.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-126 


12.14.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-129 

12.14.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-130 

12.15 Digital Power Factor Correction for 3-phase AC Motor V/Hz Open Loop 

Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-131 

12.15.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-131 


12.15.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-132 


12.15.3.2 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-133 

12.15.4 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-134 


12.16.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-134 


12.16.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-135 


12.16.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-135 



12.16.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-136 











xix 








12.22.1 Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-139 


12.22.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-140 

12.22.4 Build . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-140 

12.22.5 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-141 

12.23 CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-141 


12.25 DAC Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-141 

12.26 SPI Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-141 

xx Targeting Motorola DSP56F80x Platform 



MOTOROLA 





List of Tables 



Table 3-1 DSP56F80x OMR Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7 

Table 3-2 DSP56F80x SR Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7 

Table 4-1 SDK ISR Overhead for DSP56F80x (running from internal memory) . . . . . . . 4-2 

Table 4-2 SDK ISR Overhead for DSP56F80x (running from external memory) . . . . . . . 4-2 

Table 4-3 SDK ISR Stack Requirements for DSP56F80x . . . . . . . . . . . . . . . . . . . . . . . . . 4-3 

Table 5-1 SPI Data Structure Members . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2 

Table 5-2 SPI Driver open Arguments - open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4 

Table 5-3 SPI Driver Arguments - write. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5 

Table 5-4 SPI Driver Arguments - read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6 

Table 5-5 SPI Driver Arguments - close. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7 

Table 5-6 SPI Driver Arguments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8 

Table 5-7 SPI ioctl Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8 

Table 5-8 Flash Driver appconfig.h Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13 

Table 5-9 Flash Driver open Arguments - open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17 

Table 5-10 Flash Driver Arguments - write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18 

Table 5-11 Flash Driver Arguments - read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19 

Table 5-12 Flash Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20 

Table 5-13 Flash Driver Arguments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21 

Table 5-14 Flash ioctl Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21 

Table 5-15 SCI Configuration Items for appconfig.h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23 

Table 5-16 SCI Data Structure Members . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25 

Table 5-17 SCI Control Register bit masks, SciCntl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25 

Table 5-18 SCI Driver open Arguments - open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27 

Table 5-19 SCI Devices for Specific DSP56F80x Chips . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27 

Table 5-20 SCI Driver Arguments - write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28 

Table 5-21 SCI Driver Arguments - read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-29 

Table 5-22 SCI Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30 

Table 5-23 SCI Driver Arguments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31 

Table 5-24 SCI ioctl Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31 

Table 5-25 ADC appconfig.h Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35 

Table 5-26 ADC Data Structure Members . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-39 

Table 5-27 ADC Driver Arguments - open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-41 

Table 5-28 ADC Driver Arguments - read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42 

Table 5-29 ADC Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43 

MOTOROLA List of Tables 



xxi 






Table 5-30 


ADC Driver Arguments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44 

Table 5-31 ADC ioctl Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44 

Table 5-32 ADC Driver Arguments - open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-47 

Table 5-33 adcRead driver Arguments - read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-48 

Table 5-34 ADC Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-49 

Table 5-35 GPIO Driver Arguments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-50 

Table 5-36 Pin Availability of Quad Timers for Specific Chips. . . . . . . . . . . . . . . . . . . . . 5-53 

Table 5-37 Quad Timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54 

Table 5-38 Quad Timer Data Structure Members. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-56 

Table 5-39 Quad Driver Arguments - open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60 

Table 5-40 Quad Timer Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61 

Table 5-41 Quad Timer Driver Arguments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-62 

Table 5-42 Quad Timer ioctl/qIoctl Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-62 

Table 5-43 Quad Timer Driver Arguments - open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-67 

Table 5-44 Quad Timer Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-68 

Table 5-45 GPIO Driver open Arguments - open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-74 

Table 5-46 GPIO Ports Available for Specific DSP56F80x Chips. . . . . . . . . . . . . . . . . . . 5-74 

Table 5-47 GPIO Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75 


Table 5-49 GPIO ioctl Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-76 

Table 5-50 GPIO Driver Arguments - gpioOpen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-80 

Table 5-51 GPIO Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-81 


Table 5-53 decoder_sCallback Data Structure Members . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84 

Table 5-54 decoder_sState Data Structure Members . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84 

Table 5-55 decoder_sEncScale Data Structure Members . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84 

Table 5-56 decoder_sEncSignals Data Structure Members . . . . . . . . . . . . . . . . . . . . . . . . 5-85 

Table 5-57 Quadrature Decoder Driver open Arguments - open . . . . . . . . . . . . . . . . . . . . 5-87 

Table 5-58 Quadrature Decoder Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . 5-88 

Table 5-59 Quadrature Decoder Driver Arguments - decIoctl . . . . . . . . . . . . . . . . . . . . . . 5-89 

Table 5-60 Low-Level Quadrature Decoder Driver open Arguments - open . . . . . . . . . . . 5-98 

Table 5-61 Low-Level Quadrature Decoder Driver Arguments - decoderClose . . . . . . . . 5-99 

Table 5-62 Low-Level Quadrature Decoder Driver Arguments - decoderIoctl . . . . . . . . 5-100 

Table 5-63 PWM appconfig.h Configuration Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-101 

Table 5-64 pwm_sCallback Data Structure Members . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-104 

Table 5-65 pwm_sComplementaryValues Data Structure Members . . . . . . . . . . . . . . . . 5-104 

Table 5-66 pwm_sIndependentValues Data Structure Members . . . . . . . . . . . . . . . . . . . 5-104 

Table 5-67 pwm_sOutputControl Data Structure Members . . . . . . . . . . . . . . . . . . . . . . . 5-104 

Table 5-68 pwm_sUpdateValueSetVlmode Data Structure Members . . . . . . . . . . . . . . . 5-105 

xxii Targeting Motorola DSP56F80x Platform 



MOTOROLA 






Table 5-69 


pwm_sChannelControl Data Structure Members . . . . . . . . . . . . . . . . . . . . . . 5-105 

Table 5-70 PWM Driver Arguments - open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-107 

Table 5-71 PWM Devices for Specific DSP56F80x Chips . . . . . . . . . . . . . . . . . . . . . . . 5-107 

Table 5-72 PWM Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-108 

Table 5-73 PWM Driver Arguments - pwmIoctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-109 

Table 5-74 Low-Level PWM Driver Arguments - pwmOpen . . . . . . . . . . . . . . . . . . . . . 5-121 

Table 5-75 Low-Level PWM Driver Arguments - pwmClose . . . . . . . . . . . . . . . . . . . . . 5-122 

Table 5-76 PLL Driver Arguments - plldrvInitialize . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-127 

Table 5-77 PLL Control Register Definitions - ControlReg. . . . . . . . . . . . . . . . . . . . . . . 5-127 

Table 5-78 PLL Divide-By Register - DivideReg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-127 

Table 5-79 PLL Test Register - TestReg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-128 

Table 5-80 PLL Select Register - SelectReg. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-128 

Table 5-81 COP Control Register (COPCTL) Default Configuration . . . . . . . . . . . . . . . 5-137 

Table 5-82 COP Timeout Register (COPTO) Default Configuration. . . . . . . . . . . . . . . . 5-137 

Table 5-83 COP Driver Arguments - copInitialize() . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-140 

Table 5-84 COP Driver Arguments - copGetSysStatus() and copClrSysStatus() . . . . . . 5-143 

Table 5-85 CORE Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-147 

Table 5-86 ITCN Default Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-148 

Table 5-87 SYS_CNTL Default Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-150 

Table 5-88 Configuration Items for appconfig.h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-151 

Table 6-1 LED Driver Arguments - open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3 

Table 6-2 LED Driver Arguments - close. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4 

Table 6-3 LED Driver Arguments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5 

Table 6-4 LEDs for Specific EVM Boards (pParams - input parameter) . . . . . . . . . . . . . . 6-5 

Table 6-5 LED ioctl Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5 

Table 6-6 Low-Level LED Driver Arguments - open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8 

Table 6-7 LED Driver Arguments - ledClose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9 

Table 6-8 Low-Level LED Driver Arguments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10 

Table 6-9 File I/O Driver open Arguments - open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14 

Table 6-10 File I/O Driver Arguments - write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15 

Table 6-11 File I/O Driver Arguments - read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16 

Table 6-12 File I/O Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17 

Table 6-13 File I/O Driver Arguments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18 

Table 6-14 File I/O ioctl Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18 

Table 6-15 PC Master Driver appconfig.h Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20 

Table 6-16 sPCMasterComm structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22 

Table 6-17 timeBase format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22 

Table 6-18 pcmasterdrvInit parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24 

Table 6-19 pcmasterdrvWriteAppCmdSts arguments . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26 




xxiii 






Table 6-20 


Switch DriverArguments - open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31 

Table 6-21 Switch Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32 

Table 6-22 Switch Driver Arguments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33 

Table 6-23 Switch ioctl Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33 

Table 6-24 Low-Level Switch Driver Arguments - open . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36 

Table 6-25 Low-Level Switch Driver Arguments - close. . . . . . . . . . . . . . . . . . . . . . . . . . 6-37 

Table 6-26 Low-Level Switch Driver Arguments - switchIotcl . . . . . . . . . . . . . . . . . . . . . 6-38 

Table 6-27 Brake Driver open Arguments - open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42 

Table 6-28 Availability of Brake Devices for Specific Platforms . . . . . . . . . . . . . . . . . . . 6-42 

Table 6-29 Brake Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43 

Table 6-30 Brake ioctl Arguments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44 

Table 6-31 Brake ioctl Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44 

Table 6-32 Button Driver Arguments - open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-48 

Table 6-33 Availability of Button Devices for Specific Platforms. . . . . . . . . . . . . . . . . . . 6-48 

Table 6-34 Button Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-49 

Table 6-35 Button Driver Arguments - open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-51 

Table 6-36 Button Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-52 

Table 6-37 DAC Driver Arguments - open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-55 

Table 6-38 DAC Driver Arguments - write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-56 

Table 6-39 DAC Driver Arguments - close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-57 

Table 6-40 DAC Driver Arguments - ioctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-58 

Table 6-41 DAC ioctl Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-58 

Table 6-42 dacOpen Driver Arguments - dacOpen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-60 

Table 6-43 Low Level dacWrite Driver Arguments - dacWrite . . . . . . . . . . . . . . . . . . . . . 6-61 

Table 6-44 Low-Level dacClose Driver Arguments - dacClose. . . . . . . . . . . . . . . . . . . . . 6-62 

Table 6-45 DAC Driver Arguments - ioctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-63 

Table 7-1 Trigonometric Math Function Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2 

Table 7-2 autoCorr Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3 

Table 7-3 cbitrev Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3 

Table 7-4 cfft Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4 

Table 7-5 cifft Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4 

Table 7-6 corr Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5 

Table 7-7 iir Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6 

Table 7-8 rfft Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6 

Table 7-9 rifft Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7 

Table 7-10 V.8bis Memory and MIPS Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9 

Table 7-11 MIPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10 

Table 7-12 Frequencies Used in V.21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10 

Table 7-13 V.21 Memory and MIPS Requirements for Internal Memory on the 

DSP5680x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11 

xxiv Targeting Motorola DSP56F80x Platform 



MOTOROLA 






Table 7-14 


V.22bis Operating Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12 

Table 7-15 V.22bis Memory and MIPS Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12 

Table 7-16 V.42bis Memory and MIPS Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13 

Table 7-17 V.42bis Cycle Count. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14 

Table 7-18 DES Memory and MIPs Requirements for External Memory on the 

DSP56F80x. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-15 

Table 7-19 DES Cycle Counts for External Memory on the DSP56F80x . . . . . . . . . . . . . 7-15 

Table 7-20 3DES Memory and MIPS Requirements for External Memory on the 

DSP56F80x. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-16 

Table 7-21 3DES Cycle Count for External Memory on the DSP56F80x . . . . . . . . . . . . . 7-16 

Table 7-22 RSA Memory and MIPS Requirements for External Memory on the 

DSP56F80x. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18 

Table 7-23 RSA Cycle Count for External Memory on the DSP56F80x . . . . . . . . . . . . . . 7-18 

Table 7-24 AEC Memory and MIPS Requirements for External Memory on the 

DSP56F80x. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19 

Table 7-25 Caller ID Memory and MIPS Requirements for External Memory on the 

DSP56F80x. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20 

Table 7-26 CAS Detect Memory and MIPS for External Memory on the DSP56F80x. . . 7-20 

Table 7-27 CPT Memory and MIPS Requirements for External Memory on the 

DSP56F80x. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21 

Table 7-28 CTG MIPS and Memory Requirements for External Memory on the 

DSP56F80x. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21 

Table 7-29 MIPS and Memory Requirements for External Memory on the DSP56F80x . 7-22 

Table 7-30 MIPS and Memory Requirements for External Memory on the DSP56F80x . 7-23 

Table 7-31 G.165 Memory and MIPs Requirements for External Memory on the 

DSP56F80x. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-23 

Table 7-32 G.168 Memory and MIPS Requirements for Internal Memory on the 

DSP56F80x. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24 

Table 7-33 G.711 Memory and MIPS for External Memory on the DSP56F80x . . . . . . . 7-25 

Table 7-34 G726 Memory and MIPS Requirements for External Memory on the 

DSP56F80x. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-26 

Table 7-35 MFCR2 Detection Memory and MIPS for Internal Memory on the 

DSP56F80x. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27 

Table 7-36 VAD Memory and MIPS Requirements for External Memory on the 

DSP56F80x. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28 

Table 7-37 VRLite-1 Memory and MIPS Requirements for External Memory on the 

DSP56F80x. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30 

Table 7-38 Instruction Cycle Counts for External Memory on the DSP56F80x . . . . . . . . 7-30 

Table 9-1 Trimpot Settings for EVM Motor Board BLDC Motor Control Application . . 9-2 

Table 9-2 DSP56F801EVM Jumper Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6 




xxv 







9.4 3-Phase AC Induction Motor Control V/Hz Application - Open Loop . . . . . . . . . . 9-7 

Table 9-3 Motor--Brake Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9 

Table 9-4 Motor Application States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11 

Table 9-5 DSP56F801EVM Jumper Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14 

Table 9-6 Error Codes for the Serial Bootloader Application . . . . . . . . . . . . . . . . . . . . . 9-19 

Table 10-1 Trimpot Settings for EVM Motor Board BLDC Motor Control Application . 10-1 

Table 10-2 Trimpot Settings for Low-Voltage BLDC Motor Control Application . . . . . . 10-1 

10.2 BLDC Motor Control Application with Hall Sensors . . . . . . . . . . . . . . . . . . . . . . . 10-2 

Table 10-3 Trimpot Settings for High-Voltage BLDC Motor Control Application. . . . . . 10-2 



10.3 BLDC Motor Control Application with Quadrature Encoder. . . . . . . . . . . . . . . 10-10 

Table 10-6 Motor Application States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-13 

Table 10-7 DSP56F803EVM Jumper Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-16 

10.4 Synchro PM Motor Control Application with Quadrature Encoder . . . . . . . . . 10-18 



10.5 BLDC Sensorless with Back-EMF Zero Crossing Application . . . . . . . . . . . . . . 10-27 



Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-36 


10.73-Phase PM Synchronous Motor Vector Control . . . . . . . . . . . . . . . . . . . . . . . . . 10-45 

Table 10-12 Motor - Brake Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-46 

Table 10-13 Application States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-50 


10.8 3-Phase SR Motor Control Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-58 


10.9 3-Phase SR Sensorless Motor Control Application . . . . . . . . . . . . . . . . . . . . . . . . 10-67 


10.10 3-Phase SR Motor Control with Encoder Application. . . . . . . . . . . . . . . . . . . . . 10-78 


xxvi Targeting Motorola DSP56F80x Platform 



MOTOROLA 







10.11 3-Phase AC Induction Motor Control V/Hz Application - Open Loop . . . . . . . . 10-87 




10.12 3-Phase AC Induction Motor Control V/Hz Application - Closed Loop. . . . . . . 10-96 


Table 10-22 Motor Application States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-100 

Table 10-23 DSP56F803EVM Jumper Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-104 

10.13 3-Phase ACIM Vector Control Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-106 

Table 10-24 Motor - Brake Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-107 



10.14 Digital Power Factor Correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-118 


10.15 Digital Power Factor Correction for 3-phase AC Motor V/Hz Open Loop . . . 10-124 

10.16 Serial Bootloader. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-126 

Table 10-28 Error Codes for the Serial Bootloader Application . . . . . . . . . . . . . . . . . . . 10-129 

Table 11-1 Trimpot Settings for EVM Motor Board BLDC Motor Control Application . 11-1 

Table 11-2 Trimpot Settings for Low-Voltage BLDC Motor Control Application . . . . . . 11-1 


Table 11-3 Trim Pot Settings for High-Voltage BLDC Motor Control Application . . . . . 11-2 





Table 11-7 DSP56F805EVM Jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-16 



Table 11-9 DSP56F805EVM Jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-25 




Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-37 





xxvii 








Table 11-12 Motor--Brake Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-48 














Table 11-21 Motor--Brake Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-100 




Table 11-24 Motor--Brake Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-110 

Table 11-25 Application States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-113 







Table 12-1 Trimpot Settings for EVM Motor Board BLDC Motor Control Applications. 12-1 

Table 12-2 Trimpot Settings for Low-Voltage BLDC Motor Control Applications . . . . . 12-1 


Table 12-3 Trimpot Settings for High-Voltage BLDC Motor Control Applications . . . . . 12-2 


Table 12-5 BLDC Motor Control Application with Hall Sensors Jumper Settings . . . . . . 12-8 

xxviii Targeting Motorola DSP56F80x Platform 



MOTOROLA 
















Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-37 












Table 12-18 Motor---Brake Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-91 



12.12 3-Phase AC Induction Motor Control V/Hz Application - Closed Loop. . . . . . 12-100 











xxix 







12.14 Digital Power Factor Correction Application . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-123 



Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-131 



xxx Targeting Motorola DSP56F80x Platform 



MOTOROLA 





List of Figures 



Figure 1-1 Launch CodeWarrior Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 

Figure 1-2 Select File/Open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 

Figure 1-3 Select ...\sdk\src\dsp56F80xevm\nos Directory . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 

Figure 1-4 Select buildall.mcp Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 

Figure 1-5 Buildall.mcp Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 

Figure 1-6 Execute Make Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 

Figure 2-1 DSP56F80x Directories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 

Figure 3-1 Setup of DSP56F803/DSP56F805 Memory Partitions. . . . . . . . . . . . . . . . . . . 3-24 

Figure 3-2 Programming Target Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25 

Figure 3-3 Set Up DSP56F807 Memory Partitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29 


Figure 3-5 Set Up DSP56F801/802 Memory Partitions. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34 

Figure 3-6 Linking: Initialized Data for Data RAM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-35 


Figure 3-8 Set Up DSP56F807 Memory Partitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40 


Figure 3-10 DSP56F80x Boot Sequence without Bootloader . . . . . . . . . . . . . . . . . . . . . . . 3-42 

Figure 3-11 DSP56F80x Boot Sequence with Bootloader. . . . . . . . . . . . . . . . . . . . . . . . . . 3-44 

Figure 3-12 SDK Clock Configuration for DSP56F80x . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46 

Figure 5-1 Trim Pots Pins (Top View). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10 

Figure 5-2 DSP56F805EVM Board Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11 

Figure 5-3 DSP56F805EVM Board: Connector J20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11 

Figure 5-4 1kHz Sine Wave Output of Digital to Analog Converter. . . . . . . . . . . . . . . . . 5-12 

Figure 5-5 OCCS Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-124 

Figure 5-6 Internal Oscillator Control Register (IOSCTL) . . . . . . . . . . . . . . . . . . . . . . . 5-136 

Figure 6-1 Basic Set-up for File I/O Utilization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11 

Figure 7-1 Typical Speaker-Dependent Speech Recognition Block Diagram . . . . . . . . . . 7-29 

Figure 9-1 Trimpot Pins (Top View) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2 

Figure 9-2 RUN/STOP Switch and IRQA Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4 

Figure 9-3 Set-up of the EVM motor board BLDC Motor Control Application . . . . . . . . . 9-5 

Figure 9-4 DSP56F801EVM Jumper Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6 

Figure 9-5 Execute Make Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7 

MOTOROLA List of Figures 



xxxi 







9.4 3-Phase AC Induction Motor Control V/Hz Application - Open Loop . . . . . . . . . . 9-7 

Figure 9-6 RUN/STOP Switch and UP/DOWN Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11 

Figure 9-7 PC Master Software Control Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12 

Figure 9-8 Set-up of the 3-phase AC Induction Motor Control Application - Open Loop 9-13 

Figure 9-9 DSP56F801EVM Jumper Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14 

Figure 9-10 Execute Make Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-15 


Figure 10-1 Trimpot Pins (Top View) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1 



Figure 10-3 USER and PWM LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4 


Figure 10-5 BLDC Motor Control Application Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7 


Figure 10-7 Target Build Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-9 



Figure 10-9 RUN/STOP Switch and UP/DOWN Buttons . . . . . . . . . . . . . . . . . . . . . . . . . 10-12 

Figure 10-10 USER and PWM LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-12 

Figure 10-11 PC Master Software Control Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-14 

Figure 10-12 BLDC Motor Control Application Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-15 

Figure 10-13 DSP56F803EVM Jumper Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-16 

Figure 10-14 Target Build Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-17 

Figure 10-15 Execute Make Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-17 





Figure 10-19 Set-up of the Synchro PM Motor Control Application. . . . . . . . . . . . . . . . . . 10-23 






Figure 10-24 USER and PWM LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-29 


xxxii Targeting Motorola DSP56F80x Platform 



MOTOROLA 






Figure 10-26 


Set-up of the EVM Motor Board BLDC Motor Control Application . . . . . . 10-31 

Figure 10-27 Set-up of the Low-Voltage BLDC Motor Control Application . . . . . . . . . . . 10-32 

Figure 10-28 Set-up of the High-Voltage BLDC Motor Control Application. . . . . . . . . . . 10-33 




Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-36 


Figure 10-32 USER and PWM LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-38 


Figure 10-34 Set-up of the EVM motor board BLDC Motor Control Application . . . . . . . 10-40 

Figure 10-35 Set-upof the Low-Voltage BLDC Motor Control Application. . . . . . . . . . . . 10-41 








Figure 10-42 Set-up of the 3-phase PM Synchronous Motor Control Application . . . . . . . 10-53 








Figure 10-49 Set-up of the 3-phase HV SR Motor Control Application . . . . . . . . . . . . . . . 10-62 

Figure 10-50 Set-up of the 3-phase LV SR Motor Control Application . . . . . . . . . . . . . . . 10-63 











xxxiii 






Figure 10-57 


Set-up of the 3-phase HV SR Motor Control Application . . . . . . . . . . . . . . . 10-73 








Figure 10-64 Set-up of the 3-phase HV SR Motor Control Application . . . . . . . . . . . . . . . 10-83 








Figure 10-71 Set-up of the 3-phase AC Induction Motor Control Application - 

Open Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-93 





Figure 10-75 USER and PWM LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-100 

Figure 10-76 PC Master Software Control Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-102 


Closed Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-103 

Figure 10-78 DSP56F803EVM Jumper Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-104 

Figure 10-79 Execute Make Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-105 


Figure 10-80 RUN/STOP Switch and UP/DOWN Buttons . . . . . . . . . . . . . . . . . . . . . . . . 10-110 



Figure 10-83 Set-up of the 3-phase ACIM Vector Control Application . . . . . . . . . . . . . . 10-114 


Figure 10-85 Target Build Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-116 


xxxiv Targeting Motorola DSP56F80x Platform 



MOTOROLA 










Figure 10-89 Set-up of the Digital PFC Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-121 




Figure 10-92 Set-up of the Digital PFC for 3-phase AC Motor V/Hz Open Loop 

Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-125 



Figure 11-1 Trimpot Pins (Top view). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1 





Figure 11-5 Set-up of the BLDC Motor Control Application . . . . . . . . . . . . . . . . . . . . . . . 11-7 








Figure 11-12 Set-up of the BLDC Motor Control Application . . . . . . . . . . . . . . . . . . . . . . 11-15 








Figure 11-19 Synchro PM Motor Control Application Set-up. . . . . . . . . . . . . . . . . . . . . . . 11-24 







xxxv 











Figure 11-26 Set-up of the EVM Motor Board BLDC Motor Control Application . . . . . . 11-32 

Figure 11-27 Set-up of the Low-Voltage BLDC Motor Control Application . . . . . . . . . . . 11-33 





Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-37 




Figure 11-34 EVM Motor Board BLDC Motor Control Application Set-up. . . . . . . . . . . . 11-41 

Figure 11-35 Low-Voltage BLDC Motor Control Application Set-up . . . . . . . . . . . . . . . . 11-42 

Figure 11-36 High-Voltage BLDC Motor Control Application Set-up . . . . . . . . . . . . . . . . 11-43 















Figure 11-49 Setup of the 3-phase HV SR Motor Control Application Set-up . . . . . . . . . . 11-64 

Figure 11-50 Set-up of the 3-phase LV SR Motor Control Application . . . . . . . . . . . . . . . 11-65 




xxxvi Targeting Motorola DSP56F80x Platform 



MOTOROLA 











Figure 11-57 Setup of the 3-phase HV SR Sensorless Motor Control Application Set-up . 11-74 








Figure 11-64 Setup of the 3-phase HV SR Sensorless Motor Control Application Set-up . 11-84 








Figure 11-71 Set-up of the 3-phase AC Ind. Motor Control Application Open Loop . . . . . 11-95 








Closed Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-105 







Figure 11-83 Set-up of the 3-phase ACIM Vector Control Application . . . . . . . . . . . . . . 11-116 





xxxvii 






Figure 11-85 


Target Build Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-119 





Figure 11-89 Digital PFC Application Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-124 




Figure 11-92 Digital PFC for 3-phase AC Motor V/Hz Open Loop Application Set-up . 11-129 



Figure 12-1 Trimpot Pins (Top view). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1 





Figure 12-5 Set-up of the BLDC Motor Control Application with Hall Sensors. . . . . . . . . 12-7 

Figure 12-6 DSP56F807 Jumper Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-8 







Figure 12-12 Set-up of the BLDC Motor Control Application with Quadrature Encoder. . 12-15 








Figure 12-19 Set-up of the Synchro PM Motor Control Application with Quadrature 

Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-23 


xxxviii Targeting Motorola DSP56F80x Platform 



MOTOROLA 






Figure 12-21 


Target Build Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-25 






Figure 12-26 Set-up of the BLDC Sensorless with Back-EMF Zero Crossing 

Application EVM Motor Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-31 

Figure 12-27 Set-up of BLDC Sensorless with Back-EMF Zero Crossing Application 

Low-Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-32 

Figure 12-28 Set-up of BLDC Sensorless with Back-EMF Zero Crossing Application 

High-Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-33 





Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-37 




Figure 12-35 Set-up of the BLDC Sensorless with Back-EMF Zero Crossing using AD 

Converter Application EVM Motor Board. . . . . . . . . . . . . . . . . . . . . . . . 12-41 


Converter Application Low-Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-42 


Converter Application High-Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-43 

















xxxix 






Figure 12-50 


PC Master Software Control Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-63 

Figure 12-51 Set-up of the 3-Phase SR Motor Control Application High-Voltage . . . . . . . 12-64 

Figure 12-52 Set-up of the 3-Phase SR Motor Control Application Low-Voltage . . . . . . . 12-65 




















12.11 3-Phase AC Induction Motor Control V/Hz 

Application - Open Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-89 




Figure 12-73 Set-up of the 3-phase AC Induction Motor Control V/Hz Application - 

Open Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-96 




12.12 3-Phase AC Induction Motor Control V/Hz Application - Closed Loop. . . . . . 12-100 

Figure 12-77 RUN/STOPSwitch and UP/DOWN Buttons . . . . . . . . . . . . . . . . . . . . . . . . 12-103 



xl Targeting Motorola DSP56F80x Platform 



MOTOROLA 






Figure 12-80 


Set-up of the 3-phase AC Induction Motor Control V/Hz Application - 

Closed Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-107 








Figure 12-87 Set-up of the 3-phase AC Ind. Vector Control Application . . . . . . . . . . . . . 12-119 




12.14 Digital Power Factor Correction Application . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-123 



Figure 12-93 Set-up of the Digital Power Factor Correction Application . . . . . . . . . . . . . 12-127 





Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-131 

Figure 12-97 Set-up of the Digital PFC for 3-phase AC Motor V/Hz Open Loop 

Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-133 






xli 







xlii Targeting Motorola DSP56F80x Platform 



MOTOROLA 





List of Examples 



Code Example 3-1 3DES - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 

Code Example 3-2 ADC - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 

Code Example 3-3 AEC - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 

Code Example 3-4 BLDC - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 

Code Example 3-5 BSP - appconfig.h file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 

Code Example 3-6 BUTTON - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 

Code Example 3-7 CALLER_ID - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 

Code Example 3-8 CAN - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 

Code Example 3-9 CAS_DETECT - appconfig.h file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 

Code Example 3-10 COP - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5 

Code Example 3-11 CORE appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5 

Code Example 3-12 CPT - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5 

Code Example 3-13 DAC - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6 

Code Example 3-14 DECODER - appconfig.h file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6 

Code Example 3-15 DES - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7 

Code Example 3-16 DSPFUNC - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7 

Code Example 3-17 DTMF_DET - appconfig.h file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8 

Code Example 3-18 DTMF_GEN - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8 

Code Example 3-19 FILEIO - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 

Code Example 3-20 FLASH - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 

Code Example 3-21 G.165 - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10 



Code Example 3-24 GPIO - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11 

Code Example 3-25 IO - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11 

Code Example 3-26 ITCN - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12 

Code Example 3-27 LED - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12 

Code Example 3-28 MCFUNC - appconfig.h file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 

Code Example 3-29 MEMORY - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 

Code Example 3-30 PCMASTER - appconfig.h file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14 

Code Example 3-31 PLL - appconfig.h file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14 

Code Example 3-32 PWM - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15 

Code Example 3-33 QUAD_TIMER - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15 

Code Example 3-34 SCI - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16 

MOTOROLA List of Examples 



xliii 







Code Example 3-35 SIM - appconfig.h file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16 

Code Example 3-36 SPI - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17 

Code Example 3-37 SRM - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17 

Code Example 3-38 STACK_CHECK - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18 

Code Example 3-39 SWITCH - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18 

Code Example 3-40 TIMER - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19 

Code Example 3-41 VAD - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19 

Code Example 3-42 V.8bis - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19 

Code Example 3-43 V.22bis - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20 

Code Example 3-44 V.42bis - appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20 

Code Example 3-45 appconfig.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-47 

Code Example 4-1 Example appconfig.h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3 

Code Example 4-2 Additions to Code for Super Fast Interrupt . . . . . . . . . . . . . . . . . . . . . . 4-4 

Code Example 5-1 SPI Driver Usage with ioctl call . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7 

Code Example 5-2 SPI Driver Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9 

Code Example 5-3 Flash Driver Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20 

Code Example 5-4 Flash Driver Usage with IOCTL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21 

Code Example 5-5 SCI Driver Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32 

Code Example 5-6 ADC Driver Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45 

Code Example 5-7 ADC Low-Level Driver Usage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-50 

Code Example 5-8 qt_sState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-58 

Code Example 5-9 Quad Timer Driver Usage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63 

Code Example 5-10 Low-Level Quad Timer Driver Usage 

(See also: Code Example 5-9). . . . . . . . . . . . . . . . . . . . . . . . . . . 5-69 

Code Example 5-11 GPIO Driver Usage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78 

Code Example 5-12 GPIO Driver Usage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-82 

Code Example 5-13 decIoctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-95 

Code Example 5-14 Quadrature Decoder Driver Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-95 

Code Example 5-15 Low-Level Quadrature Decoder Driver Usage 

(See also Code Example 5-14) . . . . . . . . . . . . . . . . . . . . . . . . . 5-100 

Code Example 5-16 Data Structure for Callback Functions . . . . . . . . . . . . . . . . . . . . . . . . 5-105 

Code Example 5-17 PWMioctl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-117 

Code Example 5-18 PWM Driver Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-118 

Code Example 5-19 Low-Level PWM Driver Usage (See also Code Example 5-18). . . . . . 5-122 

Code Example 5-20 Reconfigure the PLL_CONTROL_REG . . . . . . . . . . . . . . . . . . . . . . 5-129 

Code Example 5-21 PLL Lock Detect, plldrv.c . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-129 

Code Example 5-22 Reconfiguring the PLL Divide-By Register . . . . . . . . . . . . . . . . . . . . 5-130 

Code Example 5-23 Reconfiguring the PLL Select Register . . . . . . . . . . . . . . . . . . . . . . . 5-130 

Code Example 5-24 Dynamically setting the PLL Test Register (TESTR) . . . . . . . . . . . . 5-132 

xliv Targeting Motorola DSP56F80x Platform 



MOTOROLA 







Code Example 5-25 Selecting External Clock in appconfig.h File . . . . . . . . . . . . . . . . . . . 5-133 

Code Example 5-26 DSP56F801 Clock switch-over procedure, plldrv.c . . . . . . . . . . . . . . 5-134 

Code Example 5-27 copInitialize() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-140 

Code Example 5-28 Owerwriting Default COP Driver Settings in appconfig.h. . . . . . . . . 5-143 

Code Example 5-29 COP Driver API usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-144 

Code Example 6-1 LED Driver Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6 

Code Example 6-2 Low-Level LED Driver Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10 

Code Example 6-3 File I/O Driver Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18 

Code Example 6-4 Switch Driver Usage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33 

Code Example 6-5 Low-Level Switch Driver Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-38 

Code Example 6-6 Brake Driver Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44 

Code Example 6-7 Button Driver Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-49 

Code Example 6-8 Low-Level Button Driver Example . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-52 

Code Example 6-9 DAC open Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-55 

Code Example 6-10 DAC write Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-56 

Code Example 6-11 DAC close Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-57 

Code Example 6-12 DAC ioctl Usage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-58 

Code Example 6-13 Low-Level DAC dacIoctl Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-63 

Code Example 9-1 Internal Clock Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1 

MOTOROLA List of Examples 



xlv 







xlvi Targeting Motorola DSP56F80x Platform 



MOTOROLA 





About This Book 

This manual describes how to use the Motorola Embedded Software Development Kit (SDK) to 

develop software for Motorola DSP56F80x processors (801, 803, 805, 807). 

Audience 

This document targets software developers using the Motorola Embedded Software Development 

Kit (SDK) to develop applications for Motorola DSP56F80x processors (801, 803, 805, 807). 

Organization 

• Chapter 1, Introduction,—provides a brief overview of this document 

• Chapter 2, Directory Structure,—provides a description of the required core directories 

• Chapter 3, Target Configuration for DSP56F80x,—focuses on DSP5680x specifics 

• Chapter 4, Interrupt Processing for the DSP56F80x,—describes specifically how to 

implement interrupts on the DSP5680x 

• Chapter 5, On-Chip Drivers,—isolates all chip-specific functionality into a set of libraries 

that are part of a Board Support Package 

• Chapter 6, Off-Chip Drivers,—isolates all evaluation module functionality into a set of 

libraries that are part of a Board Support Package 

• Chapter 7, Libraries,—describes all of the SDK libraries that are not part of the core 

libraries and are part of the SDK DSP56F80x release 

• Chapter 8, Library Tests,—describes the tests available to confirm that SDK libraries are 

operating properly 

• Chapter 9, DSP56F801/802 Applications,—describes common hardware configurations for 

using the DSP56F801 and DSP56F802 in motor control applications 

• Chapter 10, DSP56F803 Applications,—describes common hardware configurations for 

using the DSP56F803 in motor control applications 





Suggested Reading 



We recommend that you have a copy of the following references: 

• DSP56800 Family Manual, DSP56800FM/AD 

• DSP56F80x User’s Manual, DSP56F801-7UM/AD 

• Inside CodeWarrior: Core Tools, Metrowerks Corp. 

MOTOROLA Preface 



xlvii 





Conventions 

This document uses the following notational conventions: 

Typeface, 

Symbol or Term 

Courier 

Monospaced 

Type 

Italic Directory names, 

project names, 

calls, 

functions, 

statements, 

procedures, 

routines, 

arguments, 

file names, 

applications, 

variables, 

directives, 

code snippets 

in text 

Bold Reference sources, 

paths, 

emphasis 

Meaning Examples 

Code examples //Process command for line flash 

...and contains these core directories: 

applications contains applications software... 

...CodeWarrior project, 3des.mcp is... 

...the pConfig argument.... 

...defined in the C header file, aec.h.... 

...refer to the Targeting DSP56F80x Platform 

manual.... 

...see: C:\Program Files\Motorola\Embedded 

SDK\help\tutorials 

Blue Text Linkable on-line ...refer to Chapter 7, License.... 

Number Any number is considered 

a positive value, 

unless preceded by a 

minus symbol to signify 

a negative value 

ALL CAPITAL 

LETTERS 

# defines/ 

defined constants 

3V 

-10 

DES -1 

# define INCLUDE_STACK_CHECK 

Brackets [...] Function keys ...by pressing function key [F7] 

Quotation 

marks, “...” 



Returned messages ...the message, “Test Passed” is displayed.... 

...if unsuccessful for any reason, it will return 

“NULL”... 

xlviii Targeting Motorola DSP5680x Platform 



MOTOROLA 





Definitions, Acronyms, and Abbreviations 

The following list defines the acronyms and abbreviations used in this document. As this template 

develops, this list will be generated from the document. As we develop more group resources, 

these acronyms will be easily defined from a common acronym dictionary. Please note that while 

the acronyms are in solid caps, terms in the definition should be initial capped ONLY IF they are 

trademarked names or proper nouns. 

CID Caller ID 

DSP Digital Signal Processor or Digital Signal Processing 

FFT Fast Fourier Transforms 

FIR Finite Impulse Response 

I/O Input/Output 

IDE Integrated Development Environment 

IIR Infinite Impulse Response 

LSB Least Significant Bit 

MAC Multiply/Accumulate 

MIPS Million Instructions Per Second 

MSB Most Significant Bit 

OnCE On-Chip Emulation 

OMR Operating Mode Register 

PC Program Counter 

SDK Software Development Kit 

SP Stack Pointer 

SPI Serial Peripheral Interface 

SR Status Register 

SRC Source 

References 



The following sources were used to produce this book: 

1. DSP56800 Family Manual, DSP56800FM/AD 

2. DSP56F80x User’s Manual, DSP56F801-7UM/AD 

3. Embedded SDK Programmer’s Guide, SDK 101/D 

4. DSP Function Library, SDK107/D 

5. Motor Control Library, SDK109/D 

6. V.8bis Library, SDK120/D 

7. V.22Library, SDK108/D 

8. V.42bis Library, SDK121/D 

9. DES Library, SDK110/D 

10. 3DES Library, SDK119/D 

11. Acoustic Echo Canceller Library, SDK125/D 

12. Caller ID Detection Library, SDK112/D 

MOTOROLA Preface 



xlix 







13. CAS Detect Library, SDK124/D 

14. CPT Detection Library, SDK123/D 

15. DTMF Generation Library, SDK114/D 

16. DTMF Detection Library, SDK113/D 

17. G.165 Line Echo Canceller Library, SDK115/D 

18. G.711 Log-PCM Library, SDK117/D 

19. G.726 Speech Codec Library, SDK118/D 

20. Voice Activity Detection Library, SDK122/D 

21. DSP56F803 Evaluation Module Hardware User’s Manual, DSP56F803EVMUM/D 



l Targeting Motorola DSP5680x Platform 



MOTOROLA 





Chapter 1 

Introduction 

This manual describes how to use the Motorola Embedded Software Development Kit (SDK) to 

develop software for Motorola DSP56F80x processors (801, 802, 803, 805, 807). 

1.1 Before You Start 

This manual contains information specific to the SDK only as it applies to Motorola DSP56F80x 

software development, so the user must be familiar with the SDK as described in the 

Programmer’s Guide, before continuing. 

Motorola Embedded SDK is designed for and fully integrated with Metrowerks CodeWarrior 

development tools. Before you can start exploring the full feature set of the SDK, you must first 

install and become familiar with the CodeWarrior development environment. 

1.2 Quick Start 



This chapter gives you the information you need to install and run the SDK. 

1.2.1 Install CodeWarrior Development Tools 

As previously mentioned, Motorola’s Embedded SDK is designed for and fully integrated with 

Metrowerks CodeWarrior development tools. Using CodeWarrior tools, users can build SDK 

libraries, applications and other software included as part of the SDK release. Once the software 

is built, CodeWarrior tools will allow SDK users to download executable images into the target 

platform and run/debug downloaded code. 

To start the installation process, perform the following steps: 

1. Insert the CodeWarrior CD-ROM into your computer's CD-ROM drive. 

If Auto Install is disabled on your computer, click the Start button, select Run, and 

type the CD-ROM's drive letter and \Setup.exe in the Open: text box. (e.g. 

D:\Setup.exe) 

2. Follow the CodeWarrior software installation instructions on your screen. 

NOTE: After installing CodeWarrior, remember to restart the computer to ensure that 

MOTOROLA Introduction 



1-1 





Introduction 


newly-installed drivers will be available for use. 

3. Register CodeWarrior 

— Click the Start button, then select CodeWarrior Registration from the CodeWarrior 

group. This runs the MWRegister.exe program. 

— Enter your registration number and contact information. If you do not have a 

registration number, leave the Registration Number text box blank. 

— Click OK and send the resulting text file (e.g. MWRegistration.txt) to 

license@MetroWerks.com. A license key will be sent to you via E-mail. 

4. Install the license key. 

— Locate the license.dat file in the CodeWarrior installation directory and open this file 

with any standard text editor; for example, Notepad. 

— Copy or type the key, starting on a new line at the bottom of the license.dat file. 

— Save the license.dat file. 

— For more detailed instructions, see the License_Install.txt file in the Licensing 

directory. 

1.2.2 Install DSP56F80xEVM Hardware 

The SDK for DSP56F80x has been designed and tested with DSP56F80xEVM target hardware. If 

you want to quickly exercise the software applications included with SDK, the DSP56F80xEVM 

hardware must be installed. 

The DSP56F80xEVM installation information is provided with CodeWarrior installation and can 

be found in the following document located in the CodeWarrior installation directory: 

\CodeWarrior Documentation\PDF\Targeting_DSP56800.pdf 

It is recommended that all SDK users read through this document before proceeding with 

software development. 

NOTE: The DSP56F802 processor is supported by the DSP56F801EVM target hardware. 

1.2.3 Install SDK 


In order for the SDK to integrate itself with development tools, CodeWarrior tools must be 

installed prior to the SDK installation (see Section 1.2). If the SDK is installed while CodeWarrior 

is not present, users can only browse installed SDK software, but will not be able to build, 

download and run released code. 

NOTE: If CodeWarrior is installed after the SDK, the SDK must be removed and reinstalled 

after CodeWarrior installation or the SDK will not function properly. 

To start the installation process, perform the following steps: 

1. Execute Setup.exe from the CD. 

2. Follow the SDK software installation instructions on your screen. 

1-2 Targeting Motorola DSP56F80x Platform 



MOTOROLA 





1.2.4 Build Released Software 



Quick Start 

Once the SDK is installed, users can build all released software for DSP56F80x by opening and 

building the top-level project, buildall.mcp, using the CodeWarrior development environment. 

Step 1: Launch Metrowerks CodeWarrior IDE; refer to Figure 1-1. 

Figure 1-1. Launch CodeWarrior Tools 

Step 2: Using the File/Open command (Figure 1-2), select the ...\sdk\src\dsp56F80xevm\nos 

directory (Figure 1-3) and the buildall.mcp folder (Figure 1-4), to open the buildall.mcp project 

(Figure 1-5). 

Figure 1-2. Select File/Open 




1-3 





Introduction 

. 



Figure 1-3. Select ...\sdk\src\dsp56F80xevm\nos Directory 

Figure 1-4. Select buildall.mcp Project 

Figure 1-5. Buildall.mcp Project 




MOTOROLA 






Quick Start 


Step 3: Execute the build by pressing function key [F7] or by choosing the Make command from 

the menu; see Figure 1-6. 

Figure 1-6. Execute Make Command 

At this point, the buildall.mcp project will build every library and application that is part of the 

SDK DSP56F80x release. 




1-5 





Introduction 






MOTOROLA 





Chapter 2 




2.1 DSP56F80x SDK Directory Structure 

Figure 2-1. DSP56F80x Directories 

In the SDK DSP56F80xEVM release, there are several domain-specific directories: 

• motioncontrol contains libraries specific to motion control 

• signal contains a variety of signal processing libraries 

MOTOROLA Directory Structure 



2-1 











MOTOROLA 





Chapter 3 


The SDK is a scalable software infrastructure that defines and implements such services as Board Support 

Package; Interrupt Handling; Memory Management; Input and Output; and Timers. These services are the 

building blocks of the SDK, and each service has its own configuration and startup requirement. While the 

Programmer’s Guide covers target configuration in great detail, this section acts as an extension 

of that manual, focusing on the DSP56F80x specifics. The user should be familiar with Target 

Configuration in general, as described in the Programmer’s Guide, before continuing. 

3.1 SDK Configuration 

The configuration file appconfig.h contains the following SDK components and services that a user can 

include in the executable program: 3DES, ADC, AEC, BLDC, BSP, BUTTON, CALLER_ID, CAN, 

CAS_DETECT, COP, CORE, CPT, DAC, DECODER, DES, DSPFUNC, DTMF_DET, 

DTMF_GEN, FILEIO, FLASH, G.165, G.165, G.726, GPIO, IO, ITCN, LED, MCFUNC, 

MEMORY, PCMASTER, PLL, PWM, QUAD_TIMER, SCI, SIM, SPI, SRM, STACK_CHECK, 

SWITCH, VAD, V.8bis, V.22bis, V.42bis. Each of these components is described below. 

3.1.1 3DES 

Macro(s): 

INCLUDE_3DES 

Description: When INCLUDE_3DES is defined and included in the appconfig.h file as shown 

below, the Triple Data Encryption Standard (3DES) Library will be included in the application. 

Default: Undefined and not included. 

Compatibility: All DSP56F80x platforms. 

Code Example 3-1. 3DES - appconfig.h file 

#define INCLUDE_3DES 



MOTOROLA Target Configuration for DSP56F80x 



3-1 







3.1.2 ADC 

Macro(s): 

INCLUDE_ADC 

INCLUDE_IO_ADC 

Description: When INCLUDE_ADC or INCLUDE_IO_ADC is defined and included in the 

appconfig.h file as shown below, ADC Driver (Analog-to-Digital Converter) support will be 

included in the application. 



Special Issues: When INCLUDE_IO_ADC is used, IO service is automatically included in the 

application to provide a device-independent interface for the ADC Driver. 

Code Example 3-2. ADC - appconfig.h file 

#define INCLUDE_ADC 

3.1.3 AEC 

Macro(s): 

INCLUDE_AEC 

Description: When INCLUDE_AEC is defined and included in the appconfig.h file as shown 

below, the Acoustic Echo Canceller Library will be included in the application. 



Code Example 3-3. AEC - appconfig.h file 

#define INCLUDE_AEC 

3.1.4 BLDC 

Macro(s): 

INCLUDE_BLDC 

Description: When INCLUDE_BLDC is defined and included in the appconfig.h file as shown 

below, the Brushless DC Motor Library will be included in the application. 



Code Example 3-4. BLDC - appconfig.h file 

#define INCLUDE_BLDC 





MOTOROLA 





3.1.5 BSP 

Macro(s): 

INCLUDE_BSP 

SDK Configuration 


Description: When INCLUDE_BSP is defined and included in the appconfig.h file as shown 

below, the Board Specific Peripheral drivers are included in the application. BSP support includes 

Computer Operating Properly (COP) Driver, Core Configuration Registers (CORE) Driver, and 

PLL Driver support. 



Special Issues: When BSP component is used, PLL, SIM, COP, ITCN, and CORE components 

will automatically be included in the application. 

Code Example 3-5. BSP - appconfig.h file 

#define INCLUDE_BSP 

3.1.6 BUTTON 

Macro(s): 

INCLUDE_BUTTON 

INCLUDE_IO_BUTTON 

Description: When INCLUDE_BUTTON or INCLUDE_IO_BUTTON is defined and included in 

the appconfig.h file as shown below, the Button Driver will be included in the application. 



Special Issues: When the BUTTON component is used, the TIMER component will 

automatically be included in the application. Also, when the INCLUDE_IO_BUTTON is used, IO 

service is automatically included in the application to provide device-independent interface for 

the Button Driver. 

Code Example 3-6. BUTTON - appconfig.h file 

#define INCLUDE_BUTTON 





3-3 







3.1.7 CALLER_ID 

Macro(s): 

INCLUDE_CALLER_ID 

Description: When INCLUDE_CALLER_ID is defined and included in the appconfig.h file as 

shown below, the Caller ID Library will be included in the application. 



Code Example 3-7. CALLER_ID - appconfig.h file 

#define INCLUDE_CALLER_ID 

3.1.8 CAN 

Macro(s): 

INCLUDE_CAN 

INCLUDE_IO_CAN 

Description: When INCLUDE_CAN or INCLUDE_IO_CAN is defined and included in the 

appconfig.h file as shown below, the CAN Driver will be included in the application. 


Compatibility: DSP56F803, DSP56F805, and DSP56F807 platforms only. 

Special Issues: When INCLUDE_IO_CAN is used, IO service is automatically included in the 

application to provide a device-independent interface for the CAN Driver. 

Code Example 3-8. CAN - appconfig.h file 

#define INCLUDE_CAN 

3.1.9 CAS_DETECT 

Macro(s): 

INCLUDE_CAS_DETECT 

Description: When INCLUDE_CAS_DETECT is defined and included in the appconfig.h file as 

shown below, the CAS Detect Library will be included in the application. 



Code Example 3-9. CAS_DETECT - appconfig.h file 

#define INCLUDE_CAS_DETECT 





MOTOROLA 





3.1.10 COP 

Macro(s): 

INCLUDE_COP 



Description: When INCLUDE_COP is defined and included in the appconfig.h file as shown 

below, the Computer Operating Properly (COP) Driver will be included in the application. 



Special Issues: This component is automatically included if the BSP component is defined. 

Code Example 3-10. COP - appconfig.h file 

#define INCLUDE_COP 

3.1.11 CORE 

Macro(s): 

INCLUDE_CORE 

Description: When INCLUDE_CORE is defined and included in the appconfig.h file as shown 

below, the Core Configuration Registers (CORE) Driver will be included in the application. 




Code Example 3-11. CORE appconfig.h file 

#define INCLUDE_CORE 

3.1.12 CPT 

Macro(s): 

INCLUDE_CPT 

Description: When INCLUDE_CPT is defined and included in the appconfig.h file as shown 

below, the CPT Library will be included in the application. 



Code Example 3-12. CPT - appconfig.h file 

#define INCLUDE_CPT 





3-5 







3.1.13 DAC 

Macro(s): 

INCLUDE_DAC 

INCLUDE_IO_DAC 

Description: When INCLUDE_DAC or INCLUDE_IO_DAC is defined and included in the 

appconfig.h file as shown below, the Digital to Analog Converter (DAC) Driver will be included in 

the application. 


Compatibility: DSP56F805 and DSP56F807 platforms only. 

Special Issues: When the DAC component is used, the SPI component will automatically 

beincluded in the application. Also, when INCLUDE_IO_DAC is used, IO service is 

automatically included in the application to provide device-independent interface for the Digital to 

Analog Converter (DAC) Driver. 

Code Example 3-13. DAC - appconfig.h file 

#define INCLUDE_DAC 

3.1.14 DECODER 

Macro(s): 

INCLUDE_DECODER 

INCLUDE_IO_DECODER 

Description: When INCLUDE_DECODER or INCLUDE_IO_DECODER is defined and 

included in the appconfig.h file as shown below, the Quadrature Decoder Driver will be included 

in the application. 


Compatibility: DSP56F803, DSP56F805, and DSP56F807 platforms. 

Special Issues: When INCLUDE_IO_DECODER is used, IO service is automatically included in 

the application to provide device-independent interface for the Quadrature Decoder Driver. 

Code Example 3-14. DECODER - appconfig.h file 

#define INCLUDE_DECODER 





MOTOROLA 





3.1.15 DES 

Macro(s): 

INCLUDE_DES 



Description: When INCLUDE_DES is defined and included in the appconfig.h file as shown 

below, the Data Encryption Standard (DES) Library will be included in the application. 



Code Example 3-15. DES - appconfig.h file 

#define INCLUDE_DES 

3.1.16 DSPFUNC 

Macro(s): 

INCLUDE_DSPFUNC 

Description: When INCLUDE_DSPFUNC is defined and included in the appconfig.h file as 

shown below, the DSPFUNC will be included in the application. 



Special Issues: The following DSP56F80x core registers will be changed: 

Code Example 3-16. DSPFUNC - appconfig.h file 

#define INCLUDE_DSPFUNC 

Table 3-1. DSP56F80x OMR Configuration 

Operating Mode Register Definition 

Saturation bit (SA) bit 4 

Rounding bit (R) bit 5 


Enables automatic saturation on 32-bit arithmetic result 

Enables two’s complement rounding (round up) 

Table 3-2. DSP56F80x SR Configuration 

Status Register Definition 

Limit (L) bit 6 Resets or clears the limit bit 




3-7 







3.1.17 DTMF_DET 

Macro(s): 

INCLUDE_DTMF_DET 

Description: When INCLUDE_DTMF_DET is defined and included in the appconfig.h file as 

shown below, the DTMF Detection Library will be included in the application. 



Code Example 3-17. DTMF_DET - appconfig.h file 

#define INCLUDE_DTMF_DET 

3.1.18 DTMF_GEN 

Macro(s): 

INCLUDE_DTMF_GEN 

Description: When INCLUDE_DTMF_GEN is defined and included in the appconfig.h file as 

shown below, the DTMF Generation Library will be included in the application. 



Code Example 3-18. DTMF_GEN - appconfig.h file 

#define INCLUDE_DTMF_GEN 





MOTOROLA 





3.1.19 FILEIO 

Macro(s): 

INCLUDE_FILEIO 

INCLUDE_IO_FILEIO 



Description: When INCLUDE_FILEIO or INCLUDE_IO_FILEIO is defined and included in the 

appconfig.h file as shown below, the FILE I/O Driver will be included in the application. 



Special Issues: When the FILEIO component is used, SCI and MEMORY components will 

automatically be included in the application. Also, when INCLUDE_IO_FILEIO is used, IO 

service is automatically included in the application to provide device-independent interface for 

the FILE I/O Driver. 

Code Example 3-19. FILEIO - appconfig.h file 

#define INCLUDE_FILEIO 

3.1.20 FLASH 

Macro(s): 

INCLUDE_FLASH 

INCLUDE_IO_FLASH 

Description: When INCLUDE_FLASH or INCLUDE_IO_FLASH is defined and included in the 

appconfig.h file as shown below, the Flash Driver will be included in the application. 



Special Issues: When INCLUDE_IO_FLASH is used, IO service is automatically included in the 

application to provide device-independent interface for the Flash Driver. 

Code Example 3-20. FLASH - appconfig.h file 

#define INCLUDE_FLASH 





3-9 







3.1.21 G.165 

Macro(s): 

INCLUDE_G165 

Description: When INCLUDE_G165 is defined and included in the appconfig.h file as shown 

below, the G.165 Library will be included in the application. 



Code Example 3-21. G.165 - appconfig.h file 

#define INCLUDE_G165 

3.1.22 G.711 

Macro(s): 

INCLUDE_G711 







3.1.23 G.726 

Macro(s): 

INCLUDE_G726 











MOTOROLA 





3.1.24 GPIO 

Macro(s): 

INCLUDE_GPIO 

INCLUDE_IO_GPIO 



Description: When INCLUDE_GPIO or INCLUDE_IO_GPIO is defined and included in the 

appconfig.h file as shown below, the GPIO Driver will be included in the application. 



Special Issues: When INCLUDE_IO_GPIO is used, IO service is automatically included in the 

application to provide device-independent interface for the GPIO Driver. Also, the GPIO 

component is automatically included if the LED or SWITCH component is defined. 

Code Example 3-24. GPIO - appconfig.h file 

#define INCLUDE_GPIO 

3.1.25 IO 

Macro(s): 

INCLUDE_IO 

Description: When INCLUDE_IO is defined and included in the appconfig.h file as shown 

below, SDK IO services will be included in the application. Refer to the Chapter 5, and Chapter 6 

in this manual and to the Programmer’s Guide for more details about this service. 



Code Example 3-25. IO - appconfig.h file 

#define INCLUDE_IO 





3-11 







3.1.26 ITCN 

Macro(s): 

INCLUDE_ITCN 

Description: When INCLUDE_ITCN is defined and included in the appconfig.h file as shown 

below, the Interrupt Controller (ITCN) Driver will be included in the application. 




Code Example 3-26. ITCN - appconfig.h file 

#define INCLUDE_ITCN 

3.1.27 LED 

Macro(s): 

INCLUDE_LED 

INCLUDE_IO_LED 

Description: When INCLUDE_LED or INCLUDE_IO_LED is defined and included in the 

appconfig.h file as shown below, the LED Driver will be included in the application. 



Special Issues: When the LED component is used, the GPIO component will automatically be 

included in the application. Also, when INCLUDE_IO_LED is used, IO service is automatically 

included in the application to provide device-independent interface for the LED Driver. 

Code Example 3-27. LED - appconfig.h file 

#define INCLUDE_LED 





MOTOROLA 





3.1.28 MCFUNC 

Macro(s): 

INCLUDE_MCFUNC 



Description: When INCLUDE_MCFUNC is defined and included in the appconfig.h file as 

shown below, the MCFUNC will be included in the application. 



Code Example 3-28. MCFUNC - appconfig.h file 

#define INCLUDE_MCFUNC 

3.1.29 MEMORY 

Macro(s): 

INCLUDE_MEMORY 

Description: When INCLUDE_MEMORY is defined and included in the appconfig.h file as 

shown below, SDK Memory services will be included in the application. Refer to the 

Programmer’s Guide for more details about this service. 



Special Issues: This component is automatically included if the FILEIO component is defined. 

Code Example 3-29. MEMORY - appconfig.h file 

#define INCLUDE_MEMORY 





3-13 







3.1.30 PCMASTER 

Macro(s): 

INCLUDE_PCMASTER 

Description: When INCLUDE_PCMASTER is defined and included in the appconfig.h file as 

shown below, the PC Master SCI Communication Driver will be included in the application. 



Special Issues: When the PCMASTER component is used, the SCI component will automatically 

be included in the application. 

Code Example 3-30. PCMASTER - appconfig.h file 

#define INCLUDE_PCMASTER 

3.1.31 PLL 

Macro(s): 

INCLUDE_PLL 

Description: When INCLUDE_PLL is defined and included in the appconfig.h file as shown 

below, the PLL Driver will be included in the application. See Section 3.4 for more information 

about PLL. 




Code Example 3-31. PLL - appconfig.h file 

#define INCLUDE_PLL 





MOTOROLA 





3.1.32 PWM 

Macro(s): 

INCLUDE_PWM 

INCLUDE_IO_PWM 



Description: When INCLUDE_PWM or INCLUDE_IO_PWM is defined and included in the 

appconfig.h file as shown below, the PWM Driver will be included in the application. 



Special Issues: When INCLUDE_IO_PWM is used, IO service is automatically included in the 

application to provide device-independent interface for the PWM Driver. 

Code Example 3-32. PWM - appconfig.h file 

#define INCLUDE_PWM 

3.1.33 QUAD_TIMER 

Macro(s): 

INCLUDE_QUAD_TIMER 

INCLUDE_IO_QUAD_TIMER 

Description: When INCLUDE_QUAD_TIMER or INCLUDE_IO_QUAD_TIMER is defined and 

included in the appconfig.h file as shown below, the Quad Timer Driver will be included in the 

application. 




Special Issues: When INCLUDE_IO_QUAD_TIMER is used, IO service is automatically 

included in the application to provide device-independent interface for the Quad Timer Driver. 

Also, the QUAD_TIMER component is automatically included if the TIMER component is 

defined. 

Code Example 3-33. QUAD_TIMER - appconfig.h file 

#define INCLUDE_QUAD_TIMER 




3-15 







3.1.34 SCI 

Macro(s): 

INCLUDE_SCI 

INCLUDE_IO_SCI 

Description: When INCLUDE_SCI or INCLUDE_IO_SCI is defined and included in the 

appconfig.h file as shown below, the SCI Driver will be included in the application. 



Special Issues: When INCLUDE_IO_SCI is used, IO service is automatically included in the 

application to provide device-independent interface for the SCI Driver. Also, the SCI component 

is automatically included if the FILEIO or PCMASTER component is defined. 

Code Example 3-34. SCI - appconfig.h file 

#define INCLUDE_SCI 

3.1.35 SIM 

Macro(s): 

INCLUDE_SIM 

Description: When INCLUDE_SIM is defined and included in the appconfig.h file as shown 

below, the System Integration Module (SIM) Driver will be included in the application. 




Code Example 3-35. SIM - appconfig.h file 

#define INCLUDE_SIM 





MOTOROLA 





3.1.36 SPI 

Macro(s): 

INCLUDE_SPI 

INCLUDE_IO_SPI 



Description: When INCLUDE_SPI or INCLUDE_IO_SPI is defined and included in the 

appconfig.h file as shown below, the SPI Driver will be included in the application. 



Special Issues: When INCLUDE_IO_SPI is used, IO service is automatically included in the 

application to provide device-independent interface for the SPI Driver. Also, the SPI component 

is automatically included if the DAC component is defined. 

Code Example 3-36. SPI - appconfig.h file 

#define INCLUDE_SPI 

3.1.37 SRM 

Macro(s): 

INCLUDE_SRM 

Description: When INCLUDE_SRM is defined and included in the appconfig.h file as shown 

below, the Switched Reluctance Motor Library will be included in the application. 



Code Example 3-37. SRM - appconfig.h file 

#define INCLUDE_SRM 





3-17 







3.1.38 STACK_CHECK 

Macro(s): 

INCLUDE_STACK_CHECK 

Description: When INCLUDE_STACK_CHECK is defined and included in the appconfig.h file 

as shown below, SDK stack check services will be included in the application. Refer to the 

Programmer’s Guide for more details about this service. 



Code Example 3-38. STACK_CHECK - appconfig.h file 

#define INCLUDE_MEMORY 

3.1.39 SWITCH 

Macro(s): 

INCLUDE_SWITCH 

INCLUDE_IO_SWITCH 

Description: When INCLUDE_SWITCH or INCLUDE_IO_SWITCH is defined and included in 

the appconfig.h file as shown below, the Switch Driver will be included in the application. 



Special Issues: When INCLUDE_IO_SWITCH is used, IO service is automatically included in 

the application to provide device-independent interface for the Switch Driver. 

Code Example 3-39. SWITCH - appconfig.h file 

#define INCLUDE_SWITCH 





MOTOROLA 





3.1.40 TIMER 

Macro(s): 

INCLUDE_TIMER 



Description: When INCLUDE_TIMER is defined and included in the appconfig.h file as shown 

below, SDK Timer services will be included in the application. Refer to the Programmer’s Guide 

for more details about this service. 



Special Issues: When the TIMER component is used, the QUAD_TIMER component will be 

automatically included in the application. Also, the TIMER component is automatically included 

if the BUTTON component is defined. 

Code Example 3-40. TIMER - appconfig.h file 

#define INCLUDE_TIMER 

3.1.41 VAD 

Macro(s): 

INCLUDE_VAD 

Description: When INCLUDE_VAD is defined and included in the appconfig.h file as shown 

below, the VAD Library will be included in the application. 



Code Example 3-41. VAD - appconfig.h file 

#define INCLUDE_VAD 

3.1.42 V.8bis 

Macro(s): 

INCLUDE_V8BIS 

Description: When INCLUDE_V8BIS is defined and included in the appconfig.h file as shown 

below, the V.8bis will be included in the application. 



Code Example 3-42. V.8bis - appconfig.h file 

#define INCLUDE_V8BIS 





3-19 







3.1.43 V.22bis 

Macro(s): 

INCLUDE_V22 

Description: When INCLUDE_V22 is defined and included in the appconfig.h file as shown 





#define INCLUDE_V22 

3.1.44 V.42bis 

Macro(s): 

INCLUDE_V42BIS 

Description: When INCLUDE_V42BIS is defined and included in the appconfig.h file as shown 





#define INCLUDE_V42BIS 





MOTOROLA 





Memory Configuration 


3.2 Memory Configuration 

As explained in the Programmer’s Guide, the SDK supports a variety of memory configurations 

by providing different Linker Command Files with directives targeted for a particular memory 

model. For the DSP56F80x platform, the SDK includes Linker Command Files configured for the 

following memory models: External Memory Operation and Internal (Flash) Memory Operation. 

3.2.1 External Memory Operation for DSP56F801 & 

DSP56F802 

Since the DSP56F801 and DSP56F802 processors do not have an external memory interface, the 

SDK provides no support for External Memory Operation. 

3.2.2 External Memory Operation for DSP56F803 & 

DSP56F805 

Section 6.3, Memory Configuration, of the Programmer’s Guide explains and shows an 

example of memory configuration using the Linker Command File. The current chapter 

documents only the differences that are specific to the DSP56F803 and DSP56F805 platforms. 

3.2.2.1 Linker Command File 

# Linker.cmd file for DSP56F803EVM/DSP56F805EVM External RAM 

# using both internal and external data memory (EX = 0) 

# and using external program memory (Mode = 3) 

#******************************************************************************* 

MEMORY { 

.pInterruptVector (RX) : ORIGIN = 0x0000, LENGTH = 0x0086 

.pExtRAM (RWX) : ORIGIN = 0x0086, LENGTH = 0xFF7A 

.xAvailable (RW) : ORIGIN = 0x0000, LENGTH = 0x0030 

.xCWRegisters (RW) : ORIGIN = 0x0030, LENGTH = 0x0010 

.xIntRAM_DynamicMem (RW) : ORIGIN = 0x0040, LENGTH = 0x07C0 

.xReserved (R) : ORIGIN = 0x0800, LENGTH = 0x0400 

.xPeripherals (RW) : ORIGIN = 0x0C00, LENGTH = 0x0400 

.xFlash (R) : ORIGIN = 0x1000, LENGTH = 0x1000 

.xExtRAM (RW) : ORIGIN = 0x2000, LENGTH = 0xC000 

.xExtRAM_DynamicMem (RW) : ORIGIN = 0xE000, LENGTH = 0x1000 

.xStack (RW) : ORIGIN = 0xF000, LENGTH = 0x0F80 

.xCoreRegisters (RW) : ORIGIN = 0xFF80, LENGTH = 0x0080 

} 

#******************************************************************************* 

FORCE_ACTIVE {FconfigInterruptVector} 

SECTIONS { 


#******************************************************************************* 

# 




3-21 








# Data (X) Memory Layout 

# 

_EX_BIT = 0; 

# Internal Memory Partitions (for mem.h partitions) 

_NUM_IM_PARTITIONS = 1; # IM_ADDR_1 (no IM_ADDR_2 ) 

# External Memory Partition (for mem.h partitions) 

_NUM_EM_PARTITIONS = 1; # EM_ADDR_1 

#******************************************************************************* 

.ApplicationInterruptVector : 

{ 

vector.c (.text) 

} > .pInterruptVector 

#******************************************************************************* 

.ApplicationCode : 

{ 

# Place all code into Program RAM 

* (.text) 

* (rtlib.text) 

* (fp_engine.text) 

* (user.text) 

# SDK data to be placed into Program RAM 

F_Pdata_start_addr_in_ROM = 0; 

F_Pdata_start_addr_in_RAM = .; 

pramdata.c (.data) 

F_Pdata_ROMtoRAM_length = 0; 

F_Pbss_start_addr = .; 

_P_BSS_ADDR = .; 

pramdata.c (.bss) 

F_Pbss_length = . - _P_BSS_ADDR; 

} > .pExtRAM 

#******************************************************************************* 

.ApplicationData : 

{ 

# Define variables for C initialization code 

F_Xdata_start_addr_in_ROM = ADDR(.xFlash) + SIZEOF(.xFlash) / 2; 

F_StackAddr = ADDR(.xStack); 

F_StackEndAddr = ADDR(.xStack) + SIZEOF(.xStack)/2 - 1; 

F_Xdata_start_addr_in_RAM = .; 

# Define variables for SDK mem library 

FmemEXbit = .; 




MOTOROLA 







WRITEH(_EX_BIT); 

FmemNumIMpartitions = .; 

WRITEH(_NUM_IM_PARTITIONS); 

FmemNumEMpartitions = .; 

WRITEH(_NUM_EM_PARTITIONS); 

FmemIMpartitionList = .; 

WRITEH(ADDR(.xIntRAM_DynamicMem)); 

WRITEH(SIZEOF(.xIntRAM_DynamicMem) / 2); 

FmemEMpartitionList = .; 

WRITEH(ADDR(.xExtRAM_DynamicMem)); 

WRITEH(SIZEOF(.xExtRAM_DynamicMem) /2); 

# Place rest of the data into External RAM 

* (.data) 

* (fp_state.data) 

* (rtlib.data) 

F_Xdata_ROMtoRAM_length = 0; 

F_Xbss_start_addr = .; 

_X_BSS_ADDR = .; 

* (rtlib.bss.lo) 

* (.bss) 

F_Xbss_length = . - _X_BSS_ADDR; # Copy DATA 

} > .xExtRAM 

#******************************************************************************* 

}S 


FArchIO = ADDR(.xPeripherals); 

FArchCore = ADDR(.xCoreRegisters); 




3-23 







3.2.2.2 Linking: Set Up Memory Partitions 

Using memory directives in the Linker Command File, the DSP56F803/DSP56F805 are set up to 

use External Program RAM for code and any data that must be put into Program memory, as well 

as to use a combination of External and Internal Data RAM for initialized and uninitialized data. 

application.o Program Ext. RAM 

data 

bss 

text 


.pInterruptVector 

appconfig.o 

data 

bss 

text 

appconst.o 

data 

Step 1 

bss 

.pExtRAM 

text 

config.o 

data 

bss 

text 

const.o 

data 

Linker 

Command 

File 

bss 

text Data Int. RAM 

MEMORY { 

.pInterruptVector (RX) : ORIGIN = Ox0000, LENGTH = 0x0086 

pramdata.o 

.xAvailable 

.pExtRAM (RWX): ORIGIN = 0x0086, LENGTH = 0xFF7A 

data 

bss 

text 

vector.o 

data 

bss 

Used by 

.xCWRegisters 

CodeWarrior 

Used by SDK 

.xIntRAM_DynamicMem 

Memory Manager 

Data Ext. RAM 



.xIntRAM_DynamicMem (RW) : ORIGIN = 0x0040, LENGTH = 0x07C0 




.xExtRAM (RW) : ORIGIN = 0x2000, LENGTH = 0xC000 


text 


SDK Libraries 


} 

data 

bss 

text 

.xExtRAM 

CW Run-Time Libs 


data Memory Manager 

bss 

text Software Stack 

.xExtRAM_DynamicMem 

.xStack 

Figure 3-1. Setup of DSP56F803/DSP56F805 Memory Partitions 




MOTOROLA 







3.2.2.3 Programming Target Memory 

Figure 3-2 demonstrates how an executable file (which is configured for external memory 

operation) will be mapped into physical memory on the DSP56F805 target. This process will 

work on the DSP56F803 tatget as well. 

Program Ext. RAM 

Interrupt Vector 

Code 

Initialized Data for 

Program RAM 

Uninitialized Data 

for Program RAM 

Data Int. RAM 


CodeWarrior 



Data Ext. RAM 

Initialized & 


for Data RAM 



Software Stack 

Application.elf (Application.elf.S) 


Load 

DSP56F805 

Memory 

(Using 

CodeWarrior 

Tools or Serial 

Bootloader) 

Program Memory 

External RAM 

Data Memory 

Reserved 

Peripherals 

External RAM 

DSP56F805 Memory Map 

Figure 3-2. Programming Target Memory 

Core Registers 0xFF80 - 0xFFFF 




3-25 

RAM 

Flash 

0x0000 - 0xFFFF 

0x0000 - 0x07FF 

0x0800 - 0x0BFF 

0x0C00 - 0x0FFF 

0x1000 - 0x1FFF 

0x2000 - 0xFF7F 







3.2.3 External Memory Operation for DSP56F807 

Section 6.3, Memory Configuration, in the Programmer’s Guide explains and shows an 


documents only the differences that are specific to the DSP56F807 platform. 


# Linker.cmd file for DSP56F807EVM External RAM 

# using both internal and external data memory (EX = 0) 

# and using external program memory (Mode = 3) 

#******************************************************************************* 

MEMORY { 


.pExtRAM (RWX) : ORIGIN = 0x0086, LENGTH = 0xFF7A 



.xIntRAM_DynamicMem (RW) : ORIGIN = 0x0040, LENGTH = 0x0FC0 

.xPeripherals (RW) : ORIGIN = 0x1000, LENGTH = 0x0800 



.xExtRAM (RW) : ORIGIN = 0x4000, LENGTH = 0xA000 




} 

#******************************************************************************* 

/* Special function required for 807 to accomodate Flash programming in Mode A */ 

FORCE_ACTIVE {FhardwareAndWatchdogResetVector} 


SECTIONS { 


#******************************************************************************* 

# 

# Data (X) Memory Layout 

# 

_EX_BIT = 0; 

# Internal Memory Partitions (for mem.h partitions) 

_NUM_IM_PARTITIONS = 1; # IM_ADDR_1 (no IM_ADDR_2 ) 

# External Memory Partition (for mem.h partitions) 

_NUM_EM_PARTITIONS = 1; # EM_ADDR_1 

#******************************************************************************* 





MOTOROLA 





{ 




vectorreset.c (.text) 



#******************************************************************************* 


{ 

# Place all code into Program RAM 

* (.text) 



* (user.text) 

# SDK data to be placed into Program RAM 

F_Pdata_start_addr_in_ROM = 0; 



F_Pdata_ROMtoRAM_length = 0; 





} > .pExtRAM 

#******************************************************************************* 

.ApplicationData : 

{ 


F_Xdata_start_addr_in_ROM = ADDR(.xFlash) + SIZEOF(.xFlash) / 2; 


F_StackEndAddr = ADDR(.xStack) + SIZEOF(.xStack)/2 - 1; 


# Define variables for SDK mem library 

FmemEXbit = .; 

WRITEH(_EX_BIT); 

FmemNumIMpartitions = .; 

WRITEH(_NUM_IM_PARTITIONS); 

FmemNumEMpartitions = .; 

WRITEH(_NUM_EM_PARTITIONS); 

FmemIMpartitionList = .; 

WRITEH(ADDR(.xIntRAM_DynamicMem)); 

WRITEH(SIZEOF(.xIntRAM_DynamicMem) / 2); 

FmemEMpartitionList = .; 

WRITEH(ADDR(.xExtRAM_DynamicMem)); 

WRITEH(SIZEOF(.xExtRAM_DynamicMem) /2); 




3-27 







# Place rest of the data into External RAM 

* (.data) 



F_Xdata_ROMtoRAM_length = 0; 




* (.bss) 

F_Xbss_length = . - _X_BSS_ADDR; # Copy DATA 

} > .xExtRAM 

#******************************************************************************* 

} 







MOTOROLA 








Using memory directives in the Linker Command File, the DSP56F807 is set up to use External 

Program RAM for code and any data that must be put into Program memory, as well as to use a 

combination of External and Internal Data RAM for initialized and uninitialized data. 

application.o Program Ext. RAM 

data 

bss 

text 



appconfig.o 

data 

bss 

text 

appconst.o 

data 

Step 1 

bss 

.pExtRAM 

text 

config.o 

data 

bss 

text 

const.o 

data 

Linker 

Command 

File 

bss 

text Data Int. RAM 

MEMORY { 

pramdata.o 

data 

bss 

text 

vector.o 

data 

bss 

.xAvailable 

Used by 

.xCWRegisters 

CodeWarrior 


.xIntRAM_DynamicMem 


Data Ext. RAM 


.pExtRAM (RWX): ORIGIN = 0x0086, LENGTH = 0xFF7A 



.xIntRAM_DynamicMem (RW) : ORIGIN = 0x0040, LENGTH = 0x0FC0 




.xExtRAM (RW) : ORIGIN = 0x4000, LENGTH = 0xA000 

text 





data 

bss 

text 

.xExtRAM 

} 



data Memory Manager 

bss 

text Software Stack 

.xExtRAM_DynamicMem 

.xStack 

Figure 3-3. Set Up DSP56F807 Memory Partitions 




3-29 








Figure 3-4 demonstrates how an executable file (which is configured for external memory 

operation) will be mapped into physical memory on the DSP56F807 target. 

Program Ext. RAM 


Code 

Initialized Data for 

Program RAM 


for Program RAM 

Data Int. RAM 


CodeWarrior 



Data Ext. RAM 

Initialized & 


for Data RAM 






Load 

DSP56F807 

Memory 

(Using 

CodeWarrior 


Bootloader) 


External RAM 

Data Memory 

Reserved 

Peripherals 

External RAM 







MOTOROLA 

RAM 

Flash 

0x0000 - 0xFFFF 

0x0000 - 0x0FFF 

0x1000 - 0x17FF 

0x1800 - 0x1FFF 

0x2000 - 0x3FFF 

0x4000 - 0xFF7F 







3.2.4 Internal (Flash) Memory Operation for DSP56F801 & 

DSP56802 



documents only the differences that are specific to the DSP56F801 platform. The DSP56802 has 

the same memory map as the DSP56F801 and therefore their linker command files are identical. 


# Linker.cmd file for DSP56F801EVM 

# using internal data memory only ( EX = 0, Boot Mode 0A ) 

#******************************************************************************* 

MEMORY { 


.pFlash (RX) : ORIGIN = 0x0086, LENGTH = 0x1F7A 

.pIntRAM (RWX) : ORIGIN = 0x7C00, LENGTH = 0x0400 

.pIntRAM_Mirror (RWX) : ORIGIN = 0x7C00, LENGTH = 0x0400 

.pBootFlash (RX) : ORIGIN = 0x8000, LENGTH = 0x0800 

.pReserved (RX) : ORIGIN = 0x8800, LENGTH = 0x7800 



.xIntRAM (RW) : ORIGIN = 0x0040, LENGTH = 0x02C0 

.xIntRAM_Mirror (RW) : ORIGIN = 0x0040, LENGTH = 0x02C0 

.xStack (RW) : ORIGIN = 0x0300, LENGTH = 0x0100 

.xReserved1 (R) : ORIGIN = 0x0400, LENGTH = 0x0800 




.xExtRAM (R) : ORIGIN = 0x2000, LENGTH = 0xDF80 


} 

#******************************************************************************* 


SECTIONS { 


#******************************************************************************* 


{ 



#******************************************************************************* 


{ 

# Place all code into Program Flash 

* (.text) 






3-31 








* (user.text) 

} > .pFlash 

#******************************************************************************* 

.InitializedDataForProgramRAM : AT (ADDR(.pFlash)+1+SIZEOF(.pFlash) / 2) 

{ 

# Define variables for C initialization code of Program RAM data 

F_Pdata_start_addr_in_ROM = ADDR(.pFlash)+1 + SIZEOF(.pFlash) / 2; 


_P_DATA_ADDR = .; 

# SDK initialized data to be placed into Program RAM 


F_Pdata_ROMtoRAM_length = . - _P_DATA_ADDR; 

} > .pIntRAM_Mirror 

#******************************************************************************* 

.InitializedConstData : 

{ 

const.c (.data) 

appconst.c (.data) 

} > .xFlash 

#******************************************************************************* 

.ApplicationInitialzedData : AT (ADDR(.xFlash) + 1 + SIZEOF(.xFlash) / 2) 

{ 


F_Xdata_start_addr_in_ROM = ADDR(.xFlash)+1 + SIZEOF(.xFlash) / 2; 


F_StackEndAddr = ADDR(.xStack)+SIZEOF(.xStack) / 2 - 1; 


_X_DATA_ADDR = .; 

# Place rest of the data into Internal Data RAM 

* (.data) 



F_Xdata_ROMtoRAM_length = . - _X_DATA_ADDR; 

} > .xIntRAM_Mirror 

#******************************************************************************* 

.DataForProgramRAM : 

{ 

# allocates space for .InitializedDataForProgramRAM section 

. = (ADDR(.pIntRAM_Mirror) + SIZEOF(.pIntRAM_Mirror) / 2) + 1; 

# Define variables for C initialization code of Program RAM bss 




MOTOROLA 









# SDK uninitialized data to be placed into Program RAM 



} > .pIntRAM 

#******************************************************************************* 

.DataForDataRAM : 

{ 

# allocates space for .ApplicationInitializedData section 

. = (ADDR(.xIntRAM_Mirror) + SIZEOF(.xIntRAM_Mirror) / 2); 




# .bss sections 


* (.bss) 

F_Xbss_length = . - _X_BSS_ADDR; 

} > .xIntRAM 

#******************************************************************************* 

} 







3-33 








Using memory directives in the Linker Command File, the DSP56F801 and DSP56802 are set up 

to use Internal Program RAM and Program Flash for code and any data that must be put into 

Program memory, as well as to use a combination of Data Flash and Internal Data RAM for 

initialized and uninitialized data. 

application.o Program Flash 

data 

bss 

text 

appconfig.o 

data 

bss 

text 

appconst.o 

data 

bss 

text 

config.o 

data 

bss 

text 

const.o 

data 

bss 

text 

pramdata.o 

data 

bss 

text 

vector.o 

data 

bss 

text 


data 

bss 

text 


data 

bss 

text 

Program Int. RAM 

Data Int. RAM 

Used by 

CodeWarrior 

Data Flash 



.pFlash 

.pIntRAM 

.pIntRAM_Mirror 

.xAvailable 

Software Stack .xStack 

.xCWRegisters 

.xIntRAM 

.xIntRAM_Mirror 

.xFlash 

Linker 

Command 

File 

Step 1 

MEMORY { 


.pFlash (RX) : ORIGIN = 0x0086, LENGTH = 0x1F7A 

.pIntRAM (RWX): ORIGIN = 0x7C00, LENGTH = 0x0400 

{ .pIntRAM_Mirror (RWX): ORIGIN = 0x7C00, LENGTH = 0x0400 

.pBootFlash (RX) : ORIGIN = 0x8000, LENGTH = 0x0800 

.pReserved (RX) : ORIGIN = 0x8800, LENGTH = 0x7800 



.xIntRAM (RW) : ORIGIN = 0x0040, LENGTH = 0x02C0 

{ .xIntRAM_Mirror (RW) : ORIGIN = 0x0040, LENGTH = 0x02C0 

.xStack (RW) : ORIGIN = 0x0300, LENGTH = 0x0100 





.xExtRAM (R) : ORIGIN = 0x2000, LENGTH = 0xDF80 


} 

Figure 3-5. Set Up DSP56F801/802 Memory Partitions 




MOTOROLA 







3.2.4.3 Linking: Initialized Data for Data RAM 

Linking initialized data for Data RAM is one of the major differences between the memory 

configuration example in the Programmer’s Guide and internal memory configuration for the 

DSP56F801 and DSP56F802 platforms. In this example, values for the initialized data for Data 

RAM are placed into Data Flash (not Program Flash, as in the Programmer’s Guide). 

application.o 

data 

bss 

appconfig.o 

data 

bss 

appconst.o 

bss 

config.o 

data 

bss 

const.o 

bss 

pramdata.o 

bss 

vector.o 

data 

bss 


data 

bss 


data 

bss 


Program Flash 


Code 

Program Data 

Values 


Program Data 

Symbols 

Data Int. RAM 

Used by 

CodeWarrior 


Data Flash 

Const Data 


.pFlash 

.pIntRAM 


.xAvailable 

.xCWRegisters 

.xIntRAM 


.xFlash 

Symbols 

located 

here 

Values 

located 

here 

Linker 

Command 

File 

Step 7 

.ApplicationInitializedData : AT (ADDR(.xFlash) + 1 + 

SIZEOF(.xFlash) / 2) 

{ 

F_Xdata_start_addr_in_ROM = ADDR(.xFlash) + 1 + 

SIZEOF(.pFlash)/2; 

F_StackAddr = ADDR(.xStack) 

F_StackEndAddr = ADDR(xStack) + 

SIZEOF(.xStack) / 2 - 1; 



* (.data) 



F_Xdata_ROMtoRAM_lentgh = . - _X_DATA_ADDR; 


Figure 3-6. Linking: Initialized Data for Data RAM 




3-35 








Figure 3-7 demonstrates how an executable file (configured for internal memory operation) will 

be mapped into physical memory on the DSP56F801 and DSP56F802 targets. 

Program Flash 


Code 

Program Data 

Values 


Program Data 

Symbols 

Program 

Unitialized Data 

Data Int. RAM 

Used by 

CodeWarrior 

Data Symbols 



Data Flash 

Const Data 

Data Values 



Load 

DSP56F801 

Memory 

(Using 

CodeWarrior 


Bootloader) 


Boot Flash 

Data Memory 

Reserved 

Peripherals 

External RAM 






MOTOROLA 

Flash 

Reserved 

RAM 

Boot Flash 

Reserved 

RAM 

Flash 

Reserved 

DSP56F801/802 Memory 

0x0000 - 0x0003 

0x0004 - 0x1FFF 

0x2000 - 0x7BFF 

0x7C00 - 0x7FFF 

0x8000 - 0x87FF 

0x8800 - 0xFFFF 

0x0000 - 0x03FF 

0x0400 - 0x0BFF 

0x0C00 - 0x0FFF 

0x1000 - 0x17FF 

0x1800 - 0x1FFF 

0x2000 - 0xFF7F 







3.2.5 Internal (Flash) Memory Operation for DSP56F803 and 

DSP56F805 


example of memory configuration using the Linker Command File for internal memory operation 

for the DSP56F803 and DSP56F805 platforms. 

3.2.6 Internal (Flash) Memory Operation for DSP56F807 

Section 6.3 in the Programmer’s Guide gives an explanation and an example of memory 

configuration using the Linker Command File. The current chapter documents only the 

differences that are specific to the DSP56F807 platform. 


# Linker.cmd file for DSP56F807EVM 

# using internal data memory only ( EX = 0, Boot Mode 0A ) 

#******************************************************************************* 

MEMORY { 


.pFlash (RX) : ORIGIN = 0x0086, LENGTH = 0xEF7A 

.pIntRAM (RWX) : ORIGIN = 0xF000, LENGTH = 0x0800 

.pIntRAM_Mirror (RWX) : ORIGIN = 0xF000, LENGTH = 0x0800 

.pBootFlash (RX) : ORIGIN = 0xF800, LENGTH = 0x0800 



.xIntRAM (RW) : ORIGIN = 0x0040, LENGTH = 0x0E60 

.xIntRAM_Mirror (RWX) : ORIGIN = 0x0040, LENGTH = 0x0E60 

.xStack (RW) : ORIGIN = 0x0EA0, LENGTH = 0x0160 




.xExtRAM (R) : ORIGIN = 0x4000, LENGTH = 0xBF80 


} 

#******************************************************************************* 


SECTIONS { 


#******************************************************************************* 


{ 



#******************************************************************************* 


{ 

# Place all code into Program Flash 

* (.text) 




3-37 










* (user.text) 

} > .pFlash 

#******************************************************************************* 

.InitializedDataForProgramRAM : AT (ADDR(.pFlash)+1+SIZEOF(.pFlash) / 2) 

{ 

# Define variables for C initialization code of Program RAM data 

F_Pdata_start_addr_in_ROM = ADDR(.pFlash)+1 + SIZEOF(.pFlash) / 2; 


_P_DATA_ADDR = .; 

# SDK initialized data to be placed into Program RAM 


F_Pdata_ROMtoRAM_length = . - _P_DATA_ADDR; 

} > .pIntRAM_Mirror 

#******************************************************************************* 

.InitializedConstData : 

{ 

const.c (.data) 

appconst.c (.data) 

} > .xFlash 

#******************************************************************************* 

.ApplicationInitialzedData : AT (ADDR(.pFlash) + 1 + SIZEOF(.pFlash) / 2 + 

SIZEOF(.pIntRAM_Mirror) / 2 + 1 ) 

{ 


F_Xdata_start_addr_in_ROM = ADDR(.pFlash) + 1 + SIZEOF(.pFlash) / 

2 + SIZEOF(.pIntRAM_Mirror) / 2 + 1; 


F_StackEndAddr = ADDR(.xStack)+SIZEOF(.xStack) / 2 - 1; 



# Place rest of the data into Internal Data RAM 

* (.data) 



F_Xdata_ROMtoRAM_length = . - _X_DATA_ADDR; 


#******************************************************************************* 

.DataForProgramRAM : 

{ 

# allocates space for .InitializedDataForProgramRAM section 

. = (ADDR(.pIntRAM_Mirror) + SIZEOF(.pIntRAM_Mirror) / 2) + 1; 

# Define variables for C initialization code of Program RAM bss 





MOTOROLA 









# SDK uninitialized data to be placed into Program RAM 



} > .pIntRAM 

#******************************************************************************* 

.DataForDataRAM : 

{ 

# allocates space for .ApplicationInitializedData section 

. = (ADDR(.xIntRAM_Mirror) + SIZEOF(.xIntRAM_Mirror) / 2); 




# .bss sections 


* (.bss) 

F_Xbss_length = . - _X_BSS_ADDR; 

} > .xIntRAM 

#******************************************************************************* 



} 




3-39 








Using memory directives in the Linker Command File, the DSP56F807 is set up to use Internal 

Program RAM and Program Flash for code and for any data that must be put into Program 

memory, as well as to use a combination of Data Flash and Internal Data RAM for initialized and 

uninitialized data. See Figure 3-8. 

application.o Program Flash 

data 

bss 

text 

appconfig.o 

data 

bss 

text 

appconst.o 

data 

bss 

text 

config.o 

data 

bss 

text 

const.o 

data 

bss 

text 

pramdata.o 

data 

bss 

text 

vector.o 

data 

bss 

text 


data 

bss 

text 


data 

bss 

text 


Data Int. RAM 

Used by 

CodeWarrior 

Data Flash 



.pFlash 

.pIntRAM 


.xAvailable 


.xCWRegisters 

.xIntRAM 


.xFlash 

Linker 

Command 

File 

Step 1 

MEMORY { 


.pFlash (RX) : ORIGIN = 0x0086, LENGTH = 0xEF7A 

.pIntRAM (RWX): ORIGIN = 0xF000, LENGTH = 0x0800 

{ .pIntRAM_Mirror (RWX): ORIGIN = 0xF000, LENGTH = 0x0800 

.pBootFlash (RX) : ORIGIN = 0xF800, LENGTH = 0x0800 



.xIntRAM (RW) : ORIGIN = 0x0040, LENGTH = 0x0E60 

{ .xIntRAM_Mirror (RWX): ORIGIN = 0x0040, LENGTH = 0x0E60 

.xStack (RW) : ORIGIN = 0x0EA0, LENGTH = 0x0160 



.xFlash (R) : ORIGIN = 0X2000, LENGTH = 0X2000 

.xExtRAM (R) : ORIGIN = 0x4000, LENGTH = 0xBF80 


} 

Figure 3-8. Set Up DSP56F807 Memory Partitions 




MOTOROLA 








Figure 3-9 demonstrates how an executable file (configured for internal memory operation) will 

be mapped into physical memory on the DSP56F807 target. 

Program Flash 


Code 

Program Data 

Values 

Data Values 


Program Data 

Symbols 

Program 

Unitialized Data 

Data Int. RAM 

Used by 

CodeWarrior 

Data Symbols 



Data Flash 

Const Data 



Load 

DSP56F807 

Memory 

(Using 

CodeWarrior 


Bootloader) 


Boot Flash 

Data Memory 

Peripherals 

Reserved 

External RAM 






3-41 

Flash 

RAM 

Boot Flash 

RAM 

Flash 


0x0000 - 0x0003 

0x0004 - 0xEFFF 

0xF000 - 0xF7FF 

0xF800 - 0xFFFF 

0x0000 - 0x0FFF 

0x1000 - 0x17FF 

0x1800 - 0x1FFF 

0x2000 - 0x3FFF 

0x4000 - 0xFF7F 







3.3 DSP56F80x Boot Sequence Configuration 

As explained in the Programmer’s Guide, the SDK supports initialization and load of executable 

applications by providing a portion of code located at a specific location in memory to which the 

processor will always jump on reset or power-up. This code sets the processor in a specific state, 

initializes memory, enables and configures user-specified device drivers, and then passes control 

to the user’s application code. For the DSP56F80x platform, the SDK has two different Boot 

sequence configurations: Start-up Sequence Without Bootloader and Start-up Sequence with 

Bootloader. 

3.3.1 Start-up Sequence Without Bootloader 

Power-up/Reset 

0x0000 

0x0001 

0x0002 

0x0003 

0x0080 

0x0081 

0x0082 

0x0083 

0x0084 

0x0085 



JSR 

ArchStart( ) 

JSR 

Interrupt1( ) 

JSR 

Interrupt2( ) 

. 

. 

. 

. 

. 

. 

JSR 

Interrupt63( ) 

R e s e r v e d 

. 

. 

. 


ArchStart( ) 

{ 

. . . 

} 

Figure 3-10. DSP56F80x Boot Sequence without Bootloader 




MOTOROLA 

1 

arch.c 

2 





DSP56F80x Boot Sequence Configuration 


3.3.1.1 Step 1: Power-up/Reset 

The DSP56800 core specifies two reset vectors: Hardware Reset and COP Reset (normally 

located at addresses 0x0 and 0x2, respectively). The Hardware Reset vector identifies the address 

that the processor accesses once it recognizes a power-up or power reset. All applications 

developed with the SDK will have a default entry point, archStart() (see system file 

\SDK\src\dsp568xx\nos\sys\arch.c). The address of this routine is placed into the Hardware 

Reset vector location via the Interrupt Vector table located in the vector.c configuration file. 

3.3.1.2 Step 2: Start-up Code 


Once execution of archStart() begins, the boot-up process is the same as the process described in 

Section 6.4, Boot Sequence Configuration, in the Programmer’s Guide. 

NOTE: Program memory locations from 0x0080 through 0x0085 are reserved for Bootloader 

compatibility. This means that any application that uses the configuration for SDK 

Internal (Flash) Memory Operation will be compatible with a boot-up process which 

may or may not contain the DSP56F80x bootloader. 

3.3.2 Start-up Sequence with Bootloader 

For a detailed description of the DSP56F80x bootloader, see Chapter 9, Chapter 10, Chapter 11 

and Chapter 12 of this manual. 




3-43 







Power-up/Reset 

0x0000 

0x0001 

0x0002 

0x0003 

0x0080 

0x0081 

0x0082 

0x0083 

0x0084 

0x0085 



JSR 

bootArchStart( ) 

JSR 

bootCOPInterrupt( ) 

JSR 

Interrupt2( ) 

. 

. 

. 

. 

. 

. 

JSR 

Interrupt63( ) 

JSR 

archStart( ) 

JSR 

Interrupt1( ) 

Reserved by 

Bootloader 

. 

. 

. 


bootArchStart( ) 

{ 

. . . 

/*Start User Application*/ 

. . . 

} 

Figure 3-11. DSP56F80x Boot Sequence with Bootloader 




MOTOROLA 

1 

2 

archStart( ) 

{ 

. . . 

} 

arch.c 

Bootloader 

3 





DSP56F80x Boot Sequence Configuration 


3.3.2.1 Step 1: Power-up/Reset 

The DSP56800 core specifies two reset vectors: Hardware Reset and COP Reset (normally 

located at addresses 0x0 and 0x2, respectively). The Hardware Reset vector identifies the address 

that the processor accesses once it recognizes a power-up or power reset. When the DSP56F80x 

bootloader is present, it controls this address by placing a bootloader entry point into the 

Hardware Reset vector location. 

3.3.2.2 Step 2: Transition to Application’s Entry Point 

When the DSP56F80x bootloader completes its execution (see Section 9.5, Section 10.16, 

Section 11.16, and Section 12.16 for more information about bootloader execution), it transfers 

control to the user’s application by performing a JSR instruction to an address specified in 

memory location 0x0081. All applications developed with the SDK will have a default entry 

point, archStart() (see system file \SDK\src\dsp568xx\nos\sys\arch.c). The address of this 

routine is placed into the 0x0081 location via the Interrupt Vector table located in the vector.c 

configuration file. 

3.3.2.3 Step 3: Start-up Code 


Once the execution of archStart() begins, the boot-up process is the same as the process described 

in Section 6.4, Boot Sequence Configuration, in the Programmer’s Guide. 




3-45 







3.4 Clock (PLL) Configuration 

SDK provides a fast and easy way to configure DSP56F80x clocks. By modifying SDK default 

configuration parameters, a user can change the clock frequency for the DSP56F80x core and 

peripherals. 

Figure 3-12 shows the SDK configuration parameters available to a user. 

OSC_CLOCK 

8MHz Typ. 

EXTAL 

Crystal 

Osc. 

XTAL 

Relaxation 

Osc. (801) 

*Divided by (PLLDB + 1) 

VCO 

PH 

COMP 

Figure 3-12. SDK Clock Configuration for DSP56F80x 

BSP_OSCILLATOR_FREQ defines the frequency of the external oscillator and is located in the 

config.h configuration file. 

PLL_CLOCK_IN_DIVIDE_BY_X defines a value of the PLL prescaler, and can be set to: 

• PLL_CLOCK_IN_DIVIDE_BY_1 





(PLLCID bits) 

Prescaler 

div. by 1,2,4,8 

EXTAL_CLK 

PLL 

Div. 

by 

* 

FOUT 

Div. 

by 

2 

FOUT/2 

(PLLCOD bits) 

Postscaler 

div. by 1,2,4,8 




MOTOROLA 

Loss of 

Lock 

Loss of 

Clock 

Sync 

MUX 

Typ. 

IRQ 

80MHz 

IRQ ZCLK, 

COP 

SIM 

56800 

DSP 

Core 

en 

COP 

IRQ 

IP_Bus 

Bridge 

div. by 2 

CPU_FREQ = (BSP_OSCILLATOR_FREQ * PLL_MUL) / (2 * PLL_CLOCK_OUT_DIVIDE_X) 

PERIPHERALS_FREQ = 

SDK 

Configures 

These 

CPU_FREQ 

2 

40MHz Typ. IP_BUS CLOCK 

Peripheral 

Peripheral 

Peripheral 

CAN 





Clock (PLL) Configuration 


PLL_CLOCK_OUT_DIVIDE_BY_X defines a value of the PLL postscaler, and can be set to: 

• PLL_CLOCK_OUT_DIVIDE_BY_1 




PLL_MUL can be any number in the range from 0 to 127. 

Application developers can use these configuration parameters to select desired CPU speeds. For 

example, to set CPU speed to 18Mhz, use the equation from Figure 3-12, and redefine default 

configuration parameters (from config.h) in the appconfig.h as follows: 

Code Example 3-45. appconfig.h file 

#define PLL_MUL 18 


#define PLL_DIVIDE_BY_REG (( PLL_MUL - 1 ) \ 

| PLL_CLOCK_IN_DIVIDE_BY_1) 

| PLL_CLOCK_OUT_DIVIDE_BY_4) 

In this example, BSP_OSCILLATOR_FREQ (with default value set to 8000000 in the config.h), 

PLL_MUL (with user set value of 18 in the appconfig.h), PLL_CLOCK_IN_DIVIDE_BY_1, and 

PLL_CLOCK_OUT_DIVIDE_BY_4 are used to define the CPU clock to 8000000 / 1 * 18 / 2 / 4 

= 18000000Hz. 

NOTE: The default SDK setting for the CPU clock is 72MHz (BSP_OSCILLATOR_FREQ = 

8000000, PLL_MUL = 18, PLL_CLOCK_IN_DIVIDE_BY_1, 

PLL_CLOCK_OUT_DIVIDE_BY_1) 




3-47 











MOTOROLA 





Chapter 4 

Interrupt Processing for the 

DSP56F80x 

This section describes specifically how to use the SDK toimplement interrupts on the 

DSP56F80x. Please refer to the Programmer’s Guide for a high-level description of interrupts 

for the DSP568xx family. 

4.1 Interrupt Dispatcher 

The SDK for DSP56F80x platforms comes with interrupt dispatchers that provide normal and fast 

context saves. 

4.1.1 Super Fast Interrupt Dispatcher 

A super fast interrupt dispatcher is not required, since the interrupt dispatcher is bypassed 

altogether when using a super fast ISR. 

4.1.2 Fast Interrupt Dispatcher 



The fast interrupt dispatcher provides limited context saving, therefore decreasing the ISR 

overhead (interrupt latency). The registers saved are: n, a0, a1, a2, b0, b1, b2, x0, y0, y1, r0, r1, r2, 

r3, la, lc. The temporary register file used by the compiler (x:0x30 to x:0x3f) and the hardware 

stack are not saved, nor is the state of the various registers (OMR and m01) set, as in the Normal 

Interrupt Dispatcher. After saving the registers, the fast interrupt dispatcher jumps to the fast ISR. 

The amount of overhead when using the SDK fast interrupt dispatcher for the DSP56F80x is 

shown in Table 4-1. 

4.1.3 Normal Interrupt Dispatcher 

The normal interrupt dispatcher saves all registers (n, a0, a1, a2, b0, b1, b2, x0, y0, y1, r0, r1, r2, 

r3, omr, la, m01, lc); saves the hardware stack; saves the temporary register file used by the 

compiler (x:0x30 to x:0x3f); sets the modifier register (m01) to -1 (linear arithmetic); sets 

convergent rounding, no saturation mode, and 32-bit compares in the OMR; and then jumps to the 

installed ISR. 

MOTOROLA Interrupt Processing for the DSP56F80x 



4-1 







The amount of overhead when using the SDK normal interrupt dispatcher for the DSP56F80x is 

shown in Table 4-1. 

4.1.4 SDK ISR Overhead 

Table 4-1 and Table 4-2 provide the number of instructions and clock cycles that the super fast, 

fast, and normal interrupt dispatchers require when they are executing from internal and external 

program memory. For the values below, the clock cycles for the initial JSR instruction to the ISR 

and the RTI instruction are not included, because they are the same for each type of ISR and are 

not actually part of the SDK ISR overhead. They are due to the hardware overhead in dealing with 

interrupts. The initial JSR instruction takes 12 clock cycles and the RTI takes 10 clock cycles. 

Table 4-1. SDK ISR Overhead for DSP56F80x (running from internal memory) 

Program Code - Internal Memory 

SDK ISR Overhead from the point when the 

DSP allows the interrupt to the point where 

interrupts of higher priority are unmasked 


DSP allows the interrupt to the start of User ISR 

SDK ISR Overhead from the end of User ISR to 

the point where the Interrupt Dispatcher returns 

to the User Code 

Super 

Fast 

Interrupt Dispatcher 

Instructions 

Fast Normal 

Interrupt Dispatcher Clock 

Cycles 

Super 

Fast 

Fast Normal 

N/A 21 21 N/A 68 66 

0 41 66 0 128 178 

0 19 41 0 40 84 

Table 4-2. SDK ISR Overhead for DSP56F80x (running from external memory) 

Program Code - External Memory 


DSP allows the interrupt to the point where 

interrupts of higher priority are unmasked 


DSP allows the interrupt to the start of User ISR 

SDK ISR Overhead from the end of User ISR to 

the point where the Interrupt Dispatcher returns 

to the User Code 


Super 

Fast 


Instructions 

Fast Normal 

Interrupt Dispatcher Clock 

Cycles 

Super 

Fast 

Fast Normal 

N/A 21 21 N/A 80 82 

0 41 66 0 168 250 

0 19 41 0 74 142 




MOTOROLA 





Nested Interrupts 


4.1.5 SDK ISR Stack Requirements 

Table 4-3 provides the stack size requirements for the super fast, fast, and normal interrupt 

dispatchers. Note that these numbers include the two words required for the initial ISR from the 

interrupt vector table. 

Calculating the overall amount of software stack consumed by ISRs depends on the number of 

nested ISRs, the type of ISR (normal, fast, or super fast), and the size of the ISRs. Once you have 

this number, you must account for the maximum software stack consumed by your application, 

which can be very complicated. To simplify calculating the software stack, the SDK offers a 

“stackcheck” capability to allow you to determine how much stack your application (including 

ISRs) uses. See Section 5.2.2 of the Programmer’s Guide for more information. 

4.2 Nested Interrupts 

Nested interrupts are supported by the SDK for the DSP56F80x since it has an IP Bus Interrupt 

Controller (ITCN). The interrupt priority (GPR_INT_PRIORITY_XX) for each interrupt must be 

defined to be between 0 and 7, with 7 the highest priority. If any interrupt is defined to have a 

priority greater than 1, then the configuration data used by the SDK Interrupt Dispatcher will be 

conditionally compiled to enable nested interrupts. Code Example 4-1 shows how nesting might 

be turned on and off. 

Code Example 4-1. Example appconfig.h 

/***************************************************************************** 

/* Make ButtonB_ISRs visible */ 

extern void ButtonB_NormalISR(void); 

extern void ButtonB_FastISR(void); 

extern void ButtonB_SuperFastISR(void); 

extern void ButtonB_NestedSuperFastISR(void); 

#define NO 1 

#define YES 2 

//#define USE_NESTED_INTERRUPTS NO 

#define USE_NESTED_INTERRUPTS YES 


Table 4-3. SDK ISR Stack Requirements for DSP56F80x 


Software Stack Size Consumed 

by SDK (words) 

Super Fast 2 

Fast 24 

Normal 38 

#if USE_NESTED_INTERRUPTS == YES /* Placeholder only, IRQA,B bypasses ICTN */ 




4-3 







#define GPR_INT_PRIORITY_8 1 /* Setup IRQA button ISR priority */ 

#define GPR_INT_PRIORITY_9 2 /* Setup IRQB button ISR priority */ 

#elif USE_NESTED_INTERRUPTS == NO 

#define GPR_INT_PRIORITY_8 1 /* Setup IRQA button ISR priority */ 

#define GPR_INT_PRIORITY_9 1 /* Setup IRQB button ISR priority */ 

#endif 

#define NORMAL 1 

#define FAST 2 

#define SFAST 3 


//#define BUTTONB_ISR_TYPE NORMAL /* Normal ISR - full context saving */ 

//#define BUTTONB_ISR_TYPE FAST /* Fast ISR - Some context saving */ 

#define BUTTONB_ISR_TYPE SFAST /* Super Fast ISR - no context savings */ 

#if BUTTONB_ISR_TYPE == NORMAL 

#define NORMAL_ISR_9 ButtonB_NormalISR 

#elif BUTTONB_ISR_TYPE == FAST 

#define FAST_ISR_9 ButtonB_FastISR 

#elif BUTTONB_ISR_TYPE == SFAST 

#if USE_NESTED_INTERRUPTS == YES 

#define INTERRUPT_VECTOR_ADDR_9 ButtonB_NestedSuperFastISR 

#else 

#define INTERRUPT_VECTOR_ADDR_9 ButtonB_SuperFastISR 

#endif 

#endif 

******************************************************************************/ 

Because Super Fast interrupts bypass the interrupt dispatcher, there is an additional step required 

to implement interrupt nesting for Super Fast interrupts. Explicit calls to 

archEnterNestedInterruptCommon and archExitNestedInterruptCommon must be added to the 

code of the Super Fast interrupt, as shown in Code Example 4-2. 

Code Example 4-2. Additions to Code for Super Fast Interrupt 

/*****************************************************************************/ 

This example provides a template for implementing nested superfast ISRs. 

The code is split into two parts (ISR and core) to minimize the delay in 

re-enabling ISRs and to allow use of C code (with pragma interrupt) for 

the core (or body) of the ISR. 

*/ 

EXPORT void ButtonB_NestedSuperFastISR(void); 

EXPORT void ButtonB_NSFISR_Core(void); 

asm void ButtonB_NestedSuperFastISR(void) 

{ 

lea (SP)+ ; Push registers used 

move N,x:(SP) ; to save context. 




MOTOROLA 





} 

Interrupt Priorities 


move #9,N ; store IrqB index as argument 

jsr archEnterNestedInterruptCommon ; Implement nesting 

;Put your assembly code here, OR jump to core coded in C. 

jsr ButtonB_NSFISR_Core ; Jump to interrupt core 

jsr archExitNestedInterruptCommon ; restore IPR flag et al 

pop N ; Pop registers used to restore context. 

rti 

EXPORT void ButtonB_NSFISR_Core(void) /* Core for Nested Super Fast interrupt */ 

{| 

#pragma interrupt 

/* Pragma used to insure context saving done by routine instead of the 

dispatcher since super fast interrupts bypass the dispatcher. 

With pragma an RTI is used instead of RTS.*/ 

/* Turn Off the Green LED */ 

ioctl(LedFD, LED_OFF, LED_GREEN); 

} 

/*****************************************************************************/ 

4.3 Interrupt Priorities 

By default, as defined in config.h, the GPR_INT_PRIORITY_XX for each interrupt is set to 0, 

which disables the interrupt. The GPR_INT_PRIORITY_XX for each interrupt used should be set 

between 1 and 7 in appconfig.h, with 7 the highest priority. If the GPR_INT_PRIORITY_XX is 

not set between 1 and 7, then the vector in the interrupt vector table for the specific interrupt will 

contain the address of configUnhandledInterruptISR. 

Note that the GPR_INT_PRIORITY_XX is defined automatically to be 1 for interrupts used by 

device drivers that are included in appconfig.h. If you want the interrupts used to implement the 

device drivers to be nested, this definition can be changed in the appconfig.h. 

4.4 Device Drivers 

The following SDK device drivers used by the DSP56F80x automatically set the 

GPR_INT_PRIORITY_xx to 1 for the interrupts required by the drivers. 

4.4.1 ADC Driver 

The ADC driver, when enabled, uses interrupt numbers 54, 55, 56, and 57, so the following 

interrupt priorities are automatically set to 1: 

• GPR_INT_PRIORITY_54 






4-5 









4.4.2 Button Driver 

The button driver, when enabled, uses interrupt numbers 8 and 9, so the following interrupt 

priorities are automatically set to 1: 

• GPR_INT_PRIORITY_8 - note that this interrupt is not controlled by the ITCN 

• GPR_INT_PRIORITY_9 - note that this interrupt is not controlled by the ITCN 

These interrupts are core interrupts (IRQA and IRQB) and are not controlled by the ITCN. Thus, 

when enabled, they will always interrupt the other maskable interrupts (interrupt numbers 11 to 

64) and the ISR associated with the interrupt cannot be interrupted by the other maskable 

interrupts. 

4.4.3 CAN Driver 

The CAN driver, when enabled, uses interrupt numbers 14, 15, 16, and 17, so the following 






4.4.4 DAC Driver 

The DAC driver is implemented using the SPI driver; see Section 4.4.14. 

4.4.5 Decoder Driver 

The decoder driver, when enabled, uses interrupt numbers 26, 27, 28, and 29, so the following 






4.4.6 File I/O Driver 


The file I/O driver is implemented using the SCI driver; see Section 4.4.13. 




MOTOROLA 





4.4.7 Flash Driver 

Device Drivers 


The flash driver, when enabled, uses interrupt numbers 11, 12 and 13, so the following interrupt 





4.4.8 GPIO Driver 

The GPIO driver, when enabled, uses interrupt numbers 19, 20, 22, and 23, so the following 






4.4.9 LED Driver 

The LED driver is implemented using the GPIO driver; see Section 4.4.8. 

4.4.10 PC Master Driver 

The PC master driver is implemented using the SCI driver; see Section 4.4.13. 

4.4.11 PWM Driver 

The PWM driver, when enabled, uses interrupt numbers 58, 59, 60, and 61, so the following 






4.4.12 Quad Timer Driver 

The quad timer driver, when enabled, uses interrupt numbers 30 to 45, so the following interrupt 











4-7 


















4.4.13 SCI Driver 

The SCI driver, when enabled, uses interrupt numbers 46 to 53, so the following interrupt 










4.4.14 SPI Driver 

The SPI driver uses interrupt numbers 24 and 25, so the following interrupt priorities are 

automatically set to 1: 



4.4.15 Switch Driver 

The switch driver is implemented using the GPIO driver, see Section 4.4.8. 

4.4.16 Timer Driver 


The timer driver is implemented using the quad timer driver, see Section 4.4.12. 




MOTOROLA 





Chapter 5 


One strength of the SDK is that it provides a high degree of architectural and hardware 

independence for application code. This portability is due to the SDK’s modular design, which, in 

this case, isolates all chip-specific functionality into a set of libraries that are part of a Board 

Support Package (BSP). This BSP can be found at \src\dsp5680xevm\nos\bsp of the SDK. 

This chapter is composed of two major components: Interfaces and Drivers. It defines the 

Application Programming Interface (API) by identifying all public interface functions and data 

structures. The SDK On Chip API Interface can be used at two levels: Device-Independent I/O 

API interface and a Low-Level device driver interface. The Device-Independent I/O layer 

interface provide a standard I/O interface and invokes the lower layer device driver interface. 

Your application may use either the Device-Independent layer interface or, the low-level device 

driver interface, depending on your specific goals for efficiency and portability. The Device- 

Independent I/O layer is portable and the Low-Level device drivers are not portable, but 

potentially more efficient than the Device-Independent I/O layer. 

This document focuses on the DSP56F80x “On Chip” device drivers only. Specific EVM 

hardware peripheral drivers will be addressed in Chapter 6, Off Chip Drivers. 

5.1 SPI Driver 

5.1.1 Introduction 

The DSP56F80x processors have an SPI device which allows full duplex, synchronous, serial 

communication between the DSP and peripheral devices. This section describes the Serial 

Peripheral Interface driver software, which provides the lowest-level software layer interfacing 

hardware to software. 

5.1.2 Initialization 



The SPI device driver currently has no default configurations that can be overwritten through a 

project’s appconfig.h file. 

MOTOROLA On-Chip Drivers 



5-1 






5.1.3 API Definition 

This section defines the Application Programming Interface (API) by identifying all public 

interface functions and data structures. 

Code to create and initialize the SPI driver is automatically included into an SDK Embedded 

Project by inserting the following line in the appconfig.h file: 

#define INCLUDE_SPI 

The following information may be found in the public header file spi.h: 

Public Interface Function(s): 

/***************************************************************************** 

* int open(const char *pName, int OFlags, &SpiParams); 

* ssize_t write(int FileDesc, const void * pBuffer, size_t Size); 

* ssize_t read(int FileDesc, void * pBuffer, size_t Size); 

* int close(int FileDesc); 

* UWord16 ioctl(int FileDesc, UWord16 Cmd, void * pParams); 

*****************************************************************************/ 

Public Data Structure(s): 



typedef struct 

{ 

bool bSetAsMaster; 

UWord16 TransmissionSize; 

void (* pSlaveSelect)(void); 

void (* pSlaveDeselect)(void); 

} spi_sParams; 

Table 5-1. SPI Data Structure Members 

bSetAsMaster bool A bool that sets the SPI device to a Master when set to True and to a 

Slave when set to False 

TransmissionSize UWord16 Sets the Size of Transmission from 2 to 16 bits 

(* pSlaveSelect)(void) void A function pointer to a function that enables the SS. If set to NULL, 

will use the default (Port B pin 5) to assert the SS. 

(* pSlaveDeselect)(void) void A function pointer to a function that disables the SS. If set to NULL, 

will use the default (Port B pin 5) to de-assert the SS 




MOTOROLA 







5.1.4 SPI Device Independent I/O API Specifications 

SPI Driver 

The following pages specify the device independent Application Programming Interface (API). 

Function arguments for each routine are described as in, out, or inout. An in argument means that 

the parameter value is an input only to the function. An out argument means that the parameter 

value is an output only from the function. An inout argument means that a parameter value is an 

input to the function, but the same parameter is also an output from the function. 

Typically, inout parameters are input pointer variables in which the caller passes the address of a 

preallocated data structure to a function. The function stores its results within that data structure. 

The actual value of the inout pointer parameter is not changed. 




5-3 






5.1.4.1 open 

Call(s): 

int open(const char *pName, int OFlags, &SpiParams); 

Description: The open call opens the SPI peripheral for operations and returns a file descriptor 

used by the SPI driver’s read, write, close, and ioctl function calls. The SPI device needs to be 

opened for read/write calls. 

Returns: The open call returns a type int. When the open call is successful, this int is a file 

descriptor for the SPI device. This file descriptor is used by the SPI driver’s read, write, close, and 

ioctl functions. A "-1" is returned when the open call is not successful. 

Code Example: See Code Example 5-1. 



Table 5-2. SPI Driver open Arguments - open 

pName in The SPI device name. Use BSP_DEVICE_NAME_SPI_0. 

OFlag in Open Mode Flags which are ignored. 

SpiParams in A public data structure described above that needs to filled before passing in 

as an open argument. 

FileDesc out SPI device descriptor returned by open call and used in read/write/ioctl function 

calls. 




MOTOROLA 





5.1.4.2 write 

Call(s): 

ssize_t write(int FileDesc, const void * pBuffer, size_t Size); 

Description: The write call writes the user buffer out of SPI device. 

SPI Driver 

Returns: The write call returns a type ssize_t. This ssize_t is the number of transferred words, 

which are defined as the transmission size of the input data. 




Table 5-3. SPI Driver Arguments - write 

FileDesc in SPI device descriptor returned by open call and used in 

read/write/ioctl function calls 

pBuffer in Pointer to user buffer 

Size in Size of data to read/write 




5-5 






5.1.4.3 read 

Call(s): 

ssize_t read(int FileDesc, void * pBuffer, size_t Size); 

Description: The read call reads data from SPI device into the user buffer. 

Returns: The read call returns a type ssize_t. When the SPI device is in “Master” mode, the 

function will return only one word. This word is the last word read from the SPI device due to the 

last write to the SPI device. When the SPI device is in “Slave” mode, the function will return Size 

words. 

NOTE: Since the SPI peripheral is full duplex device, a write must be performed before each 

read while using the SPI device in “Master” mode. 

Code Example: None 

Table 5-4. SPI Driver Arguments - read 

FileDesc in SPI device descriptor returned by open call and used in read/write/ioctl function calls 








MOTOROLA 





5.1.4.4 close 

Call(s): 

int close (int FileDesc); 

Description: The close call closes the SPI peripheral and releases the file descriptor handle. 

Returns: The close call returns a type int; this int is always zero. 

SPI Driver 

Code Example: Code Example 5-1 sets up the SPI as a master device and writes “Data” out of the 

SPI peripheral. 

Code Example 5-1. SPI Driver Usage with ioctl call 

/****************************************************************************/ 

#include "port.h" 

#include "io.h" 

#include "fcntl.h" 

#include "bsp.h" 

#include "spi.h" 

void main(void) 

{ 

spi_sParams SpiParams; 

int SerialMaster; 

UWord16 Data = 0x1234; 



Table 5-5. SPI Driver Arguments - close 

FileDesc in SPI device descriptor returned by open call and used in read/write/ioctl function calls 

SpiParams.pSlaveSelect = NULL; /* Use default PortB GPIO Pin 5 to toggle SS */ 

SpiParams.pSlaveDeselect = NULL;/* Use default PortB GPIO Pin 5 to toggle SS */ 

SpiParams.bSetAsMaster = 1;/* Put SPI device in master mode */ 

SpiParams.TransmissionSize = 0x000F; /* Set Transmission size to 16 bits */ 

/* Open the spi driver */ 

SerialMaster = open(BSP_DEVICE_NAME_SPI_0, 0, &SpiParams); 

/* Write “Data” out of the spi device */ 

write(SerialMaster, (UWord16 *)(&Data), sizeof(UWord16)); 

/* Close spi driver */ 

close(SerialMaster); 

} 

/****************************************************************************/ 




5-7 






5.1.4.5 ioctl 

Call(s): 



UWord16 ioctl(int FileDesc, UWord16 Cmd, void * pParams); 

Table 5-6. SPI Driver Arguments 

FileDesc in SPI device descriptor returned by open call 

Cmd in Commands found in spidrv.h which are used to modify the SPI status and control 

registers 

pParams in Used to pass in data transmission size with SPI_TRANSMISSION_DATA_SIZE ioctl 

function call 

Table 5-7. SPI ioctl Commands 

Cmd pParams Return Result 

SPI_DATA_SHIFT_MSB_FIRST None None MSB transmitted first 

SPI_DATA_SHIFT_LSB_FIRST None None LSB transmitted first 

SPI_ERROR_INTERRUPT_ENABLE None None MODF and OVRF can generate DSP 

interrupt requests 

SPI_ERROR_INTERRUPT_DISABLE None None MODF and OVRF cannot generate DSP 

interrupt requests 

SPI_MODE_FAULT_ENABLE None None Allows MODF to be set 

SPI_MODE_FAULT_DISABLE None None The level of the SS pin does not affect the 

operation of an enabled SPI configured as 

a Master 

SPI_CLEAR_MODE_FAULT None None Clears Mode Fault Bit after it has been set 

SPI_BAUDRATE_DIVIDER_2 None None Divides clock by 2 




SPI_RX_INTERRUPT_ENABLE None None SPRF DSP interrupt requests enabled 

SPI_RX_INTERRUPT_DISABLE None None SPRF DSP interrupt requests disabled 

SPI_MODE_MASTER None None Puts SPI in Master mode 

SPI_MODE_SLAVE None None Puts SPI in Slave mode 

SPI_CLK_POL_RISING_EDGE None None Rising edge of SCLK starts transmission 

SPI_CLK_POL_FALLING_EDGE None None Falling edge of SCLK starts transmission 




MOTOROLA 






Table 5-7. SPI ioctl Commands (Continued) 

Description: The ioctl call changes SPI device modes. 

Returns: The ioctl call returns a type UWord16; this UWord16 is always zero. 

SPI Driver 

SPI_CLOCK_PHASE_SET None None SS pin of the slave SPI module does not 

have to be set to a logic one between full 

length data transmissions 

SPI_CLOCK_PHASE_NOTSET None None SS pin of the slave device module does 

have to be set to a logic one between full 

length data transmissions 

SPI_ENABLE None None SPI module enabled 

SPI_DISABLE None None SPI module disabled 

SPI_TX_INTERRUPT_ENABLE None None SPTE interrupt requests enabled 

SPI_TX_INTERRUPT_DISABLED None None SPTE interrupt requests disabled 

SPI_TRANSMISSION_DATA_SIZE 2 - 16 None The data transmission size in bits 

Code Example: Code Example 5-2 sets up the SPI as a master device and makes the LSB transmit 

first. 

Code Example 5-2. SPI Driver Usage 

/****************************************************************************/ 




#include "spi.h" 


{ 

spi_sParams SpiParams; 

int SerialMaster; 


SpiParams.pSlaveSelect=NULL; /* Use default PortB GPIO Pin 5 to toggle SS */ 

SpiParams.pSlaveDeselect =NULL; /* Use default PortB GPIO Pin 5 to toggle SS */ 

SpiParams.bSetAsMaster=1; /* Put SPI device in master mode */ 

SpiParams.TransmissionSize = 0x000F;/* Set Transmission size to 16 bits */ 

/* Open spi driver */ 

SerialMaster = open(BSP_DEVICE_NAME_SPI_0, 0, &SpiParams); 

/* This will make the LSB tx first */ 

ioctl(SerialMaster, SPI_DATA_SHIFT_LSB_FIRST, NULL); 

/* Close spi driver */ 

close(SerialMaster); 

} 

/****************************************************************************/ 




5-9 






5.1.5 SPI Low-Level I/O API Specification 

None 

5.1.6 SPI Driver Application 

This application for the SPI driver is currently only for the DSP56F805/807 chip, because the 

DSP56F805EVM and DSP56F807EVM have an on-board DAC. 

The SPI driver application will generate a 1kHz sine-wave and output it via an onboard DAC. The 

SPI driver application can be found at \src\dsp56805evm\nos\applications\spi for the 

DSP56F805 or at \src\dsp56807evm\nos\applications\spi for the DSP56F807 and consists of the 

application spi.mcp and the source code for the application, spi.c. To view the signal, apply a 

scope probe to pin 7 on connector J20 of the DSP56F805 or to connector J26 of the DSP56F807 

and ground on pins 2, 4, 6, or 8. 

Jumper Settings: 



Use the default jumper settings for the DSP56F805EVM or DSP56F807EVM board. See the 

appropriate Hardware User’s Manual for more information on jumper settings. 

Trim Pot Settings: R107 on the DSP56F805EVM board or R97 on the DSP56F807EVM board 

must have a reference voltage of 2.5V between pins 2 and 1. This is the maximum reference 

voltage before clipping of the sine signal ensues. 

GND - pin TP1 

Figure 5-1. Trim Pots Pins (Top View) 




MOTOROLA 

2 

POT 

1 3 







Figure 5-2. DSP56F805EVM Board Overview 

Figure 5-3. DSP56F805EVM Board: Connector J20 

SPI Driver 




5-11 






5.2 Flash Driver 




Figure 5-4. 1kHz Sine Wave Output of Digital to Analog Converter 

The DSP56F801 and DSP56802 processors have three Flash Memory blocks: 

• 2K words of Data Flash are located in X memory space from address 0x1000 to 0x17FF 

• 8K words of Program Flash are located in P memory space from address 0x0004 to 0x1FFF 

• 2K words of Boot Flash are located in P memory from address 0x8000 to 0x87FF 

The DSP56F803 processor has three Flash Memory blocks: 

• 4K words of Data Flash are located in X memory space from address 0x1000 to 0x1FFF 

• 32K words of Program Flash are located in P memory space from address 0x0004 to 

0x7DFF 





0x7DFF 





MOTOROLA 







Flash Driver 



0xEFFF 

• 2K words of Boot Flash are located in P memory from address 0xF800 to 0xFFFF 

NOTE: See Section 3.2 in the DSP56F80x User’s Manual for more details on the memory 

map of specific chips within the DSP56F80x chip set. 

The Flash Driver uses an internal start address for read and write calls. This address saves the 

position within the Flash address space for read and write operations. The address is incremented 

by the size value after read and write calls. The user can change the current address value via an 

ioctl call. Applications cannot read or write more then MAX_VECTOR_LEN (8192) data words 

in one API call. 



The Flash device driver allows the ability to modify the Data Flash Interface Unit (DFIU), 

Program Flash Interface Unit (PFIU), and Boot Flash Interface Unit (BFIU) registers in a 

project’s appconfig.h. To accomplish this, the relative symbol 

FLASH_DFIU_PROGRAM_TIME, FLASH_PFIU_PROGRAM_TIME, or 

FLASH_BFIU_PROGRAM_TIME must first be defined in a project’s appconfig.h. If these 

symbols are not defined, the driver will leave these registers in their default state, specified in 

Chapter 5 of the DSP56F80x User’s Manual. The Data Flash Interface Unit registers are listed 

in Table 5-8. 

Table 5-8. Flash Driver appconfig.h Settings 

Parameter Description 

Default 

Setting 

FLASH_DFIU_CKDIVISOR_VALUE Value to put into DFIU_CKDIVISOR register 0x000F 

FLASH_DFIU_TERASEL_VALUE Value to put into DFIU_TERASEL register 0x000F 

FLASH_DFIU_TMEL_VALUE Value to put into DFIU_TMEL register 0x000F 

FLASH_DFIU_TNVSL_VALUE Value to put into DFIU_TNVSL register 0x00FF 

FLASH_DFIU_TPGSL_VALUE Value to put into DFIU_TPGSL register 0x01FF 

FLASH_DFIU_TPROGL_VALUE Value to put into DFIU_TPROGL register 0x03FF 

FLASH_DFIU_TNVHL_VALUE Value to put into DFIU_TNVHL register 0x00FF 

FLASH_DFIU_TNVH1L_VALUE Value to put into DFIU_TNVH1L register 0x0FFF 

FLASH_DFIU_TRCVL_VALUE Value to put into DFIU_TRCVL register 0x003F 

FLASH_PFIU_PROGRAM_TIME Define this symbol to program PFIU timer registers. If this 

symbol is undefined, driver does not change PFIU timer 

registers. 




5-13 

None 






FLASH_PFIU_CKDIVISOR_VALUE Value to put into PFIU_CKDIVISOR register 0x000F 

FLASH_PFIU_TERASEL_VALUE Value to put into PFIU_TERASEL register 0x000F 

FLASH_PFIU_TMEL_VALUE Value to put into PFIU_TMEL register 0x000F 

FLASH_PFIU_TNVSL_VALUE Value to put into PFIU_TNVSL register 0x00FF 

FLASH_PFIU_TPGSL_VALUE Value to put into PFIU_TPGSL register 0x01FF 

FLASH_PFIU_TPROGL_VALUE Value to put into PFIU_TPROGL register 0x03FF 

FLASH_PFIU_TNVHL_VALUE Value to put into PFIU_TNVHL register 0x00FF 

FLASH_PFIU_TNVH1L_VALUE Value to put into PFIU_TNVH1L register 0x0FFF 

FLASH_PFIU_TRCVL_VALUE Value to put into PFIU_TRCVL register 0x003F 

FLASH_BFIU_PROGRAM_TIME Define this symbol to program BFIU timer registers. If this 

symbol is undefined, driver does not change BFIU timer 

registers. 



Table 5-8. Flash Driver appconfig.h Settings (Continued) 

FLASH_BFIU_CKDIVISOR_VALUE Value to put into BFIU_CKDIVISOR register 0x000F 

FLASH_BFIU_TERASEL_VALUE Value to put into BFIU_TERASEL register 0x000F 

FLASH_BFIU_TMEL_VALUE Value to put into BFIU_TMEL register 0x000F 

FLASH_BFIU_TNVSL_VALUE Value to put into BFIU_TNVSL register 0x00FF 

FLASH_BFIU_TPGSL_VALUE Value to put into BFIU_TPGSL register 0x01FF 

FLASH_BFIU_TPROGL_VALUE Value to put into BFIU_TPROGL register 0x03FF 

FLASH_BFIU_TNVHL_VALUE Value to put into BFIU_TNVHL register 0x00FF 

FLASH_BFIU_TNVH1L_VALUE Value to put into BFIU_TNVH1L register 0x0FFF 

FLASH_BFIU_TRCVL_VALUE Value to put into BFIU_TRCVL register 0x003F 



Code to create and initialize the Flash driver is automatically included into an SDK Embedded 


#define INCLUDE_FLASH 


The following information may be found in the public header file flash.h: 




MOTOROLA 

None 







Flash Driver 

/***************************************************************************** 

* int open(const char *pName, int OFlags,...); 





*****************************************************************************/ 

Public Data Structure(s): None 

Members: None 





5-15 








5.2.4 FLASH Device-Independent I/O API Specifications 

The following pages specify the device-independent Application Programming Interface (API). 











MOTOROLA 





5.2.4.1 open 

Call(s): 

int open(const char *pName, int OFlags,...); 

Flash Driver 

Description: The open call opens the Flash device for operations and returns a file descriptor 

used by the Flash driver’s read, write, close, and ioctl function calls. The Flash device needs to be 

opened for read/write calls. 


descriptor for the Flash device. This file descriptor is used by the Flash’s read, write, ioctl, and 

close functions. A "-1" is returned when the open call is not successful. 




Table 5-9. Flash Driver open Arguments - open 

pName in The Flash device name; use BSP_DEVICE_NAME_FLASH_X 

for X data flash, BSP_DEVICE_NAME_FLASH_P 

for Program flash and BSP_DEVICE_NAME_FLASH_B for Boot flash 

OFlag in Open Mode Flags; Ignored 

FileDesc out Flash device descriptor returned by open call and used in read/write function calls 




5-17 






5.2.4.2 write 

Call(s): 


Description: The write call writes the user buffer into flash. 

Returns: The write call returns a type ssize_t, which is the number of transferred words, or zero if 

verification mode is on and verification failed. 


Table 5-10. Flash Driver Arguments - write 

FileDesc in Flash device descriptor returned by open call and used in read/write function calls 








MOTOROLA 





5.2.4.3 read 

Call(s): 


Description: The read call reads data from flash into the user buffer. 

Flash Driver 

Returns: The read call returns a type ssize_t, which is the number of received words, or zero if 

verification mode is on and verification failed. 


Table 5-11. Flash Driver Arguments - read 









5-19 






5.2.4.4 close 

Call(s): 


Description: The close call closes the Flash device. 

Returns: The close call returns a type int; this int is always zero. 

Code Example: Code Example 5-3 sets up the Flash to write the array Data into Flash. 

Code Example 5-3. Flash Driver Usage 

/****************************************************************************/ 





#include "flash.h" 

#define DATA_LENGTH 100 


{ 

int FlashDevice; 

int I; 

UWord16 Data[DATA_LENGTH]; 



/* fill array up with data */ 

for(I = 0; I < DATA_LENGTH; I++) 

{ 

Data[I] = I; 

} 

Table 5-12. Flash Driver Arguments - close 


/* open flash driver */ 

FlashDevice = open(BSP_DEVICE_NAME_FLASH_X, 0, NULL); 

/* write array “Data” into flash */ 

write(FlashDevice, Data, DATA_LENGTH); 

/* close flash driver */ 

close(FlashDevice); 

} 

/****************************************************************************/ 




MOTOROLA 





5.2.4.5 ioctl 

Call(s): 


Description: The ioctl call changes Flash device parameters. 

Returns: The ioctl call returns a type UWord16. This UWord16 is always zero. 

Flash Driver 

Code Example: Code Example 5-4 sets the user’s buffer location to Program memory space. 

Code Example 5-4. Flash Driver Usage with IOCTL 

/****************************************************************************/ 




#include "flash.h" 


{ 

int FlashDevice; 



Table 5-13. Flash Driver Arguments 


Cmd in Commands found in flash.h which are used to manage the Flash driver 

pParams in Pointer to ioctl command parameter 

Table 5-14. Flash ioctl Commands 


FLASH_CMD_SEEK Word16 * None Changes internal address; Internal Address is 

offset in 16-bit words from the beginning of flash 

address space 

FLASH_SET_USER_X_DATA NULL None Sets user’s data buffer location in X data space 

FLASH_SET_USER_P_DATA NULL None Sets user’s data buffer location in Program memory 

space 

FLASH_CMD_ERASE_ALL NULL None Erases all data in flash 

FLASH_RESET NULL None Reset internal flash address to initial state 

FLASH_SET_VERIFY_ON NULL None Set verification mode on 

FLASH_SET_VERIFY_OFF NULL None Set verification mode off 




5-21 






} 

/* opens flash driver */ 

FlashDevice = open(BSP_DEVICE_NAME_FLASH_X, 0, NULL); 

/* sets the user’s data buffer location to “Program” memory space */ 

ioctl(FlashDevice, FLASH_SET_USER_P_DATA, NULL); 

/* close flash driver */ 

close(FlashDevice); 

/****************************************************************************/ 

5.2.5 Flash Low-Level I/O Specification 

None 

5.2.6 Flash Driver Application 

The Flash application writes data from a data memory buffer to data flash. It then reads the data 

from data flash to another buffer, at which point the two buffers are compared. If the data is the 

same in both buffers, a successful message is printed on the screen. The Flash driver application 

can be found at \src\dsp5680xevm\nos\applications\flash and consists of the application 

flash.mcp and the source code for the application, flash.c. 


Use the default jumper settings for the DSP56F80xEVM board. See the Evaluation Module 

Hardware User’s Manual for a specific target, (i.e., DSP56F805 Evaluation Module Hardware 

User’s Manual) for more information on jumper settings. 

5.3 SCI Driver 


The DSP56F801, DSP56F802, and DSP56F803 processors have one SCI device, SCI0. The 

DSP56F805 and DSP56F807 processors have two SCI devices, SCI0 and SCI1. These SCI 

devices allow full duplex, asynchronous, serial communication between the DSP, a host 

computer, or other devices. 




The SCI driver has default configurations that can be overwritten via the appconfig.h for a 

specific project. Driver communication configuration is done at run time by the driver’s open 

function but some static initialization is done prior to this. Parameters that may be redefined in the 

appconfig.h file are defined in Table 5-15. 




MOTOROLA 





SCI Driver 

The lengths of the SCI transmit and receive buffers, in non-blocking mode, may be redefined in 

the appconfig.h file to accomodate buffer sizes required by a particular application. For example, 

if an application requires an SCI0 receive buffer size of 1024 words and transmit buffer size of 

500, it may be defined by placing the following line in the appconfig.h file: 

#define SCI0_RECEIVE_BUFFER_LENGTH 1024 

#define SCI0_SEND_BUFFER_LENGTH 500 

NOTE: The constraints on these buffer length defined constants are as follows: 

• They must be defined to be greater than or equal to one 

• The maximum size of the defines is based on the available memory size 

The SCI driver uses these defined constants to statically allocate memory for SCI Transmit and 

Receive buffers based on the equations below: 

For DSP56F801/802/803: 

SCI0_SEND_BUFFER_LENGTH + SCI0_RECEIVE_BUFFER_LENGTH + 4 

For DSP56F805/807: 



Table 5-15. SCI Configuration Items for appconfig.h 

Defined constants Explanation 

SCI0_SEND_BUFFER_LENGTH Fifo buffer size for write operation in Non-Blocking 

mode for SCI0. Default value is 8. 

SCI0_RECEIVE_BUFFER_LENGTH Fifo buffer size for read operation in Non-Blocking 

mode for SCI0. Default value is 8. 

SCI1_SEND_BUFFER_LENGTH Fifo buffer size for write operation in Non-Blocking 

mode for SCI1. Default value is 8. (805, 807 only) 

SCI1_RECEIVE_BUFFER_LENGTH Fifo buffer size for read operation in Non-Blocking 

mode for SCI1. Default value is 8. (805, 807 only) 

SCI_USER_BAUD_RATE_1 Default value of 9600 

SCI_USER_BAUD_RATE_2 Default value of 9600 



The SCI driver has a set of defined constants for standard baud rates located in the sci.h file. The 

user may also define a custom rate in the appconfig.h file if the desired rate is not already defined. 

For example if the user wants to run at a rate of 9800 baud he would have to define this rate in the 

appconfig.h file since this rate is not one of the standard rates. Specifically, the SCI driver has two 

defined constants to accomplish this: 

#define SCI_USER_BAUD_RATE_1 

#define SCI_USER_BAUD_RATE_2 




5-23 







These defined constants can be specified in two ways: 

• Example 1: #define SCI_USER_BAUD_RATE_1 1250 

Determine the value to be stored into the SCI Baud Rate (SBR) register based on the 

equation: 

SBR = IP Bus Freq/(16 * BaudRate) 

If the IP bus frequency equals 36Mhz, 1250 will set the SCI Baud Rate Register to a baud 

rate of 1800. To configure the IP bus frequency to 36 MHz, set PLL_MUL equal to 18 and 

BSP_OSCILLATOR_FREQ equal to 8000000 Hz. 

• Example 2: #define SCI_USER_BAUD_RATE_1 SCI_GET_SBR(1800u) 

Specify the baud rate required and allow the SDK SCI_GET_SBR macro calculate the 

required SBR register value base on the equation: 

SBR = ([(PLL_MUL * BSP_OSCILLATOR_FREQ) + (BaudRate * 32)] 

/ (BaudRate *64)) & 0x1FFF 

The output of the macro in this example would be 1250, which is the value in the first 

example with PLL_MUL equal to 18 and BSP_OSCILLATOR_FREQ equal to 8000000 

Hz. The advantage to using the macro is that the baud rate will automatically be 

recalculated if the PLL multiplier or External Oscillator freqency values changed. 




Code to create and initialize the SCI driver is automatically included into an SDK Embedded 


#define INCLUDE_SCI 

The following information may be found in the public header file sci.h: 


/***************************************************************************** 

* int open(const char *pName, int OFlags, &SciConfig); 





*****************************************************************************/ 



{ 

UWord16 SciCntl; 

UWord16 SciHiBit; 

UWord16 BaudRate; 

} sSciConfig; 





MOTOROLA 





Table 5-16. SCI Data Structure Members 

* - Denotes default driver setting by open function call 

NOTE: If the application does not use Non-Blocking mode, the SCI driver size can be 

decreased by the undefine SCI_NONBLOCK_MODE symbol in file scidrv.h. 

SCI Driver 

SciCntl UWord16 Data to write into SCI control register. Generated by ORing bit masks defined 

in Table 5-17 

SciHiBit UWord16 Value for Most Significant Bit transmitted (bit8-MSB bit0-LSB); this field is used 

only if SciCntl is configured with SCI_CNTL_PARITY_NONE and 

SCI_CNTL_WORD_9BIT bits set and the device mode is 

SCI_DATAFORMAT_RAW. If device mode is 

SCI_DATAFORMAT_EIGHTBITCHARS then this bit has no meaning. Use the 

following defined constants: 

SCI_HIBIT_0 - transmit zero 

SCI_HIBIT_1 - transmit one 

BaudRate UWord16 Data to write into SCI Baud Rate register 

Table 5-17. SCI Control Register bit masks, SciCntl 

Defined Constant Description 

SCI_CNTL_RECEIVER_ENABLE* Enable receiver 

SCI_CNTL_TRANSMITTER_ENABLE* Enable transmitter 

SCI_CNTL_PARITY_NONE* 

SCI_CNTL_PARITY_ODD 

SCI_CNTL_PARITY_EVEN 

SCI_CNTL_TX_NOT_INVERTED* 

SCI_CNTL_TX_INVERTED 

SCI_CNTL_WAKE_BY_IDLE* 

SCI_CNTL_WAKE_BY_ADDRESS 

SCI_CNTL_WORD_8BIT* 

SCI_CNTL_WORD_9BIT 

SCI_CNTL_LOOP_NO* 

SCI_CNTL_LOOP 

SCI_CNTL_LOOP_SINGLE_WIRE 

SCI_CNTL_ENABLE_IN_WAIT* 

SCI_CNTL_DISABLE_IN_WAIT 



No Parity 

Odd Parity 

Even Parity 

Do not invert transmit and receive data bits (normal mode) 

Invert transmit and receive data bits (invert mode) 

Idle line Wake-up 

Address mark Wake-up 

8 bits per character, one start bit, one stop bit 

9 bits per character, one start bit, one stop bit 

Loop mode disabled (normal mode) 

Loop mode with internal TXD fed back to RXD 

Single-wire loop mode with internal TXD Output fed back to RXD 

Enable SCI in wait mode 

Disable SCI in wait mode 




5-25 








5.3.4 SCI Device Independent I/O API Specifications 












MOTOROLA 





5.3.4.1 open 

Call(s): 

int open(const char *pName, int OFlags, sSciConfig * pSciConfig); 

SCI Driver 

Description: The open call opens the SCI peripheral for operations and returns a file descriptor 

used by the SCI driver’s read, write, close, and ioctl function calls. This function will 

automatically enable the SCI transmitter and receiver. If O_NONBLOCK mode is specified in the 

OFlags, the driver will automatically install default Transmit and Receive interrupt service 

routines and enable the Receive interrupt. 

Special Considerations: Installation of callback functions must be done through ioctl function 

calls (see Section 5.3.4.5). 


descriptor for the SCI device and is used by the SCI read, write, and ioctl functions. A "-1" is 

returned when the open call is not successful. 


Table 5-18. SCI Driver open Arguments - open 

pName in The SCI device name; see Table 5-19 

OFlags in Open Mode Flags; specify O_RDWR 

Use O_NONBLOCK flags for Non-Blocking mode 

pSciConfig in Pointer to SCI mode description 

FileDesc out SCI device descriptor returned by open call and used in read/write function calls 

Table 5-19. SCI Devices for Specific DSP56F80x Chips 

Chip Can Use 

DSP56F801/802 

DSP56F803 

DSP56F805 

DSP56F807 



BSP_DEVICE_NAME_SCI_0 

BSP_DEVICE_NAME_SCI_0 

BSP_DEVICE_NAME_SCI_0; BSP_DEVICE_NAME_SCI_1 

SP_DEVICE_NAME_SCI_0; BSP_DEVICE_NAME_SCI_1 




5-27 






5.3.4.2 write 

Call(s): 


Description: The write call writes the user buffer out of the SCI device. 

Returns: The write call returns a type ssize_t. This ssize_t is the number of transferred words. 




Table 5-20. SCI Driver Arguments - write 

FileDesc in SCI device descriptor returned by open call 


Size in Number of data words to write 




MOTOROLA 





5.3.4.3 read 

Call(s): 


Description: The read call reads data from the SCI device into the user buffer. 

Returns: The read call returns a type ssize_t. This ssize_t is the number of received words. 




Table 5-21. SCI Driver Arguments - read 



Size in Number of data words to read 

SCI Driver 




5-29 






5.3.4.4 close 

Call(s): 


Description: The close call closes the SCI peripheral. 

Returns: The close call returns a type int. This int is always zero. 




Table 5-22. SCI Driver Arguments - close 





MOTOROLA 





5.3.4.5 ioctl 

Call(s): 




Table 5-23. SCI Driver Arguments 


Cmd in Commands found in sci.h which are used to manage the SCI driver 


Table 5-24. SCI ioctl Commands 


SCI_DATAFORMAT_EIGHTBITCHARS NULL None Set data format as 8-bit 

SCI_DATAFORMAT_RAW NULL None Set data format as 16-bit 

SCI Driver 

SCI_DEVICE_RESET sSciConfig * None Set SCI new configuration and reset 

device; cancel all Non-Blocking 

operations 

SCI_DEVICE_OFF NULL None Disable device 

SCI_DEVICE_ON NULL None Enable device 

SCI_CALLBACK_RX void 

(*sciDataCallback) 

(void) 

SCI_CALLBACK_TX void 

(*sciDataCallback) 

(void) 

SCI_CALLBACK_EXCEPTION void 

(*sciErrorCallback) 

(UWord16 

Exception) 

None Install Read-completed callback 

function 

None Install Transfer completed callback 

None Install Error callback 

SCI_SET_READ_LENGTH UWord16 * length None Set number of words/bytes for Read 

callback; after this number of 

words/bytes is received, the RX 

callback function will be called 

SCI_GET_STATUS NULL Status Get device status 

If a length larger than the 

previously-configured 

SCIx_RECEIVE_BUFFER_LENGTH 

is specified, this command will set the 

length to the 

SCIx_RECEIVE_BUFFER_LENGTH 




5-31 






SCI_GET_EXCEPTION NULL Exception Get device exception status 

SCI_CMD_SEND_BREAK NULL None Send break symbol via SCI 

SCI_CMD_WAIT NULL None Put SCI device in wait state 

SCI_CMD_WAKEUP NULL None Wake up device from wait mode 

SCI_CMD_READ_CLEAR NULL None Clear Read buffer in Non-Blocking 

mode 

SCI_CMD_WRITE_CANCEL NULL None Cancel data transmission after Write 

operation in Non-Blocking mode 

SCI_GET_READ_SIZE NULL Read Size Return number of data reciver fifo, 

that can be read via read call 

Description: The ioctl call changes SCI device modes or gives SCI driver status. 

Returns: The ioctl call returns a type UWord16. This UWord16 is dependent on the command 

passed in as an input parameter. Table 5-24 lists these returns based on the specific command. 

Code Example: Code Example 5-5 sets up the SCI to communicate with HyperTerminal using 

CallBacks. 

Code Example 5-5. SCI Driver Usage 


#include "sci.h" 



#include "assert.h" 

// CallBack function prototypes 

void sciRxCallBack(void); 

void sciTxCallBack(void); 

void sciExceptionCallBack(void); 

int SCI0, count; 

UWord16 DataR; 



Table 5-24. SCI ioctl Commands (Continued) 

/********************************************************************** 

* SCI Receive CallBack Routine 

* 

* Description: This function is called when the SCI driver has received 

* the number of characters specified by the read length. 

***********************************************************************/ 

void sciRxCallBack(void) 

{ 

read( SCI0, &DataR, sizeof(DataR) ); // Read a character 

write(SCI0, &DataR, sizeof(DataR) ); // Send it back to the pc (echo) 

} 




MOTOROLA 






/********************************************************************** 

* SCI Transmit CallBack Routine 

* 

* Description: This function is called when the SCI driver has sent all 

* data in its transmit buffer. 

***********************************************************************/ 

void sciTxCallBack(void) 

{ 

/* Add code for Transmit handling */ 

asm(nop); 

} 

/********************************************************************** 

* SCI Exception CallBack Routine 

* 

* Description: This function is called when the SCI driver has detected 

* an exception. 

***********************************************************************/ 

void sciExceptionCallBack(void) 

{ 

/* Add code for exception handling */ 

asm(debug); 

} 

void main (void) 

{ 

UWord16 SciReadLength; 

sci_sConfig SciConfig; 


SciConfig.SciCntl = SCI_CNTL_WORD_8BIT | SCI_CNTL_PARITY_NONE; 

SciConfig.SciHiBit = SCI_HIBIT_0; 

SciConfig.BaudRate = SCI_BAUD_9600; 

SCI0 = open(BSP_DEVICE_NAME_SCI_0, O_RDWR | O_NONBLOCK, &SciConfig); 

if (SCI0 == -1) 

{ 

assert(!" Open /sci0 device failed."); 

} 

/* Set the data format for 8-bit characters 

and Clear the Read and Write buffers */ 

ioctl(SCI0, SCI_DATAFORMAT_EIGHTBITCHARS, NULL); 

/* Set the Receive, Transmit, and Exception Callback functions */ 

ioctl(SCI0, SCI_CALLBACK_RX, sciRxCallBack); 

ioctl(SCI0, SCI_CALLBACK_TX, sciTxCallBack); 

ioctl(SCI0, SCI_CALLBACK_EXCEPTION, sciExceptionCallBack); 

/* The SCI Rx CallBack function will be called by the SCI driver after 

one character is received by setting the read length to 1. */ 

SciReadLength = 1; 

ioctl(SCI0, SCI_SET_READ_LENGTH, &SciReadLength); 

SCI Driver 




5-33 







/* Wait for data to be received */ 

/* Use HyperTerminal to send characters that will be echoed back 

by the Receive CallBack function */ 

while (1) 

{ 

count++; 

} 

} 

return; 

5.3.5 SCI Low-Level I/O Specifications 

None 

5.3.6 SCI Driver Application 

The SCI application interacts with a PC via a serial connection. The SCI driver application can be 

found at \src\dsp5680xevm\nos\applications\sci and consists of the application sci.mcp and the 

source code for the application, sci.c. Once this application is running, the user can execute the 

serial.exe program on the PC to launch a serial GUI interface. This file can be found at 

..\x86\win32\applications\serial\. Using this GUI, the user can display any memory location on 

the DSP56F80xEVM board by selecting the data space, address range, and READ. When READ 

is selected, a command is sent to the DSP56F80x processor via the serial interface. After the 

application, running on the DSP56F80x, processes this command, a response message with the 

requested data is returned to the PC. As soon as the GUI application running on the PC receives 

the response, the data for the requested memory location is displayed. 

NOTE: The serial.exe program allows for the selection of COM Port 1 or COM Port 2 for serial 

communication via the GUI interface. Should the request for data go unanswered, the 

data can be requested again by using the button on the GUI interface to toggle to the 

other COM Port setting. 

Baud Rate: 

The SCI driver for this application is configured to run at a baud rate of 28800. 



Use the default jumper settings for the specific DSP56F80xEVM board. See the Evaluation 

Module Hardware User’s Manual for a specific target (i.e., the DSP56F805 Evaluation Module 

Hardware User’s Manual), for more information on jumper settings. 




MOTOROLA 





5.4 ADC Driver 


ADC Driver 

The DSP56F801/802/803/805 processors have one 8-channel, 12-bit resolution ADC device. The 

DSP56F807 has two dual 8-channel, 12-bit resolution ADC devices. The ADC driver provides a 

standard SDK interface for this device. 

The 8-channel device is distinguished between analog channel (chip pin) and conversion sample 

(CPU register) by the driver. Each analog channel can be opened for reading. The user must 

assign a sample mask for each channel to be opened. The number of samples can not exceed eight 

for an ADC device. The driver is scalable, so due to reduction of consumed resources, the user 

must allocate samples statically by corresponding macro definitions. The driver provides a 

statically configured callback service. 


The ADC has default configurations defined in config.h. These default configuration settings, and 

other ADC settings that can be utilized to customize the ADC, can be redefined in the appconfig.h 

for that project and are explained in Table 5-25. 

ADC_QUEUE_DEPTH 

ADCA_QUEUE_DEPTH 

ADCB_QUEUE_DEPTH 

ADC_INITIATE_SCAN 

ADCA_INITIATE_SCAN 

ADCB_INITIATE_SCAN 

ADC_SCANMODE 

ADCA_SCANMODE 

ADCB_SCANMODE 



Table 5-25. ADC appconfig.h Settings 

ADC #define Type Explanation 

int •ADC channel queue (FIFO) size in bits 

•Unless this value is redefined in 

appconfig.h, it will default to 16 bits. 

adc_eInitiateScan •ADC_INITIATE_SCAN_ON_START - 

conversion process is initiated by write 

to START bit 

•ADC_INITIATE_SCAN_ON_SYNC - 

conversion process is initiated by SYNC 

input.; unless this value is redefined in 

appconfig.h, it will default to: 

ADC_INITIATE_SCAN_ON_START 

adc_eScanMode •ADC_SEQUENTIAL_ONCE, 

•ADC_SEQUENTIAL_LOOP, 

•ADC_SEQUENTIAL_TRIGGERED, 

•ADC_SIMULTANEOUS_ONCE, 

•ADC_SIMULTANEOUS_LOOP, 

•ADC_SIMULTANEOUS_TRIGGERED 


appconfig.h, it will default to 

ADC_SEQUENTIAL_ONCE; 

•See Section 9.6.1.10 of the 

DSP56F80x User’s Manual for details 




5-35 






ADC_CLOCK_DIVISOR 

ADCA_CLOCK_DIVISOR 

ADCB_CLOCK_DIVISOR 

ADC_DIFFERENTIAL_01 

ADCA_DIFFERENTIAL_01 

ADCB_DIFFERENTIAL_01 










INCLUDE_ADCA_SAMPLE_0 

INCLUDE_ADCB_SAMPLE_0 











Table 5-25. ADC appconfig.h Settings (Continued) 

int •ADC clock divisor value; unless this 

value is redefined in appconfig.h, it will 

default to 1 

•See Section 9.6.2.2 of the 

DSP56F80x User’s Manual for details 

bool •ADC channel AN0 and AN1 are used 

together to measure differential voltage 

(true) 


appconfig.h, it will default to 0 (false). 



(true) 


appconfig.h, it will default to 0 (false) 



(true) 





(true) 



bool •Sample 0 (0x01 mask) is allocated and 

accessible by the driver (true); this is 

defined as a default 


accessible by the driver (true) 

•This is not defined as a default and 

would need to be defined in appconfig.h 

to use (false). 





to use (false) 








•This is defined as a default 




MOTOROLA 











ADC_RAW_ZERO_CROSSING_CALLBACK 

ADCA_RAW_ZERO_CROSSING_CALLBACK 

ADCB_RAW_ZERO_CROSSING_CALLBACK 

ADC_RAW_LOW_LIMIT_CALLBACK 

ADCA_RAW_LOW_LIMIT_CALLBACK 

ADCB_RAW_LOW_LIMIT_CALLBACK 

ADC_RAW_HIGH_LIMIT_CALLBACK 

ADCA_RAW_HIGH_LIMIT_CALLBACK 

ADCB_RAW_HIGH_LIMIT_CALLBACK 

ADC_RAW_CONVERSION_COMPLETE_CALLBACK 

ADCA_RAW_CONVERSION_COMPLETE_CALLBACK 

ADCB_RAW_CONVERSION_COMPLETE_CALLBACK 

ADC Driver 

NOTE: See the DSP56F80x User’s Manual for more information on ADC configuration. 

The ADC callback functions allow functions created by the user in the application to be called as 

a result of ADC specific interrupts. 

Callback Prototype: 



Table 5-25. ADC appconfig.h Settings (Continued) 

All callback functions should be declared according to the following prototype: 

void LocalCallBackFunction(adc_eCallbackType callbackType, adc_tSampleMask causedMask); 

where callbackType is a type of callback, and causedMask is a mask for the samples which were 

the reason for the callback. See an example of this callback in: 

...\src\dsp5680x\nos\applications\adc\adcapp.mcp 
















/* callback 

prototype */ 

/* callback 

prototype */ 

/* callback 

prototype */ 

/* callback 

prototype */ 

•Zero crossing callback function; see 

explanation below 

•Low Limit callback function; see 


•High Limit callback function; see 


•Conversion complete callback function; 

see explanation below 

To utilize the callback functions, they must be defined in the appconfig.h of a specific project as 

follows: 

#define ADC_RAW_ZERO_CROSSING_CALLBACK LocalCallBackFunction1 

The function LocalCallBackFunction1 is created by the user in the application and will be called 

when the ADC A Zero Crossing interrupt occurs. The type of zero crossing is dependent on the 

value set in the structure adc_State, which is discussed in Section 5.4.3. 




5-37 







#define ADC_RAW_LOW_LIMIT_CALLBACK LocalCallBackFunction2 

The function LocalCallBackFunction2 is created by the user in the application. This function will 

be called when the ADC A Limit Error interrupt occurs as a result of being below the “low limit”. 

This limit is based on a threshold defined in the structure adc_State, which is discussed in 

Section 5.4.3. 

#define ADC_RAW_HIGH_LIMIT_CALLBACK LocalCallBackFunction3 


be called when the ADC A Limit Error interrupt occurs as a result of exceeding the “high limit”. 

This limit is based on a threshold defined in the structure adc_State, which is discussed in 

Section 5.4.3. 

#define ADC_RAW_CONVERSION_COMPLETE_CALLBACK LocalCallBackFunction4 


be called when the ADC A Conversion Complete interrupt occurs. 

The ADC A Zero Crossing, ADC A Limit Error, and ADC A Conversion Complete interrupts are 

enabled when INCLUDE_ADC is #defined in the appconfig.h of a project. The interrupts are 

enabled within the Group Priority Register (GPR) with a default priority of 1. This priority can be 

redefined within the appconfig.h from 1 to 7, with 7 the highest priority and 1 the lowest priority. 

The interrupts should not be redefined to 0, as this will cause the interrupt to be disabled and the 

ADC driver will not function properly. An example is shown below: 

#define GPR_INT_PRIORITY_55 2 

This will redefine the ADC A Conversion Complete interrupt priority from 1 to 2 within the Group 

Priority Register. See Section 7.1.7.2.1, Interrupts, in the Programmer’s Guide for more details. 




Code to create and initialize the ADC driver is automatically included in an SDK Embedded 


#define INCLUDE_ADC 

The following information may be found in the public header file adc.h: 


/***************************************************************************** 

* int open(const char *pName, int OFlags, &AdcConfig); 




*****************************************************************************/ 



{ 





MOTOROLA 







adc_eAnalogChannel AnalogChannel; 

adc_tSampleMask openSampleMask; 

Frac16 OffsetRegister; 

Frac16 LowLimitRegister; 

Frac16 HighLimitRegister; 

adc_eZeroCrossing ZeroCrossing; 

} adc_sState; 

Table 5-26. ADC Data Structure Members 

AnalogChannel adc_eAnalogChannel •Analog channel number; possible value is: 

•ADC_CHANNEL_0, ADC_CHANNEL_1, 



•ADC_CHANNEL_6, ADC_CHANNEL_7 

ADC Driver 

openSampleMask adc_tSampleMask •The mask of samples per scan. Each channel can allocate 

any number of samples 1 . 

•For scaleability reason each sample are configured 

statically by “include sample” like statement (see 

Table 5-25 ) 

OffsetRegister Frac16 •Offset register value 

LowLimitRegister Frac16 •Low limit register value 

HighLimitRegister Frac16 •High limit register value 

ZeroCrossing adc_eZeroCrossing •ADC_ZC_DISABLE 

•ADC_ZC_POSITIVE_NEGATIVE 

•ADC_ZC_NEGATIVE_POSITIVE 

•ADC_ZC_ANY 

1.Some ADC hardware algorithms depend on index sample number. So sample 1 (0x01 openSampleMask) is 

more preferable to used than sample 8 (0x80 openSampleMask) due to performance reasons. 




5-39 








5.4.4 ADC Device-Independent I/O API Specifications 












MOTOROLA 





5.4.4.1 open 

Call(s): 

int open(const char *pName, int OFlags, adc_sState * pState); 

ADC Driver 

Description: The open call opens the ADC channel for operations and returns a file descriptor 

used by read function calls. The ADC channel device needs to be opened for read/write calls. 


descriptor for the ADC device. This file descriptor is used by the ADC driver’s read, close, and 

ioctl functions. A “-1” is returned when the open call is not successful. 




Table 5-27. ADC Driver Arguments - open 

pName in The ADC device name; the open statement is applied for the ADC analog 

channel (AN0-AN7) 

The device names are: 

BSP_DEVICE_NAME_ADC_0 


OFlag in Open Mode Flags; use O_RDONLY only 

pState in Pointer to channel parameters 




5-41 






5.4.4.2 read 

Call(s): 


Description: The read call reads data from ADC channel into the user buffer. 

Returns: The read call returns a type ssize_t. This ssize_t is the number of read values. 


Table 5-28. ADC Driver Arguments - read 

FileDesc in ADC device descriptor returned by open call and used in read function calls 








MOTOROLA 





5.4.4.3 close 

Call(s): 


Description: The close call closes the ADC channel. 





Table 5-29. ADC Driver Arguments - close 


ADC Driver 




5-43 






5.4.4.4 ioctl 

Call(s): 



Word16 ioctl(int FileDesc, UWord16 Cmd, void * pParams,); 

Table 5-30. ADC Driver Arguments 


Cmd in Commands found in adc.h which are used to manage the ADC driver 


Table 5-31. ADC ioctl Commands 


ADC_START NULL None Starts ADC device 

ADC_STOP NULL None Stops ADC device 

ADC_TEST_MODE NULL None ADC in test mode 

ADC_SYNC_ON NULL None Synchronizes ADC 

ADC_SYNC_OFF NULL None Disables ADC synchronization 

ADC_DISABLE_CALLBACKS adc_eCallbackType None Disables user callbacks (no 

impact on conversion complete 

callback) 

ADC_ENABLE_CALLBACKS adc_eCallbackType None Enables user callback (no impact 

on conversion complete 

callback) 

ADC_SET_DIVISOR UWord16:4 None Sets ADC devisor in run-time 

ADC_SET_LOW_LIMIT_REGISTER Frac16 None Assigns low limit register 

ADC_SET_HIGH_LIMIT_REGISTER Frac16 None Assigns high limit register 

ADC_SET_OFFSET_REGISTER Frac16 None Assigns offset register 

ADC_STATE_READ Frac16* int Reads static data and returns 

size of read data 

ADC_SET_ZERO_CROSSING_MODE adc_eZeroCrossing none Sets ADC zero crossing mode 

ADC_GET_NUM_SAMPLES_PER_SCAN int int The routine return mask of 

reasonable samples for next 

open; added for compatibility 

with previous version 

Description: The ioctl call changes ADC channel modes. 




MOTOROLA 





ADC Driver 



passed in as an input parameter.Table 5-31 lists these returns based on the specific command. 

Code Example: Code Example 5-6 sets up the ADC to read data into ReadValue from ADC 

channel 6. ADC channel 6 is found on connector J9, pin 7, of the DSP56F803EVM; connector J9, 

pin 6, of the DSP56F805EVM; and connector J9, pin 6, of the DSP56F807EVM. 

Code Example 5-6. ADC Driver Usage 

/****************************************************************************/ 





#include "adc.h" 

#define ONE_VOLT 0x26C9 /* (32768 * (1/3.3 Volts)) */ 

static const adc_sState sAdc1 = { 

/* AnalogChannel = */ADC_CHANNEL_6, 

/* NumSamplesPerScan = */ 1, 

/* OffsetRegister = */ 0, 

/* LowLimitRegister = */ 0, 

/* HighLimitRegister = */ 0, 

/* ZeroCrossing = */ 0, 

}; 


{ 

int NumberRead; 

int Handle; 

Frac16 ReadValue; 

/* open ADC A device for reads */ 

Handle = open(BSP_DEVICE_NAME_ADC_0, 0, &sAdc1); 

/* starts conversion process of adc */ 

ioctl(Handle, ADC_START, 0); 

/* sit in loop and read adc until read a value greater than 1 volt */ 

while(1) 

{ 

NumberRead = read(Handle, &ReadValue, sizeof(ReadValue)); 

} 

if(ReadValue > ONE_VOLT) 

{ 

break; 

} 

close(Handle); 


} 

/****************************************************************************/ 




5-45 








5.4.5 ADC Low-Level I/O API Specifications 

The following pages specify the Low-Level Application Programming Interface (API). 











MOTOROLA 





5.4.5.1 adcOpen 

Call(s): 

int adcOpen(const char *pName, int OFlags, adc_sState * pState); 

Description: The adcOpen opens the ADC device and configures initial parameters. 

Returns: The adcOpen returns the ADC device handle or “-1” if it fails. 




Table 5-32. ADC Driver Arguments - open 

pName in The ADC device name; the adcOpen statement is applied for the ADC analog 

channel (AN0-AN7) 

The device names are: 



OFlag in adcOpen Mode Flags; use O_RDONLY only 

pState in Pointer to channel parameters 

ADC Driver 




5-47 






5.4.5.2 adcRead 

Call(s): 

ssize_t adcRead(int FileDesc, void * pBuffer, size_t); 

Description: The read call reads data from ADC channel into the user buffer. 

Returns: The read call returns a type ssize_t. This ssize_t is the number of read values. 


Table 5-33. adcRead driver Arguments - read 

FileDesc in ADC device descriptor returned by adcOpen call and used in read function calls 




Size_t in Size (unsigned int) of data to read / write 




MOTOROLA 





5.4.5.3 adcClose 

Call(s): 

int adcClose (int FileDesc); 

Description: The close call closes the ADC channel. 





Table 5-34. ADC Driver Arguments - close 


ADC Driver 




5-49 






5.4.5.4 adcIoctl 

Call(s): 

UWord16 adcIoctl(int FileDesc, UWord16 Cmd, void * pParams, char * adcDevice); 

Description: The adcIoctl call changes ADC device modes. 

Returns: The adcIoctl call returns a type UWord16. This UWord16 is dependent on the command 


Code Example 5-7. ADC Low-Level Driver Usage 

/****************************************************************************/ 



#include "adc.h" 

#define ONE_VOLT 0x26C9 /* (32768 * (1/3.3 Volts)) */ 

static const adc_sState sadc = { 

/* AnalogChannel = */ADC_CHANNEL_6, 

/* NumSamplesPerScan = */ 1, 

/* OffsetRegister = */ 0, 

/* LowLimitRegister = */ 0, 

/* HighLimitRegister = */ 0, 

/* ZeroCrossing = */ 0, 

}; 


{ 

int NumberRead; 

int AdcFD; 

Frac16 ReadValue; 



Table 5-35. GPIO Driver Arguments 

FileDesc in GPIO device descriptor returned by open call and used in ioctl function calls 

Cmd in Commands found in adc.h which are used to manage the adc device; see Table 5-31 


adcDevice in The adc device name; see Table 5-32 

/* ADC initialization */ 

AdcFD = adcOpen( BSP_DEVICE_NAME_ADC_0, 0, (adc_sState *)&sadc ); 

adcIoctl(AdcFD, ADC_START, 0, BSP_DEVICE_NAME_ADC_0); 

/* sit in loop and read adc until read a value greater than 1 volt */ 

while(1) 

{ 




MOTOROLA 







NumberRead = adcRead(AdcFD, &ReadValue, sizeof(ReadValue)); 

if(ReadValue > ONE_VOLT) 

{ 

break; 

} 

} 

adcClose(AdcFD); 

} 

/****************************************************************************/ 

ADC Driver 




5-51 






5.4.6 ADC Driver Application 

For the DSP56F801 and DSP56F802: 

The RUN/STOP toggle switch is connected to the ADCA analog channel, by design, on the 

DSP56F801EVM target board. The ADC Driver application uses the Green LED to indicate the 

state of the RUN/STOP toggle switch. When the switch is in the RUN state, the application 

detects a Logic One voltage level on the ADC channel and turns the Green LED On. When the 

switch is in the STOP state, the Green LED is Off. 

For the DSP56F803: 

The RUN/STOP toggle switch is connected to the ADCA analog channel, by design, on the 

DSP56F803EVM target board. The ADC Driver application uses the Green LEDto indicate the 

state of the RUN/STOP toggle switch. When the switch is in the RUN state, the application 

detects a Logic One voltage level on the ADC channel and turns the Green LED On. When the 

switch is in the STOP state, the Green LED is Off. 


The RUN/STOP toggle switch must be connected to the ADCA analog channel by connecting a 

jumper wire from the GPIO Port D PD5(J4-6) output pin to the ADCA Channel 7 

ADCA-AN7(J9-8) input pin on the DSP56F805EVM target board. The ADC Driver application 

uses the Green LED to indicate the state of the RUN/STOP toggle switch. When the switch is in 

the RUN state, the application detects a Logic One voltage level on the ADC channel and turns 

the Green LED On. When the switch is in the STOP state, the Green LED is Off. The application 

also senses the voltages on the ADCA Channel 0 and Channel 1 inputs. A Logic One voltage on 

Channel 0 turns the Red LED On and a Logic One voltage on Channel 1 turns the Yellow LED 

On. Additional LEDs indicate the status of the AN0 and AN1 analog channels. The user can 

connect AN0 (J9-1) and AN1 (J9-3) pins to 3.3V on the EVM board to indicate a Logic One 

voltage level. 


The RUN/STOP toggle switch must be connected to the ADCA analog channel by connecting a 

jumper wire from the GPIO Port D PD5(J23-6) output pin to the ADCA Channel 7 

ADCA-AN7(J9-8) input pin on the DSP56F807EVM target board. The ADC Driver application 

uses the Green LED to indicate the state of the RUN/STOP toggle switch. When the switch is in 

the RUN state, the application detects a Logic One voltage level on the ADC channel and turns 

the Green LED On. When the switch is in the STOP state, the Green LED is Off. The application 

senses the voltages on the ADCA Channel 1 input pin (J9-3) and also senses the voltages on the 

ADCB Channel 0 input pin (J12-1). A Logic One voltage on Channel 0 turns the Red LED On 

and a Logic One voltage on Channel 1 turns the Yellow LED On. 




Use the default jumper settings for the specific DSP56F80xEVM board. For more information on 

jumper settings, see the Evaluation Module Hardware User’s Manual for a specific target (i.e., the 

DSP56F805 Evaluation Module Hardware User’s Manual). 




MOTOROLA 





Quad Timer Driver 


5.5 Quad Timer Driver 


The DSP56F80x processor has four Quad Timers with four channels. Pin availability for the quad 

timers is different for each chip. (Please refer to Chapter 14 in the DSP56F80x User’s Manual 

for more information on these configuration settings.) 

In Table 5-36, a channel listed for a particular chip signifies a pin is available for that channel on 

that chip: 

The Quad Timer driver provides a standard SDK interface for each device. 



Table 5-36. Pin Availability of Quad Timers for Specific Chips 

DSP56F801/802 DSP56F803 DSP56F805 DSP56F807 

•Timer D Channels 0 - 2 •Timer A channels 0 - 3 

•Timer D channels 1 - 2 

•Timer A Channels 0 - 3 

•Timer B Channels 0 - 3 

•Timer C Channels 0 - 1 

•Timer D Channels 0 - 3 

The Quad Timer driver has a default configuration that is defined in config.h. These default 

configuration settings can be redefined in the appconfig.h for a specific project. 

To operate with a particular quad timer, the user application must #define that quad timer in 

appconfig.h. If definitions are declared as a “1”, this timer will be used by the POSIX timer driver 

(See Section 5.1.5 for the user interface definition and specification). If definitions are declared as 

a “0”, this timer will be used only by the quad timer. An example is shown below: 

#define INCLUDE_USER_TIMER_A_0 0 /* only quad timer */ 

#define INCLUDE_USER_TIMER_D_0 1 /* used for POSIX timer */ 

•Timer A Channels 0 - 3 

•Timer B Channels 0 - 3 

•Timer C Channels 0 - 1 

•Timer D Channels 0 - 3 

The complete list of quad timers that can be #defined in the appconfig.h are listed in Table 5-37. 




5-53 






For DSP56F801 and DSP56F802: 

The DSP56F801 and DSP56F802 chips have two dedicated Quad Timers: D and C. Timer D has 

three input pins for external interface. Timer C can be used for applications internal to the chip; 

this timer has no external pins. 

For DSP56F803: 

The DSP56F803 chip has a dedicated Quad Timer D and an optional Quad Timer A. Timer B and 

Timer C can be used for applications internal to the chip; these timers have no pins available for 

them. 




Table 5-37. Quad Timers 

Timer State 

INCLUDE_USER_TIMER_A_0 Defaults as a quad timer if not overwritten in appconfig.h when 

INCLUDE_QUAD_TIMER is defined 

INCLUDE_USER_TIMER_A_1 Defaults as a quad timer if not overwritten in appconfig.h when 


INCLUDE_USER_TIMER_A_2 Default as a quad timer if not overwritten in appconfig.h when 


INCLUDE_USER_TIMER_A_3 Default as a quad timer if not overwritten in appconfig.h when 


INCLUDE_USER_TIMER_B_0 Not a default, must be defined in appconfig.h of project to use 




INCLUDE_USER_TIMER_C_0 Not a default, must be defined in appconfig.h of project to use 




INCLUDE_USER_TIMER_D_0 Not a default, must be defined in appconfig.h of project to use 




The DSP56F805 chip has two dedicated Quad Timers C and D. The DSP56F805 chip also has 

two optional Quad Timers: A and B. 




MOTOROLA 








The DSP56F807 chip has two dedicated Quad Timers: C and D. The DSP56F807 chip also has 

two optional Quad Timers: A and B. 

All of the timers which can be used are defined in the device list of bsp.h header. These quad 

timers are opened through the open function call explained in the following section. 




Code to create and initialize the Quad Timer driver may automatically be included in an SDK 

Embedded Project by inserting the following line in the appconfig.h file: 

#define INCLUDE_QUAD_TIMER 

The following information may be found in the public header file quadraturetimer.h: 


/***************************************************************************** 




* UWord16 qtIoctl(int FileDesc, UWord16 Cmd, void * pParams, void * 

bspDeviceName); 

*****************************************************************************/ 




{ 

qt_eMode Mode; 

qt_eInputSource InputSource; 

qt_ePolarity InputPolarity; 

qt_eSecondaryInputSource SecondaryInputSource; 

qt_eCountFrequency CountFrequency; 

qt_eCountLength CountLength; 

qt_eCountDirection CountDirection; 

qt_eOutputMode OutputMode; 

qt_ePolarity OutputPolarity; 

bool OutputDisabled; 

bool Master; 

bool OutputOnMaster; 

bool CoChannelInitialize; 

bool AssertWhenForced; 

qt_eCaptureMode CaptureMode; 

UInt16 CompareValue1; 

UInt16 CompareValue2; 




5-55 







UInt16 InitialLoadValue; 

}qt_sState; 


qt_sCallback CallbackOnCompare; 

qt_sCallback CallbackOnOverflow; 

qt_sCallback CallbackOnInputEdge; 

Table 5-38. Quad Timer Data Structure Members 

Parameter Type Description 

Mode qt_eMode Quad timer count mode Possible 

values are: 

•qtCount 

•qtCountBothEdges 

•qtGatedCount 

•qtQuadratureCount 

•qtSignedCount 

•qtTriggeredCount 

•qtCascadeCount 

•qtOneShot 

•qtPulseOutput 

•qtFixedFreqPWM 

•qtVariableFreqPWM 

InputSource qt_eInputSource •Primary count source type 

Possible values are: 

•qtCounter0Input 


•qtCounter2Input, 


•qtCounter0Output 




•qtPrescalerDiv1 








InputPolarity qt_ePolarity Input polarity 


•qtNormal 

•qtInverted 

SecondaryInputSource qt_eSecondaryInputSource Secondary count source type 

Possible value are: 

•qtSISCounter0Input 




Quad Timer 

Register Reference 

Counting options; 

count code of control 

register 

Primary count 

source of control 

register 

Input polarity select 

of status and control 

register 

Secondary input 

source of control 

register 




MOTOROLA 








Table 5-38. Quad Timer Data Structure Members (Continued) 

CountFrequency qt_eCountFrequency To select continuous or one shot 

counting mode 


•qtRepeatedly 

•qtOnce 

CountLength qt_eCountLength Re-initialize after a compare or 

do not re-initialize after a 

compare. 


•qtPastCompare 

•qtUntilCompare 

CountDirection qt_eCountDirection Normal or reverse direction 

Possible value are: 

•qtUp 

•qtDown 

OutputMode qt_eOutputMode Output mode possible values 

are: 

•qtAssertWhileActive 

•qtAssertOnCompare 

•qtDeassertOnCompare 

•qtToggleOnCompare 

•qtToggleUsingAlternateCompar 

e 

•qtDeassertOnSecondary 

•qtDeassertOnCounterRollover 

•qtAssertOnGatedClock 

OutputPolarity qt_ePolarity Output polarity 


•qtNormal 

•qtInverted 

OutputDisabled bool Enable (true) / disable (false) 

output 

Count once of 

control register 

Count length of 


Count direction of 


Output mode of 


Output polarity 

select of status and 


Output enable of 

status and control 

register 

Master bool Master mode (true) Master mode of 

status and control 

register 

OutputOnMaster bool Enable as a master to force the 

state of counter by OFLAG (true) 

CoChannelInitialize bool Enable another counter force the 

initialization (true) 

CaptureMode qt_eCaptureMode Counter capture mode: 

•qtDisabled 

•qtRisingEdge 

•qtFallingEdge 

•qtBothEdges 

Enable external 

OFLAG force 

Co-channel 

initialization of status 

register 

Input capture mode 

of status and control 

register 

CompareValue1 UInt16 Compare value 1 Compare register 1 

CompareValue2 UInt16 Compare value 2 Compare register 2 




5-57 






InitialLoadValue UInt16 Initial load value Counter register 

CallbackOnCompare qt_sCallback User callback on compare See explanation 

below 

CallbackOnOverflow qt_sCallback User callback on overflow See explanation 

below 

CallbackOnInputEdge qt_sCallback User callback on input edge See explanation 

below 

The Quad driver callback functions allow functions created by the user in the application to be 

called as a result of Quad Timer-specific interrupts. These Quad Timer-specific interrupts can be 

seen by referring to Table 4-1 of the DSP56F80x User’s Manual. 

The three types of callback functions that the Quad Timer driver allows are: 

• callback on compare 

• callback on overflow 

• callback on an input edge 

To utilize the callback functions, they must be passed into the open function via the qt_sState 

data structure. As shown in Code Example 5-8, where the user has defined a callback function, 

CallbackOnCompare0, with input argument 0. This data structure would then be passed into 

specific ioctl/qtioctl functions. 

Code Example 5-8. qt_sState 



Table 5-38. Quad Timer Data Structure Members (Continued) 

const qt_sState quadParam0 = { 

/* Mode = */ qtCount, 

/* InputSource = */ qtPrescalerDiv128, 

/* InputPolarity = */ qtNormal, 

/* SecondaryInputSource = */ 0, 

/* CountFrequency = */ qtOnce, 

/* CountLength = */ qtUntilCompare, 

/* CountDirection = */ qtDown, 

/* OutputMode = */ qtAssertWhileActive, 

/* OutputPolarity = */ qtNormal, 

/* OutputDisabled = */ 1, 

/* Master = */ 0, 

/* OutputOnMaster = */ 0, 

/* CoChannelInitialize = */ 0, 

/* AssertWhenForced = */ 0, 

/* CaptureMode = */ qtDisabled, 

/* CompareValue1 = */ 0x8000, 

/* CompareValue2 = */ 0, 

/* InitialLoadValue = */ 0xFFFF, 

/* CallbackOnCompare = */ {CallbackOnCompare0, 0}, 

/* CallbackOnOverflow = */ {0, 0}, 

/* CallbackOnInputEdge = */ {0, 0} 

}; 




MOTOROLA 








5.5.4 Quad Device-Independent I/O API Specifications 












5-59 






5.5.4.1 open 

Call(s): 


Description: The open call opens the Quad Timer peripheral for operations and returns a file 

descriptor used by ioctl function calls. 


descriptor for the Quad Timer driver. This file descriptor is used by the Quad Timer driver’s close 

and ioctl functions. A “-1” is returned when the open call is not successful. 




Table 5-39. Quad Driver Arguments - open 

pName in The Quad Timer device name: 

BSP_DEVICE_NAME_QUAD_TIMER_A_0 




BSP_DEVICE_NAME_QUAD_TIMER_B_0 




BSP_DEVICE_NAME_QUAD_TIMER_C_0 




BSP_DEVICE_NAME_QUAD_TIMER_D_0 




OFlag in Open Mode Flags; use 0 because read and write are not supported 

FileDesc out Quad Timer device descriptor returned by open call and used in ioctl function calls 




MOTOROLA 





5.5.4.2 close 

Call(s): 




Description: The close call closes the Quad Timer peripheral. 




Table 5-40. Quad Timer Driver Arguments - close 

FileDesc in Quad Timer device descriptor returned by open call and used in ioctl function calls 




5-61 






5.5.4.3 ioctl and qtIoctl 

The timer supports both ioctl and qtIoctl statements; generally, qtIoctl provides more optimal 

code. 

Call(s): 




UWord16 qtIoctl(int FileDesc, UWord16 Cmd, void * pParams, void * 

bspDeviceName); 

Table 5-41. Quad Timer Driver Arguments 

FileDesc in Quad Timer device descriptor returned by open call and used in ioctl 

function calls 

Cmd in Commands found in quadtimer.h which are used to manage the Quad 

Timer driver 

pParams in Pointer to ioctl command parameter; see Table 5-42 

bspDeviceName void* BSP device name which was used in open statement 

Table 5-42. Quad Timer ioctl/qIoctl Commands 


QT_ENABLE qt_sState None Enable (Start) timer 

QT_FAST_RESTART qt_eMode None Fast timer restart if condition is not 

changed 

QT_DISABLE NULL Nine Disable (Stop) timer 

QT_DISABLE_CALLBACK qt_eCallback None Disable user Callback 

QT_ENABLE_CALLBACK qt_eCallback None Enable user Callback 

QT_ENABLE_OUTPUT NULL None Connect timer Output signal to the 

external pin 

QT_DISABLE_OUTPUT NULL None Disable timer Output 

QT_FORCE_OUTPUT bool None Force Output timer signal to the input 

value 

QT_ENABLE_CAPTURE_REG NULL None Enable Capture Register 

QT_GET_STATUS NULL UWord16 Get Status register value 

QT_WRITE_COMPARE_VALUE1 UWord16 None Write Compare register 1 

QT_WRITE_COMPARE_VALUE2 UWord16 None Write Compare register 2 

QT_WRITE_INITIAL_LOAD_VALUE UWord16 None Write Initial Load Value register 

QT_READ_CAPTURE_REG NULL UWord16 Get Capture Register value 




MOTOROLA 







Table 5-42. Quad Timer ioctl/qIoctl Commands (Continued) 

QT_READ_HOLD_REG NULL UWord16 Get Hold Register value 

QT_READ_COUNTER_REG NULL UWord16 Get Counter Register value 

QT_WRITE_COUNTER_REG UWord16 NULL Set Counter Register 

QT_GET_INPUT_CLK_FREQ UWord32 * (addr 

of output value 

Description: The ioctl call changes device modes. 



Code Example: Code Example 5-9 sets up Quad Timer 1, Channel Zero, to turn the Green LED 

On and Off. 

Code Example 5-9. Quad Timer Driver Usage 

/****************************************************************************/ 





#include "quadraturetimer.h" 

#include "led.h" 


None Get Input Clock Frequency 

QT_SET_INPUT_CAPTURE_MODE qt_eCaptureMode None Set Input Capture Mode 

QT_FAST_RESTART qt_eMode None Fast Restart (Counter mode) 

static void CallbackOnCompare0(qt_eCallbackType CallbackType, void* pParam); 

const qt_sState quadParam0 = { 

/* Mode = */ qtCount, 

/* InputSource = */ qtPrescalerDiv128, 

/* InputPolarity = */ qtNormal, 

/* SecondaryInputSource = */ 0, 

/* CountFrequency = */ qtOnce, 

/* CountLength = */ qtUntilCompare, 

/* CountDirection = */ qtDown, 

/* OutputMode = */ qtAssertWhileActive, 

/* OutputPolarity = */ qtNormal, 

/* OutputDisabled = */ 1, 

/* Master = */ 0, 

/* OutputOnMaster = */ 0, 

/* CoChannelInitialize = */ 0, 

/* AssertWhenForced = */ 0, 

/* CaptureMode = */ qtDisabled, 

/* CompareValue1 = */ 0x8000, 

/* CompareValue2 = */ 0, 




5-63 






}; 


/* InitialLoadValue = */ 0xFFFF, 

/* CallbackOnCompare = */ {CallbackOnCompare0, 0}, 

/* CallbackOnOverflow = */ {0, 0}, 

/* CallbackOnInputEdge = */ {0, 0} 

Word16 Counter; 

bool ServicedInterrupt = true; 

/*****************************************************************************/ 

main() 

{ 

int LedFD; 

int TimerCompare0; 

/* open LED driver */ 

LedFD = open(BSP_DEVICE_NAME_LED_0, 0); 

/* turn on “Green” LED */ 


/* initialize global counter variable */ 

Counter = 0; 

/* open timer */ 

TimerCompare0 = open(BSP_DEVICE_NAME_QUAD_TIMER_A_0, 0, NULL); 

/* disable timer */ 

ioctl(TimerCompare0, QT_DISABLE, (void*)&quadParam0); 

/* initialize flag to true */ 

ServicedInterrupt = true; 

/* infinite loop */ 

while(1) 

{ 

if(ServicedInterrupt == true) 

{ 

switch(Counter % 2) 

{ 

case 0: 

ioctl(TimerCompare0, QT_ENABLE, (void*)&quadParam0); 

ioctl(LedFD, LED_ON, LED_GREEN); 

break; 

} 

} 


case 1: 

ioctl(TimerCompare0, QT_ENABLE, (void*)&quadParam0); 


break; 

} 

ServicedInterrupt = false; 




MOTOROLA 





} 



/* close LED driver */ 

close(LedFD); 

/* close timer */ 

close(TimerCompare0); 

void CallbackOnCompare0(qt_eCallbackType CallbackType, void* pParam) 

{ 

/* increment count */ 

Counter += 1; 

} 


/* set flag to true */ 

ServicedInterrupt = true; 

/****************************************************************************/ 




5-65 








5.5.5 Quad Timer Low-Level I/O API Specifications 

The following pages specify the Low Level Application Programming Interface (API). 











MOTOROLA 





5.5.5.1 qtOpen 

Call(s): 



int qtOpen(const char *pName, int OFlags, qt_sState * pParams);); 

Description: Opens a particular Quad Timer device. Argument pName is the name of the 

particular device. 

Returns: If qtOpen is successful, a file descriptor is returned. This file descriptor must be 

passed to other QT driver functions. if qtOpen failed, a “-1” value is returned. 



Table 5-43. Quad Timer Driver Arguments - open 

pName in The Quad Timer device name; see Table 5-39 

OFlag in General parameter to configure the QT driver; however, this parameter is not used at 

this time 

pParams int A pointer to the data structure used to configure the quad timer, or NULL if a subsequent 

qtIoctl call is made to QT_ENABLE the quad timer 




5-67 






5.5.5.2 qtClose 

Call(s): 

int qtClose (int FileDesc); 

Description: The qtClose call closes the Quad Timer device. 

Returns: The qtClose call returns a type int. This int is always zero. 




Table 5-44. Quad Timer Driver Arguments - close 

FileDesc in Quad Timer device descriptor returned by qtOpen call and used in qtIoctl function calls 




MOTOROLA 





5.5.5.3 qtIoctl 

See Section 5.5.4.3. 




Code Example 5-10. Low-Level Quad Timer Driver Usage (See also: Code Example 5-9) 

/****************************************************************************/ 

#include "bsp.h" /* Board support package driver */ 

#include "quadraturetimer.h" /* Quadrature timer support */ 


{ 

int qtFD; 


/* Open the QT driver */ 

qtFD = qtOpen(BSP_DEVICE_NAME_QUAD_TIMER_D_0, 0, NULL); 

/* Disable the QT */ 

qtIoctl(qtFD, QT_DISABLE, NULL, BSP_DEVICE_NAME_QUAD_TIMER_D_0); 

/* Close the QT driver */ 

qtClose(qtFD); 

} 

/****************************************************************************/ 




5-69 






5.5.6 Quad Timer Driver Application 


The Quad Timer driver application uses the three timers of timer D to count incrementally. One 

counter runs in overflow mode and the other two run in timer compare mode. The 

DSP56F801EVM has only one general purpose Green LED and this is used to indicate the status 

of the timer overflow. 


The Quad Timer driver application uses three timers to count incrementally. One counter runs in 

overflow mode and the other two run in timer compare mode. Normally, the application lights a 

different LED to display the count status of the each counter, but since the DSP56F803EVM only 

has one general purpose LED, only the status of the timer running in overflow mode is shown. 


The Quad Timer driver’s application uses three channels which count continuously. Each LED 

indicator reflects the status of the corresponding counter. As a result, the LEDs on the running 

application are also lighting continuously. 


The Quad Timer driver’s application uses three channels which count continuously. Each LED 

indicator reflects the status of the corresponding counter. As a result, the LEDs on the running 

application are also lighting continuously. 




Use the default jumper settings for the specific DSP56F80xEVM board. For more information on 

jumper settings, see the Evaluation Module Hardware User’s Manual for a specific target (i.e., the 

DSP56F805 Evaluation Module Hardware User’s Manual). 




MOTOROLA 





5.6 GPIO Driver 


GPIO Driver 

The General Purpose I/O interface manipulates external signals routed through general purpose 

pins. Typically, each pin may be may be programmed as an input, output, or level sensitive 

interrupt input. However, peripherals may share control of these general purpose I/O pins; you 

may not use a pin for both a peripheral and as a general purpose I/O pin. Therefore, please consult 

the DSP56F80x User’s Manual to determine which pins are assigned to peripherals that you will 

use, and which pins may be available for general purpose use. Specific chips within the 

DSP56F80x chip set have the following GPIO: 


The DSP56F801 and DSP56802 have 11 shared GPIOs (A and B). The GPIO A and B are 

multiplexed with other on-chip peripherals. GPIO A0-A2 are shared with Quad Timer D. GPIO 

B0-B7 are shared with SCI0, PLL and Clock, and SPI peripherals. For more detailed information 

see the DSP56F80x User’s Manual. 


The DSP56F803 has no dedicated GPIO and 16 multiplexed GPIOs on Ports A and E. 


On the DSP56F805, eight pins on Port B and the lower six pins of Port D are dedicated GPIOs. 

There are also 18 multiplexed GPIOs available on Ports A and E. 


On the DSP56F807, 14 pins on Port B and D are dedicated GPIOs. There are also 18 multiplexed 

GPIOs available on Ports A, D, and E. 


The GPIO driver currently has no default configurations that can be overwritten through a 



Code to create and initialize the GPIO driver is automatically included in an SDK Embedded 


#define INCLUDE_GPIO 

The following information may be found in the public header file gpio.h: 




/***************************************************************************** 




*****************************************************************************/ 




5-71 








Members: None 





MOTOROLA 







5.6.4 GPIO Device-Independent I/O API Specifications 

GPIO Driver 












5-73 






5.6.4.1 open 

Call(s): 

int open(const char *pName, int OFlags, ...); 

Description: The open call opens the GPIO driver for operations and returns a file descriptor 

used by ioctl function calls. The GPIO driver needs to be opened for ioctl calls. 


descriptor for the GPIO driver. This file descriptor is used by the GPIO driver’s close and ioctl 

functions. When the open call is not successful, a "-1" is returned. 




Table 5-45. GPIO Driver open Arguments - open 

pName in The GPIO device name; see Table 5-46 

OFlag in Open Mode Flags which are ignored 

Table 5-46. GPIO Ports Available for Specific DSP56F80x Chips 

Chip Can Use 

DSP56F801/802 BSP_DEVICE_NAME_GPIO_A 

BSP_DEVICE_NAME_GPIO_B 

DSP56F803 BSP_DEVICE_NAME_GPIO_A 

BSP_DEVICE_NAME_GPIO_E 



BSP_DEVICE_NAME_GPIO_D 




BSP_DEVICE_NAME_GPIO_D 





MOTOROLA 





5.6.4.2 close 

Call(s): 


Description: The close call closes the GPIO driver. 





Table 5-47. GPIO Driver Arguments - close 

GPIO Driver 





5-75 






5.6.4.3 ioctl 

Call(s): 




Cmd in Commands found in gpio.h which are used to modify GPIO pins 

pParams in gpioPin (Port,Pin) macro 



Table 5-49. GPIO ioctl Commands 


GPIO_SETAS_GPIO gpioPin (Port,Pin) 

macro 

GPIO_SETAS_PERIPHERAL gpioPin (Port,Pin) 

macro 

GPIO_SETAS_INPUT gpioPin (Port,Pin) 

macro 

GPIO_SETAS_OUTPUT gpioPin (Port,Pin) 

macro 

GPIO_INTERRUPT_DISABLE gpioPin (Port,Pin) 

macro 

GPIO_INTERRUPT_ENABLE gpioPin (Port,Pin) 

macro 

GPIO_DISABLE_PULLUP gpioPin (Port,Pin) 

macro 

GPIO_ENABLE_PULLUP gpioPin (Port,Pin) 

macro 

GPIO_INTERRUPT_ASSERT_DISABLE gpioPin (Port,Pin) 

macro 

GPIO_INTERRUPT_ASSERT_ENABLE gpioPin (Port,Pin) 

macro 

GPIO_INTERRUPT_DETECTION_ACTIVE_HIGH gpioPin (Port,Pin) 

macro 

GPIO_INTERRUPT_DETECTION_ACTIVE_LOW gpioPin (Port,Pin) 

macro 

None When peripheral disabled, 

DDR determines direction 

of data flow in PER register 

None A peripheral masters the 

gpio pin in PER register 

None Sets a gpio pin as an input 

in DDR register 

None Sets a gpio pin as an output 

in DDR register 

None Disables edge detection for 

any incoming interrupt in 

IENR register 

None Enables edge detection for 

any incoming interrupt in 

IENR register 

None Disable pull-up in PUR 

register 

None Enable pull-up in PUR 

register 

None Disables an interrupt assert 

in IAR register 

None Enables an interrupt assert, 

used only in software 

testing, in IAR register 

None The interrupt seen at the 

PAD is active high 

None The interrupt seen at the 

PAD is active low 




MOTOROLA 





Description: The ioctl call changes the state of GPIO pins. 





Table 5-49. GPIO ioctl Commands (Continued) 

GPIO_CLEAR_INTERRUPT_PEND_REGISTER gpioPin (Port,Pin) 

macro 

GPIO_SET gpioPin (Port,Pin) 

macro 

GPIO_CLEAR gpioPin (Port,Pin) 

macro 

GPIO_TOGGLE gpioPin (Port,Pin) 

macro 

GPIO Driver 

None By writing zeros to this 

register, the IPR is cleared 

None Sets a GPIO signal 

None Clears a GPIO signal 

None Toggles a GPIO signal 

GPIO_READ gpioPin (Port,Pin) None Reads the value of an input 

pin; 0 or 1 value 

For DSP56F801/802: Code Example 5-11 toggles Port A, pin 1 (J5, pin 1), between a logic high 

and logic low. 

For DSP56F803: Code Example 5-11 toggles Port A, pin 5 (J7, pin 13), between a logic high and 

logic low. 


logic low. 


logic low. 




5-77 







Code Example 5-11. GPIO Driver Usage 

/****************************************************************************/ 




#include "gpio.h" 


{ 

int PortA; 


/* For DSP56F801/802 */ 

PortA = open(BSP_DEVICE_NAME_GPIO_A, NULL); 

/* For DSP56F803/805/807*/ 

PortA = open(BSP_DEVICE_NAME_GPIO_A, NULL); 

/* For DSP56F801/802 */ 

/* disable peripheral as the master of pin 1 on port A */ 

ioctl(PortA, GPIO_SETAS_GPIO, gpioPin(A,0)); 

/* For DSP56F803/805/807*/ 

/* disable peripheral as the master of pin 5 on port A */ 

ioctl(PortA, GPIO_SETAS_GPIO, gpioPin(A,4)); 

/* For DSP56F801/802 */ 

/* set pin 1 on port A as an output pin, note bit 0 in gpioPin() corresponds to 

pin 1 

*/ 

ioctl(PortA, GPIO_SETAS_OUTPUT, gpioPin(A,0)); 

/* For DSP56F803/805/807*/ 

/* set pin 5 on port A as an output pin, note bit 4 in gpioPin() corresponds to 

pin 5 */ 

ioctl(PortA, GPIO_SETAS_OUTPUT, gpioPin(A,4)); 

/* For DSP56F803/805/807*/ 

/* toggle pin 5 on port A, note bit 4 in gpioPin() corresponds to pin 5 

*/ 

ioctl(PortA, GPIO_TOGGLE, gpioPin(A,4)); 

close(PortA); 

} 

/****************************************************************************/ 




MOTOROLA 







5.6.5 GPIO Low-Level I/O API Specifications 


GPIO Driver 











5-79 






5.6.5.1 gpioOpen 

Call(s): 



int gpioOpen(const char *pName, int OFlags, ...); 

Table 5-50. GPIO Driver Arguments - gpioOpen 

pName in The GPIO device name; see Table 5-46 


Description: Opens a particular port for operations; argument pName is the particular port’s 

name. A particular port must be opened before configuring the port with gpioIoctl calls. 

Returns: If gpioOpen is successful, a port file descriptor is returned. If gpioOpen failed, a “-1” is 

returned. 




MOTOROLA 





5.6.5.2 gpioClose 

Call(s): 

int gpioClose (int FileDesc); 



Table 5-51. GPIO Driver Arguments - close 

Description: The close call closes the GPIO device. 


GPIO Driver 

FileDesc in GPIO device descriptor returned by gpioOpen call and used in gpioIoctl function calls 




5-81 






5.6.5.3 gpioIoctl 

Call(s): 

UWord16 gpioIoctl(int FileDesc, UWord16 Cmd, UWord16 Parms, const char* 

gpioDevice); 

Description: The gpioIoctl modifies a GPIO port configuration or sets a GPIO pin. 

Returns: The gpioIoctl call returns an int value. 

Code Example 5-12. GPIO Driver Usage 

/****************************************************************************/ 


#include "gpio.h" 


{ 

int PortA; 

int state; 





Cmd in Commands found in gpio.h which are used to modify GPIO pins; see Table 5-49 

Parms in Used to pass on a particular pin on a port in which to perform 

one of the above commands; the gpioPin macro defined in Code Example 5-12 is 

used to obtain a mask for that particular pin and port 

gpioDevice in The GPIO device name; see Table 5-46 

// open a gpio port A 

PortA = gpioOpen(BSP_DEVICE_NAME_GPIO_A,0); 

// disable peripheral as the master of bit 0 on port A */ 

gpioIoctl (PortA, GPIO_SETAS_GPIO, 0, BSP_DEVICE_NAME_GPIO_A); 

// set bit 3 on port B as an output pin 

gpioIoctl (PortB, GPIO_SETAS_OUTPUT, 3, BSP_DEVICE_NAME_GPIO_B); 

// read the state of port D pin 5 

state = gpioIoctl (PortD, GPIO_READ, 5, BSP_DEVICE_NAME_GPIO_D); 

gpioClose(PortA); 

} 

/****************************************************************************/ 




MOTOROLA 





Quadrature Decoder Driver 


5.6.6 GPIO Driver Application 

None 

5.7 Quadrature Decoder Driver 


This section describes the API for the DSP56F80x Quadrature Decoder device. 

The DSP56F801 and DSP56F802 do not have a Quadrature Decoder. The DSP56F803 has one 

Quadrature Decoder, Quadrature Decoder #0. The DSP56F805 and the DSP56F807 have two 

Quadrature Decoders, Quadrature Decoder #0 and #1. For more detailed information on the 

Quadrature Decoder, please refer to the DSP56F80x User's Manual. 

This section describes the Quadrature Decoder driver software providing the lowest-level 

software layer interfacing hardware to software. 


The Quadrature Decoder driver currently has no default configurations that can be overwritten 

through a project’s appconfig.h file. 




Code to create and initialize the Quadrature Decoder driver is automatically included in an SDK 



The following information may be found in the public header file decoder.h: 



/***************************************************************************** 



* UWord16 decIoctl(int FileDesc, UWord16 Cmd, void * pParams, const char 

*pName); 

*****************************************************************************/ 




5-83 










{ 

fn_tCallbackpCallback; 

UWord16* pCallbackArg; 

}decoder_sCallback; 


{ 

Word16 PositionDifferenceHoldReg; 

Word16 RevolutionHoldReg; 

uReg32bit PositionHoldReg; 

}decoder_sState; 


{ 

UWord16 EncPulses; 

UWord16 RevolutionScale; 

}decoder_sEncScale; 


{ 

UWord16 Index : 1; 

UWord16 PhaseB : 1; 

UWord16PhaseA : 1; 

UWord16 Reserved : 13; 

}decoder_sEncSignals; 

typedef union 

{ 

decoder_sEncSignals EncSignals; 

UWord16 Value; 

}decoder_uEncSignals; 

Table 5-53. decoder_sCallback Data Structure Members 

pCallback (*fn_tCallback)(void *) A pointer on the user interrupt service routine 

* pCallbackArg UWord16 An argument of the user interrupt service routine 

Table 5-54. decoder_sState Data Structure Members 

PositionDifferenceHoldReg Word16 A data value representing the content of the Position Difference Hold 

Register 

RevolutionHoldReg Word16 A data value representing the content of the Revolution Hold Register 

PositionHoldReg uReg32bit A data value representing the content of the Lower and Upper 

Position Hold Register 

Table 5-55. decoder_sEncScale Data Structure Members 

EncPulses UWord16 A data value representing the number of pulses per revolution of the 

Encoder device 




MOTOROLA 








Table 5-55. decoder_sEncScale Data Structure Members (Continued) 

RevolutionScale UWord16 A data value representing the number of revolutions to be reflected by 

the 16 bit register full range 

RevolutionScale = 0 represents a range +/- PI 

RevolutionScale =1 represents a range +/- 2PI 

RevolutionScale =2 represents a range +/- 4PI 

... 

Note: The maximum RevolutionScale value is determined by the 

following expression: 

32767 > ((EncPulses * 4) * RevolutionScale) 

When RevolutionScale is equal to 0, then the following expression 

must be valid: 

32767 > (EncPulses * 2) 

The RevolutionScale has meaning only for the 

DEC_GET_SCALED_POSITION_DIFFERENCE command 

Table 5-56. decoder_sEncSignals Data Structure Members 

Index UWord16 : 1 A bit reflecting the state of the Encoder Index Signal 

PhaseB UWord16 : 1 A bit reflecting the state of the Encoder PhaseB Signal 

PhaseA UWord16 : 1 A bit reflecting the state of the Encoder PhaseA Signal 

Reserved UWord16 : 13 Unused 




5-85 








5.7.4 Quadrature Decoder Device-Independent 

I/O API Specification 

This section specifies the exact usage for each API function. 











MOTOROLA 





5.7.4.1 open 

Call(s): 




Table 5-57. Quadrature Decoder Driver open Arguments - open 

pName in The Quadrature Decoder device name; use 

BSP_DEVICE_NAME_DECODER_0 



FileDesc out Quadrature decoder driver device descriptor returned by the 

open call and used in write/read/decIoctl function calls 

Description: The open call opens the Quadrature Decoder peripheral for operations and returns a 

file descriptor used by all function calls. The Quadrature Decoder device needs to be opened for 

all accesses. 


descriptor for the Quadrature Decoder driver. This file descriptor is used by the Quadrature 

Decoder driver’s close and ioctl functions. A "-1" is returned when the open call is not successful. 






5-87 






5.7.4.2 close 

Call(s): 


Table 5-58. Quadrature Decoder Driver Arguments - close 

FileDesc in Quadrature Decoder device descriptor returned by open call 

Description: The close call closes the Quadrature Decoder peripheral and releases the file 

descriptor handle. 








MOTOROLA 





5.7.4.3 decIoctl 

Call(s): 



UWord16 decIoctl(int FileDesc, UWord16 Cmd, void * pParams, const char *pName); 

Description: The decIoctl call changes Quadrature Decoder device modes or accesses the 

Quadrature Decoder registers. 


passed in as an input parameter. A list of these returns based on the specific command follows. 

Command: DEC_HOME_INTERRUPT_REQUEST_CLEAR 

pParams: NULL 

Return: None 

Description: Clears the HOME signal interrupt request flag 

Command: DEC_HOME_INTERRUPT 

pParams: DEC_ENABLE / DEC_DISABLE 

Return: None 

Description: HOME signal interrupt enable or disable 

Command: DEC_HOME_INIT 


Return: None 

Table 5-59. Quadrature Decoder Driver Arguments - decIoctl 

FileDesc in Quadrature Decoder device descriptor returned by open call 

Cmd in Commands found in decoder.h which are used to modify the Quadrature Decoder 

module status and control registers; see below for a description of specific commands 

pParams in, 

inout 


Used to pass the relevant data to decIoctl function call 

pName in The Quadrature Decoder device name. Use 



Description: Enables or disables the position counter to be initialized by the HOME 

signal 




5-89 







Command: DEC_HOME_EDGE 

pParams: DEC_NEGATIVE / DEC_POSITIVE 

Return: None 

Description: Sets the negative or positive edge of the HOME signal to initialize the 

position counter 

Command: DEC_SOFTWARE_TRIGGERED_INIT 

pParams: NULL 

Return: None 

Description: Initializes the position counter by value from the initialization register 

Command: DEC_DIRECTION_COUNTING_ENABLE 

pParams: DEC_REVERSE / DEC_NORMAL 

Return: None 

Description: Reverses the interpretation of the quadrature signal to change the direction 

of count 

Command: DEC_SINGLE_PHASE_COUNT 


Return: None 

Description: If DEC_ENABLE, then the quadrature decoder logic is bypassed (PHASEA 

is used a single phase pulse stream, PHASEB is ignored) 

Command: DEC_INDEX_PULSE_INTERRUPT_REQUEST_CLEAR 

pParams: NULL 

Return: None 

Description:Clears the INDEX pulse interrupt request flag 

Command: DEC_INDEX_PULSE_INTERRUPT 


Return: None 


Description: INDEX pulse interrupt enable or disable 




MOTOROLA 







Command: DEC_INDEX_TRIGGERED_INIT 


Return: None 

Description: Enables or disables the position counter to be initialized by the INDEX 

pulse 

Command: DEC_INDEX_EDGE 

pParams: DEC_NEGATIVE / DEC_POSITIVE 

Return: None 

Description: Sets the negative or positive edge of the INDEX pulse to initialize the 

position counter 

Command: DEC_WATCHDOG_INTERRUPT_REQUEST_CLEAR 

pParams: NULL 

Return: None 

Description:Clears the watchdog time-out interrupt request flag 

Command: DEC_WATCHDOG_INTERRUPT 


Return: None 

Description: Watchdog timer interrupt enable or disable 

Command: DEC_WATCHDOG 


Return: None 

Description: Watchdog timer enable or disable 

Command: DEC_SWITCH_MATRIX 

pParams: DEC_MODE_1 

Return: None 


DEC_MODE_2 

DEC_MODE_3 

Description: Selects the switch matrix mode that connects the input to the Timer module 




5-91 







Command: DEC_SET_CALLBACK_HOME_WATCHDOG 

pParams: decoder_sCallback* 

Return: None 

Description: Installs the user- defined Watchdog timer and HOME signal interrupt 

service routine 

Command: DEC_SET_CALLBACK_INDEX 

pParams: decoder_sCallback* 

Return: None 

Description: Installs the user- defined INDEX pulse interrupt service routine 

Command: DEC_WRITE_FILTER 

pParams: UWord16 

Return: None 

Description: Sets the Filter Interval Register with the desired value 

Command: DEC_WRITE_WATCHDOG_TIMEOUT 


Return: None 

Description: Sets the Watchdog Time-out Register with the desired value 

Command: DEC_READ_POSITION_DIFFERENCE 

pParams: NULL 

Return: Word16 

Description: Returns the content of the Position Difference Counter Register + 

Command: DEC_READ_REVOLUTION 

pParams: NULL 

Return: Word16 


Description: Returns the content of the Revolution Counter Register + 




MOTOROLA 







Command: DEC_WRITE_REVOLUTION 

pParams: Word16 

Return: None 

Description: Sets the Revolution Counter by the desired value 

Command: DEC_READ_POSITION 

pParams: uReg32bit* 

Return: None 

Description: Returns the content of the Upper and Lower Position Counter Register + 

Command: DEC_WRITE_POSITION 

pParams: value - 32bit 

Return: None 

Description: Sets the Position Counter Register to the desired starting value 

Command: DEC_WRITE_INIT_STATE 

pParams: value - 32bit 

Return: vNone 

Description: Sets the Initialization Position Counter Register (Upper and Lower) with the 

desired value 

Command: DEC_READ_MONITOR_REG 

pParams: NULL 

Return: UWord16 

Description: Returns the content of the Input Monitor Register 

Command: DEC_GET_RAW_ENCSIGNALS 

pParams: NULL 

Return: decoder_uEncSignals.Value 


Description: Returns the raw version of INDEX, PHASEB and PHASEA encoder signals 




5-93 







Command: DEC_GET_FILTERED_ENCSIGNALS 

pParams: NULL 

Return: decoder_uEncSignals.Value 

Description: Returns the filtered version of INDEX, PHASEB and PHASEA encoder 

signals 

Command: DEC_READ_HOLD_DATA_REGS 

pParams: decoder_sState* 

Return: None 

Description: Holds the Position, Position Difference and the Revolution counters and 

copies such state to the structure members + 

Command: DEC_READ_CONTROL_REG 

pParams: NULL 


Description: Returns the content of the Control Register 

Command: DEC_CALCULATE_SCALE_COEF 

pParams: decoder_sEncScale* 

Return: None 

Description: Calculates the scaling coefficients needed for the correct functionality of 

DEC_GET_SCALED_POSITION and 

DEC_GET_SCALED_POSITION_DIFFERENCE commands (i.e. this command must be 

executed before the execution of the above mentioned commands) 

Command: DEC_GET_SCALED_POSITION 

pParams: Word32* 

Return: None 


Description: Calculates an absolute position. It returns a 32bit value where the MSB 

part represents the number of revolutions (equals to the content of the Revolution 

Register) while the LSB part represents the portion of the current revolution scaled 

into the 16bit unsigned data range. The DEC_CALCULATE_SCALE_COEF 

command must be executed prior this command. Note: the correct functionality requires to 

fill the Initialization Register by value 0x00000000 and to enable initialization of the 

Position Counter by the INDEX signal (DEC_WRITE_INIT_STATE and 

DEC_INDEX_TRIGGERED_INIT commands) during the Quadrature Decoder init 

phase. + 




MOTOROLA 







Command: DEC_GET_SCALED_POSITION_DIFFERENCE 

pParams: Word16* 

Return: None 

Description: Returns the scaled relative position (difference). The 16bit signed value 

represents a range specified by RevolutionScale. The 

DEC_CALCULATE_SCALE_COEF command must be executed prior to this command. 

This command recalculates (scales) the content of the Position Difference Counter 

Register which is automatically cleared when Position Register is read. (see note) 

NOTE: “+” These commands will cause contents of the counter register to be written to its 

corresponding hold register. 

Code Example 5-13. decIoctl 

decIoctl(decFD, DEC_SET_CALLBACK_INDEX, &cb, BSP_DEVICE_NAME_DECODER_0); 

decIoctl(decFD, DEC_WATCHDOG, DEC_ENABLE, BSP_DEVICE_NAME_DECODER_0); 

decIoctl(decFD, DEC_WRITE_POSITION, 0x12344321, BSP_DEVICE_NAME_DECODER_0); 

monitor = decIoctl(decFD, DEC_READ_MONITOR_REG, NULL, BSP_DEVICE_NAME_DECODER_0); 

Code Example 5-14 illustrates deIoctl function calls for the Quadrature Decoder driver. 

Code Example 5-14. Quadrature Decoder Driver Usage 

Step 1: Edit the appconfig.h file in your project config directory to include the Quadrature 

Decoder peripheral module by adding the line: 


Step 2: Create an application code 

/*****************************************************************************/ 




#include "decoder.h" 


{ 

int decFD; 

decoder_uEncSignals signal; 


/* Open decoder */ 

decFD = open(BSP_DEVICE_NAME_DECODER_0, 0); 




5-95 








/* Get the raw version of INDEX, PHASE A, and PHASE B encoder signals */ 

signal.Value = decIoctl(decFD, DEC_GET_RAW_ENCSIGNALS, NULL, 

BSP_DEVICE_NAME_DECODER_0); 

/* Set the filter interval register with the value 0x0003 */ 

decIoctl(decFD, DEC_WRITE_FILTER, 0x0003, BSP_DEVICE_NAME_DECODER_0); 

/* close decoder */ 

close(decFD); 

} 

/****************************************************************************/ 




MOTOROLA 








5.7.5 Low-Level Device Driver I/O API Specification 

This section specifies the Low-Level API interface. 











5-97 






5.7.5.1 decoderOpen 

Call(s): 

int decoderOpen(const char *pName, int OFlags); 

Table 5-60. Low-Level Quadrature Decoder Driver open Arguments - open 

pName in The Quadrature Decoder device name; see Table 5-57 

OFlag in Open Mode Flag which is ignored 

Description: The decoderOpen call opens the Quadrature Decoder device for operations. 

Returns: File descriptor if decoderOpen is successful. This file descriptor must be 

passed to other Quadrature Decoder driver functions. Returns a “-1” value if open failed. 







MOTOROLA 





5.7.5.2 decoderClose 

Call(s): 



int decoderClose (int FileDesc); 

Table 5-61. Low-Level Quadrature Decoder Driver Arguments - decoderClose 

FileDesc in Quadrature Decoder device descriptor returned by decoderOpen call 






5-99 






5.7.5.3 decoderIoctl 

Call(s): 

UWord16 decoderIoctl(int FileDesc,UWord16 Cmd,void * pParams, const 

char*pName); 


Code Example 5-15. Low-Level Quadrature Decoder Driver Usage (See also Code Example 5-14) 

/****************************************************************************/ 


#include "decoder.h" 


{ 

int decoderFD; 

/* Open the Quadrature Decoder driver */ 

decoderFD = decoderOpen(BSP_DEVICE_NAME_DECODER_0, 0); 

decoderIoctl(FDdec,DEC_HOME_INTERRUPT,DEC_ENABLE,BSP_DEVICE_NAME_DECODER_0); 

/* Close the Quadrature Decoder driver */ 

decoderClose(decoderFD); 

} 

/****************************************************************************/ 

5.7.6 Quadrature Decoder Driver Application 

None 



Table 5-62. Low-Level Quadrature Decoder Driver Arguments - decoderIoctl 

FileDesc in Quadrature Decoder device descriptor returned by decoderOpen call 

Cmd in Commands found in decoder.h which are used to modify the Quadrature Decoder 

module status and control registers; see Table 5-60 

pParams in, inout Used to pass the relevant data to decoderIoctl function call 

pName in The Quadrature Decoder device name; use: 






MOTOROLA 





5.8 PWM Driver 


This section describes the API for the DSP56F80x PWM device. 

PWM Driver 

The DSP56F801, DSP56F802, and DSP56F803 have one Pulse Width Modulator, named 

PWMA. The DSP56F805 and the DSP56F807 have two PWM modules, named PWMA and 

PWMB. The PWM driver provides a standard SDK interface for this device. For additional 

information about PWM, refer to Chapter 11 of the DSP56F80x User’s Manual. 




The PWM driver’s default configurations are defined in config.h and can be redefined in the 

appconfig.h for a specific project. The complete list of PWM parameters that can be #defined in 

the appconfig.h are listed in Table 5-63 and correspond to PWM registers. 

NOTE: For information on these default register bit settings, see Chapter 11 of the 

DSP56F80x User’s Manual; specific section are detailed in the Description column of 

Table 5-63. 

Table 5-63. PWM appconfig.h Configuration Settings 

Parameter Description Default 

#define PWM_EXCLUDE_PWM_A Will exclude PWM A Not defined 

#define PWM_EXCLUDE_PWM_B Will exclude PWM B Not defined 

#define PWM_A_CONTROL_REG PMCTL register; *see Section 11.7 for 

information on specific bits 

#define PWM_A_FAULT_CONTROL_REG PMFCTL register; *see Section 11.7 for 


#define PWM_A_FAULT_STATUS_REG PMFSA register; *see Section 11.7 for 


#define PWM_A_OUTPUT_CONTROL_REG PMOUT register; *see Section 11.7 for 


#define PWM_A_COUNTER_MODULO_REG PWMCM register; *see Section 11.7 for 


#define PWM_A_DEAD_TIME_REG PMDEADTM register; *see Section 11.7 

for information on specific bits 

#define PWM_A_DISABLE_MAPPING_1_REG PMDISMAP1 register; *see Section 11.7 


#define PWM_A_DISABLE_MAPPING_2_REG PMDISMAP2 register; *see Section 11.7 


0x00C0 




5-101 

0 

0 

0 

0x07FF 

0x001F 

0x0000 

0x0000 





#define PWM_A_CONFIG_REG PMCFG register; *see Section 11.7 


#define PWM_A_CHANNEL_CONTROL_REG PMCCR register; *see Section 11.7 


#define PWM_B_CONTROL_REG PMCTL register; *see Section 11.7 for 


#defined PWM_B_FAULT_CONTROL_REG PMFCTL register; *see Section 11.7 for 


#define PWM_B_FAULT_STATUS_REG PMFSA register; *see Section 11.7 for 


* DSP56F80x User’s Manual 




Table 5-63. PWM appconfig.h Configuration Settings (Continued) 

#define PWM_B_OUTPUT_CONTROL_REG PMOUT register; *see Section 11.7 for 


#define PWM_B_COUNTER_MODULO_REG PWMCM register; *see Section 11.7 for 


#define PWM_B_DEAD_TIME_REG PMDEADTM register; *see Section 11.7 


#define PWM_B_DISABLE_MAPPING_1_REG PMDISMAP1 register; *see Section 11.7 


#define PWM_B_DISABLE_MAPPING_2_REG PMDISMAP2 register, *see Section 11.7 


#define PWM_B_CONFIG_REG PMCFG register; *see Section 11.7 


#define PWM_B_CHANNEL_CONTROL_REG PMCCR register, *see Section 11.7 


0x1000 




MOTOROLA 

0 

0x00C0 

0 

0 

0 

0x07FF 

0x001F 

0x0000 

0x0000 

0x1000 

0 








PWM Driver 

Code to create and initialize the PWM driver is automatically included in an SDK Embedded 



The following information may be found in the public header file pwm.h: 


***************************************************************************** 



* UWord16 pwmIoctl(int FileDesc, UWord16 Cmd, void * pParams, const 

char *pName); 

*****************************************************************************/ 





{ 

fn_tCallback pCallback; 

UWord16 * pCallbackArg; 

}pwm_sCallback; 


{ 

Word16 pwmChannel_0_Value; 



}pwm_sComplementaryValues; 


{ 







}pwm_sIndependentValues; 


{ 

mc_tPWMSignalMask SoftwareControlled; 

mc_tPWMSignalMask OutputControl; 

}pwm_sOutputControl; 


{ 

Word16 DutyCycle; 

UWord16 Vlmode; 

}pwm_sUpdateValueSetVlmode; 




5-103 









{ 

mc_tPWMSignalMask Mask; 

pwm_tPWMChannelSwap Swap; 

}pwm_sChannelControl; 

Table 5-64. pwm_sCallback Data Structure Members 

pCallback (*fn_tCallback)(void *) A pointer on the user interrupt service routine; 

see explanation at end of this section 

* pCallbackArg UWord16 An argument of the user interrupt service routine; 

see explanation at end of this section 

Table 5-65. pwm_sComplementaryValues Data Structure Members 

pwmChannel_0_Value Word16 A data value representing a duty cycle or 

the desired value of the corresponding 

PWM Value register 







Table 5-66. pwm_sIndependentValues Data Structure Members 

pwmChannel_0_Value Word16 A data value representing a duty cycle or the desired value of the 

corresponding PWM Value register 











Table 5-67. pwm_sOutputControl Data Structure Members 

SoftwareControlled mc_tPWMSignalMask A mask to enable software control of the 

corresponding PWM pins 

OutputControl mc_tPWMSignalMask A mask to control the PWM output pins 




MOTOROLA 







Table 5-68. pwm_sUpdateValueSetVlmode Data Structure Members 

PWM Driver 

DutyCycle Word16 A data value representing a duty cycle corresponding to the PWM Value 0 register 

Vlmode UWord16 A value representing the Value Register Load Mode 

Table 5-69. pwm_sChannelControl Data Structure Members 

Mask mc_tPWMSignalMask A mask of the PWM logical channels 

Swap pwm_tPWMChannelSwap A mask to determine channel swapping operation 

The PWM driver callback functions allow functions created by the user in his application to be 

called as a result of PWM specific interrupts. These PWM-specific interrupts can be seen in Table 

4-1 of the DSP56F80x User’s Manual. 

The types of callback functions that the PWM driver allows are: 

• Callback on Reload PWM A or Reload PWM B 

• Callback on PWM A Fault or PWM B Fault 

To utilize the callback functions, the functions must be passed into the ioctl/pwmioctl function via 

the pwm_sCallback data structure. In Code Example 5-16, the user has defined a callback 

function, pwm_Reload_A_Callback, with input argument NULL. This data structure would then 

be passed into the ioctl/pwmioctl function. 

Code Example 5-16. Data Structure for Callback Functions 

/* define pwmCallBack as a pwm_sCallback type */ 

pwm_sCallback pwmCallBack; 

/* set structure element to function pointer of callback function */ 

pwmCallBack.pCallback = pwm_Reload_A_Callback; 

/* set structure element of call back function args to NULL */ 

pwmCallBack.pCallbackArg = NULL; 




5-105 








5.8.4 PWM Device-Independent I/O API Specification 












MOTOROLA 





5.8.4.1 open 

Call(s): 


PWM Driver 

Description: The open call opens the PWM peripheral for operations and returns a file descriptor 

used by all function calls. The PWM device needs to be opened for all accesses. 


descriptor for the PWM driver. This file descriptor is used by the PWM driver’s close and ioctl 

functions. A "-1" is returned when the open call is not successful. 




Table 5-70. PWM Driver Arguments - open 

pName in The PWM device name; see Table 5-71 


FileDesc out PWM driver device descriptor returned by open call and used in 

write/read/pwmIoctl function call. 

Table 5-71. PWM Devices for Specific DSP56F80x Chips 

Chip Can Use 

DSP56F801/802 BSP_DEVICE_NAME_PWM_A 

DSP56F803 BSP_DEVICE_NAME_PWM_A 


BSP_DEVICE_NAME_PWM_B 






5-107 






5.8.4.2 close 

Call(s): 


Description: The close call closes the PWM peripheral and releases the file descriptor handle. 





Table 5-72. PWM Driver Arguments - close 

FileDesc in PWM device descriptor returned by open call 




MOTOROLA 





5.8.4.3 pwmIoctl 

Call(s): 

PWM Driver 

UWord16 pwmIoctl(int FileDesc, UWord16 Cmd, void * pParams, const char *pName); 

Description: The pwmIoctl call changes PWM device modes or accesses the PWM registers. 

Note, the data values representing the duty cycles in percentage are scaled into the effective data 

range where 0x0000 corresponds to 0% and 0x7fff corresponds to 100%. 


passed in as an input parameter. A list of these returns based on the specific command follows. 

Commands: 

Command: PWM_SET_RELOAD_FREQUENCY 

pParams: PWM_RELOAD_OPPORTUNITY_X (where X can be from 1 to 16) 

Return: None 

Description: Sets the PWM Reload Frequency by selecting a certain order of opportunity; 

see Table 11-6 in the DSP56F80x User’s Manual for more information 

Command: PWM_HALF_CYCLE_RELOAD 

pParams: PWM_ENABLE/PWM_DISABLE 

Return: None 

Description: Half Cycle Reload enable or disable 

Command: PWM_SET_CURRENT_POLARITY 

pParams: (PWM_IPOL0 | PWM_IPOL1 | PWM_IPOL2) / PWM_ZERO_MASK 

Return: None 



Table 5-73. PWM Driver Arguments - pwmIoctl 

FileDesc in PWM device descriptor returned by open call 

Cmd in Commands found in pwm.h which are used to modify the PWM module status and 

control registers; see list of Commands below 

pParams in Used to pass the relevant data to pwmIoctl function call 

pName in The PWM device name. Use BSP_DEVICE_NAME_PWM_A or 


Description: Sets the selected Current Polarity Bits 




5-109 







Command: PWM_SET_PRESCALER 

pParams: PWM_PRESCALER_DIV_1 

Return: None 

PWM_PRESCALER_DIV_2 



Description: Sets the PWM clock frequency as a fraction of operational frequency; see 

Table 11-7 in the DSP56F80x User’s Manual for more information 

Command: PWM_RELOAD_INTERRUPT 


Return: None 

Description: PWM Reload Interrupt enable or disable 

Command: PWM_SET_CURRENT_SENSING 

pParams: PWM_CORRECTION_NO 

Return: None 

PWM_CORRECTION_SOFTWARE 

PWM_CORRECTION_DURING_DEADTIME 

PWM_CORRECTION_DURING_CYCLE 

Description: Selects the top/bottom correction scheme 

Command: PWM_DEVICE 


Return: None 

Description: Enables or disables PWM generator and enables PWM pins 

Command: PWM_CLEAR_RELOAD_FLAG 

pParams: NULL 

Return: None 


Description: Clears the PWM Reload Interrupt Flag 




MOTOROLA 






Command: PWM_LOAD_OK 

pParams: NULL 

Return: None 

PWM Driver 

Description: Causes loading of the PWM registers into a set of buffers to take effect at the 

next PWM reload 

Command: PWM_FAULT_INTERRUPT_ENABLE 

pParams: PWM_FAULTx 

Return: None 

Description: Enables corresponding FAULTx CPU interrupt request 

Command: PWM_FAULT_INTERRUPT_DISABLE 


Return: None 

Description: Disables corresponding FAULTx CPU interrupt request 

Command: PWM_SET_AUTOMATIC_FAULT_CLEAR 


Return: None 

Description: Sets the automatic fault clearing of FAULTx pin fault 

Command: PWM_SET_MANUAL_FAULT_CLEAR 


Return: None 

Description: Sets the manual fault clearing of FAULTx pin fault 

Command: PWM_CLEAR_FAULT_FLAG 


Return: None 


Description: Clears corresponding FAULTx Pin Flag 




5-111 







Command: PWM_OUTPUT_PAD 


Return: None 

Description: Output Pad enable or disable 

Command: PWM_OUTPUT_SOFTWARE_CONTROL 

pParams: mc_tPWMSignalMask 

Return: None 

Description: Enables software control of the selected PWM pins + 

Command: PWM_OUTPUT_CONTROL 


Return: None 

Description: Controls the state of the corresponding PWM pins + 

Command: PWM_SET_MODULO 


Return: None 

Description: Sets the PWM period in PWM clock periods 

Command: PWM_SET_DEADTIME 


Return: None 

Description: Sets the number of CPU clock cycles of deadtime in complementary channel 

operation mode 

Command: PWM_SET_DISABLE_MAPPING_REG1 


Return: None 


Description: Determines which PWM pins are disabled by the fault detection decoder 

(INDISMAP1 register) 




MOTOROLA 






Command: PWM_SET_DISABLE_MAPPING_REG2 


Return: None 

PWM Driver 

Description: Determines which PWM pins are disabled by the fault detection decoder 

(INDISMAP2 register) 

Command: PWM_SET_ALIGNMENT 

pParams: PWM_EDGE 

Return: None 

PWM_CENTER 

Description: Determines whether all PWM channels will use edge- or center-aligned 

waveforms 

Command: PWM_SET_NEG_TOP_SIDE_POLARITY 

pParams: (PWM_CHANNEL_45 | PWM_CHANNEL_23 | PWM_CHANNEL_01) / 

PWM_ZERO_MASK 

Return: None 

Description: Determines the polarity for the top-side PWMs; the negative top-side 

polarity is set for the selected channels (the rest of channels use the positive top-side 

polarity) 

Command: PWM_SET_NEG_BOTTOM_SIDE_POLARITY 


PWM_ZERO_MASK 

Return: None 

Description: Determines the polarity for the bottom-side PWMs; the negative 

bottom-side polarity is set for the selected channels (the rest of channels use the positive 

bottom-side polarity) 

Command: PWM_SET_INDEPENDENT_OPERATION 


PWM_ZERO_MASK 

Return: None 


Description: Determines whether the PWM pins will be independent PWMs or 

complementary PWM pairs; the independent operation is set for the selected channels (the 

rest of channels are configured as complementary pairs) + 




5-113 







Command: PWM_SET_WRITE_PROTECT 

pParams: NULL 

Return: None 

Description: Write-protects the write-protected registers 

Command: PWM_HARDWARE_ACCELERATION 


Return: None 

Description: Enables or disables the hardware accelerator feature 

Command: PWM_SET_CHANNEL_MASK 


Return: None 

Description: Masks the selected PWM logical channels (the rest of channels are 

unmasked). This command should be used in the independent mode. In complementary 

mode, the masked channels are set to 0% duty cycle and the corresponding 

complementary channels are therefore set to 100% duty cycle. + 

Command: PWM_SET_LOAD_MODE 

pParams: PWM_LOAD_INDEP or 

Return: None 

PWM_LOAD_FROM_0_TO_5 or 

PWM_LOAD_FROM_0_TO_3 

Description: Sets how the PWM Value Registers are loaded 

Command: PWM_SET_SWAP 

pParams: (PWM_SWAP0 | PWM_SWAP1 | PWM_SWAP2) / PWM_ZERO_MASK 

Return: None 


Description: Swaps the selected channels. + 




MOTOROLA 






Command: PWM_SET_RELOAD_CALLBACK 

pParams: pwm_sCallback* 

Return: None 

Description: Installs the user-defined Reload interrupt service routine 

Command: PWM_SET_FAULT_CALLBACK 

pParams: pwm_sCallback* 

Return: None 

Description: Installs the user-defined Fault interrupt service routine 

Command: PWM_WRITE_VALUE_REG_0 


Return: None 

Description: Writes the new value to the PWM Value Register 0 

Command: PWM_WRITE_VALUE_REGS_COMPL 

pParams: pwm_sComplementaryValues* 

Return: None 

Description: Writes the new value to the PWM Value Register 0, 2 & 4 

Command: PWM_WRITE_VALUE_REGS_INDEP 

pParams: pwm_sIndependentValues* 

Return: None 

Description: Writes the new value to the PWM Value Register 0, 1, 2, 3, 4 & 5 

Command: PWM_READ_FAULT_STATUS_REG 

pParams: NULL 



Description: Returns the content of PWM Fault Status & Acknowledge Register 

PWM Driver 




5-115 







Command: PWM_READ_COUNTER_REG 

pParams: NULL 


Description: Returns the content of PWM Counter Register 

Command: PWM_READ_CONTROL_REG 

pParams: NULL 


Description: Returns the content of PWM Control Register 

Command: PWM_READ_PORT_REG 

pParams: NULL 


Description: Returns the content of PWM Port Register 

Command: PWM_SOFTWARE_OUTPUTS_CONTROL 

pParams: pwm_sOutputControl* 

Return: None 

Description: Sets the desired PWM output pins to be controlled by software and 

activates/deactivates the PWM outputs + 

Command: PWM_UPDATE_VALUE_REG_0 


Return: None 

Description: Recalculates the input value of duty cycle (in percentage) with respect to the 

PWM modulus and writes the resulting value to the PWM Value Register 0; the LDOK bit 

is set afterwards. 

Command: PWM_UPDATE_VALUE_REGS_COMPL 


Return: None 


Description: Recalculates the input value of duty cycles (in percentage) with respect to 

the PWM modulus and writes the resulting values to the three corresponding PWM Value 

Registers; the LDOK bit is set afterwards. 




MOTOROLA 






Command: PWM_UPDATE_VALUE_REGS_INDEP 

pParams: pwm_sIndependentValues* 

Return: None 

PWM Driver 


the PWM modulus and writes the resulting values to the six corresponding PWM Value 

Registers; the LDOK bit is set afterwards. 

Command: PWM_UPDATE_VALUE_SET_VLMODE 

pParams: pwm_sUpdateValueSetVlmode* 

Return: None 

Description: Recalculates the input value of duty cycle (in percentage) with respect to the 

PWM modulus and writes the resulting value to the PWM Value Register 0 and sets the 

desired Value Register Load Mode; the LDOK bit is set afterwards. + 

Command: PWM_CORRECT_DEAD_TIME_COMPL 


Return: None 


the PWM modulus and writes the resulting values to the six corresponding PWM Value 

Registers; the actual values reflect the deadtime correction. The LDOK bit is set 

afterwards. 

Command: PWM_SET_MASK_SWAP 

pParams: pwm_sChannelControl* 

Return: None 

Description: Masks the selected PWM logical channels and sets the desired swapping 

channel operation. This command should be used in the independent mode. In 

complementary mode, the masked channels are set to 0% duty cycle and the 

corresponding complementary channels are therefore set to 100% duty cycle. 

NOTE: “+” Ensure that these pwmIoctl calls cannot be interrupted. 

Code Example 5-17. PWMioctl 


pwmIoctl(FDPwm,PWM_SET_RELOAD_CALLBACK,&cb,BSP_DEVICE_NAME_PWM_A); 

pwmIoctl(FDPwm, PWM_DEVICE, PWM_DISABLE, BSP_DEVICE_NAME_PWM_A); 

pwmIoctl(FDPwm,PWM_RELOAD_INTERRUPT,PWM_ENABLE,BSP_DEVICE_NAME_PWM_A); 

port = pwmIoctl(FDPwm, PWM_READ_PORT_REG, NULL,BSP_DEVICE_NAME_PWM_A); 




5-117 







Code Example 5-18 illustrates the functionality of the PWM driver by blinking PWM associated 

LEDs. 

Code Example 5-18. PWM Driver Usage 

Step 1: Edit appconfig.h file in your project config directory: 

LEDS */ 

1a) include the PWM peripheral module by 



#define INCLUDE_IO 

1b) disable certain PWM module if necessary, e.g. 

#define PWM_EXCLUDE_PWM_B /* PWM B is not used */ 

1c) define your own PWM module operation mode, e.g. 

#define PWM_A_CONTROL_REG 0x50cl 

#define PWM_A_FAULT_CONTROL_REG0 

#define PWM_A_FAULT_STATUS_REG0 

#define PWM_A_OUTPUT_CONTROL_REG0 

#define PWM_A_COUNTER_MODULO_REG0x7fff 

#define PWM_A_DEAD_TIME_REG0x002f 

#define PWM_A_DISABLE_MAPPING_1_REG0xffff 

#define PWM_A_DISABLE_MAPPING_2_REG0x00ff 

#define PWM_A_CONFIG_REG0x0000 

#define PWM_A_CHANNEL_CONTROL_REG0x8000 

1d) redefine PLL_MUL (only if needed in specific application) 

#define PLL_MUL 4 /* for this application, it allows user to see blinking 

Step 2: Create an application code 

/****************************************************************************/ 

#include 

#include 

#include "pwmdrv.h" 

#include "pwm.h" 

#include "periph.h" 



void pwm_Reload_A_Callback(void); 

pwm_sCallback pwm_CB; 

int pwm0FD; 

int LedFD; 


/* a reload interrupt service routine */ 

void pwm_Reload_A_Callback(void) 

{ 

ioctl (ledFD, LED_TOGGLE, LED_GREEN); 




MOTOROLA 





} 

/* clears Reload interrupt flag */ 

pwmIoctl(pwm0FD, PWM_CLEAR_RELOAD_FLAG, NULL, BSP_DEVICE_NAME_PWM_A); 


{ 

pwm_sComplementaryValues Comp; 

/* open calls of drivers */ 


pwm0FD = open(BSP_DEVICE_NAME_PWM_A, 0); 

/* WARNING: to disable all FAULT signals!!!! */ 

pwmIoctl(pwm0FD, PWM_SET_DISABLE_MAPPING_REG1, PWM_ZERO_MASK, 

BSP_DEVICE_NAME_PWM_A); 

pwmIoctl(pwm0FD, PWM_SET_DISABLE_MAPPING_REG2, PWM_ZERO_MASK, 

BSP_DEVICE_NAME_PWM_A); 

pwm_CB.pCallback = pwm_Reload_A_Callback; 

pwm_CB.pCallbackArg = NULL; 

PWM Driver 

/* installs the user Reload interrupt service routine */ 

pwmIoctl(pwm0FD, PWM_SET_RELOAD_CALLBACK, &pwm_CB, BSP_DEVICE_NAME_PWM_A); 

/* enables PWM output pad */ 

pwmIoctl (pwm0FD, PWM_OUTPUT_PAD, PWM_ENABLE, BSP_DEVICE_NAME_PWM_A); 

/* sets 50% duty cycle for channels */ 

Comp.pwmChannel_0_Value = 0x4000; 



/* calculates the actual contents of the value registers, fills these 

registers, 

sets Load OK bit */ 

pwmIoctl(pwm0FD, PWM_UPDATE_VALUE_REGS_COMPL, &Comp, BSP_DEVICE_NAME_PWM_A); 

/* enables reload interrupt */ 

pwmIoctl(pwm0FD, PWM_RELOAD_INTERRUPT, PWM_ENABLE, BSP_DEVICE_NAME_PWM_A); 

while(1) 

{ 

} 



return; 

} 

/***********************************************************************************/ 




5-119 








5.8.5 Low-Level Device Driver I/O API Specification 

This section specifies the Low-Level API Interface. 











MOTOROLA 





5.8.5.1 pwmOpen 

Call(s): 

int pwmOpen(const char *pName, int OFlags); 

Table 5-74. Low-Level PWM Driver Arguments - pwmOpen 

pName in The PWM device name; see Table 5-71 

PWM Driver 

OFlag in General parameter to configure the PWM driver; however,this parameter is not used at 

this time 

Description: Opens a particular PWM device; the argument pName is the name of the particular 

device. 

Returns: If open is successful, returns a file descriptor which must be passed to other PWM 

driver functions. If open failed, returns a “-1” value. 







5-121 






5.8.5.2 pwmClose 

Call(s): 

int pwmClose (int FileDesc); 

Description: The pwmClose call closes the PWM device and releases the file descriptor handle. 

Returns: The pwmClose call returns a type int. This int is always zero. 


Code Example 5-19. Low-Level PWM Driver Usage (See also Code Example 5-18) 

/****************************************************************************/ 


#include "pwm.h" 


{ 

int pwmFD; 



Table 5-75. Low-Level PWM Driver Arguments - pwmClose 

FileDesc in PWM device descriptor returned by pwmOpen call 

/* Open the PWM driver */ 

pwmFD = pwmOpen(BSP_DEVICE_NAME_PWM_A, 0); 

/* Disable the PWM */ 

pwmIoctl(pwmFD, PWM_DEVICE, PWM_DISABLE, BSP_DEVICE_NAME_PWM_A); 

/* Close the PWM driver */ 

pwmClose(pwmFD); 

} 

/****************************************************************************/ 




MOTOROLA 





5.8.6 PWM Driver Application 


PWM Driver 

The PWM driver application is intended to illustrate the usage of this driver by a real example and 

also to verify the functionality by blinking LEDs associated to the PWM. LED 7 is associated 

with the PWM Reload Interrupt and changes its state inside the interrupt service routine. The 

PWM driver application can be found in: 

src\dsp56801evm\nos\applications\pwm 

The application includes a CodeWarrior project file, pwm.mcp, and the PWM application source 

file, pwm.c. To view the PWM signal, apply a scope probe to pin 3 on connector J1 with ground 

on pin 9. 






\src\dsp56803evm\nos\applications\pwm 

The PWM driver application consists of the application pwm.mcp and the source code for the 

application, pwm.c. To view the signal, apply a scope probe to pin 10 on connector J4 with ground 

on pin 13. 








application pwm.c. To view the signal, apply a scope probe to pin 11 on connector J21 with 

ground on pin 14. 










application, pwm.c. To view the signal, apply a scope probe to pin 4 on connector J10 with ground 

on pin 14. 




5-123 







Use the default jumper settings for the DSP56F80xEVM board. See the Evaluation Module 

Hardware User’s Manual for a specific target; (i.e., the DSP56F805 Evaluation Module 

Hardware User’s Manual) for more information on jumper settings. 

5.9 PLL Driver 

The Motorola DSP56F803/805/807 chips allow the user to interface an external crystal oscillator 

or an external clock source. The DSP56F801/802 have the same features as the 

DSP56F803/805/807 as well as an internal relaxation oscillator. This section describes the 

software driver support for configuring the Phase Locked Loop in the On-Chip Clock Synthesis 

(OCCS) peripheral. For more OCCS information , consult the Motorola DSP56F80x User’s 

Manual. A block diagram of OCCS is shown in Figure 5-5. 

EXTAL 

XTAL 

Relaxation 

OSC 

Crystal 

OSC 

Lock 

Detector 

Loss of 

Clock 

PLL 

Figure 5-5. OCCS Block Diagram 

The SDK allows the user to configure all modes of operation of the PLL by defining the 

appropriate constants in appconfig.h to override the default settings. The default configuration is 

defined in config.h; PLL initialization is done in config.c, located in: 

\SDK\src\DSP568xx\nos\config 



LCK 

FEEDBACK 

FREF 

FOUT/2 

Bus Interface 

and 

Control 

DSP56F801/802 Only 

Prescaler 

Postscaler 

Divide By [6:0] 

PRECS 

Prescaler Clk 

Clock 

MUX 

Postscaler Clk 

Bus 

Interface 

ZCLK 

operating 

clock 




MOTOROLA 





PLL Driver 


The following sections detail the definitions available for use in configuring the PLL. For more 

PLL information, consult the Motorola DSP56F80x User’s Manual. 




Code to create and initialize the PLL driver is automatically included in an SDK Embedded 


#define INCLUDE_BSP 

The following information may be found in the public header file plldrv.h: 



EXPORT void plldrvInitialize (UWord16 ControlReg, 

UWord16 DivideReg, 

UWord16 TestReg, 

UWord16 SelectReg); 

EXPORT UWord16 plldrvCalibrate(void); /* DSP56F801 and DSP56F802 only */ 




5-125 






5.9.2 API Specification 














MOTOROLA 





5.9.2.1 plldrvInitialize 

Call(s): 

void plldrvInitialize (UWord16 ControlReg, 



UWord16 SelectReg) 

Table 5-76. PLL Driver Arguments - plldrvInitialize 

ControlReg in OCCS Control Register 

DivideReg in OCCS Divide-By Register 

TestReg in OCCS Test Register. 

SelectReg in OCCS Select Register 

Table 5-77. PLL Control Register Definitions - ControlReg 

Defined Constant 

PLL_INT1_ENABLE_ANY_EDGE 

PLL_INT1_ENABLE_FALLING_EDGE 

PLL_INT1_ENABLE_RISING_EDGE 

PLL_INT0_ENABLE_ANY_EDGE 

PLL_INT0_ENABLE_FALLING_EDGE 

PLL_INT0_ENABLE_RISING_EDGE 

Description 

Used to enable interrupts on changes of PLL LCK1 status 

Used to enable interrupts on changes of PLL LCK0 status 

PLL Driver 

PLL_LOSS_OF_CLOCK_INT Enables an interrupt if the oscillator circuit output clock is lost 

PLL_LOCK_DETECTOR Enables the lock detector 80x Default 

PLL_FORCE_LOCK Force lock is enabled 

PLL_PRESCALER_EXTERNAL_CLK_SELECT 

PLL_PRESCALER_INTERNAL_CLK_SELECT 

PLL_ZCLOCK_PRESCALER 

PLL_ZCLOCK_POSTSCALER * 

External Crystal Oscillator selected 803/805/807 Default 

Internal Relaxation Oscillator selected 801/802 Default 

Determines the clock source to the DSP core 

Prescaler selected 

Postscaler selected 80x Default 

Table 5-78. PLL Divide-By Register - DivideReg 


PLL_CLOCK_OUT_DIVIDE_BY_1 * 

PLL_CLOCK_OUT_DIVIDE_BY_2 



* Selected as default in the SDK 



Directly configures the PLL Clock Out Divide (PLLCOD) bits 




5-127 






PLL_CLOCK_IN_DIVIDE_BY_1 * 

PLL_CLOCK_IN_DIVIDE_BY_2 



Directly configures the PLL Clock In Divide (PLLCID) bits 

PLL_MUL Directly configures the PLL Divide By (PLLDB) bits with 

(PLL_MUL-1). PLL_MUL is set to 18 by default, which generates 

144MHz ZCLK and 72 MHz IP Bus Frequency for an 8MHz input 

clock using the PLL_CLOCK_OUT_DIVIDE_BY_1 and 

PLL_CLOCK_IN_DIVIDE_BY_1 defaults. 

Table 5-79. PLL Test Register - TestReg 


PLL_TEST_FEEDBACK_CLOCK Tests Feedback clock for lock detector 

PLL_TEST_REF_FREQ_CLOCK Tests Reference frequency clock 

PLL_TEST_FORCE_LOSS_OF_CLOCK Simulates a loss of clock if Test Mode is enabled (TM=1) 

PLL_TEST_FORCE_LOSS_OF_CLOCK1 Simulates a loss of lock if Test Mode is enabled (TM=1) 

PLL_TEST_FORCE_LOSS_OF_CLOCK2 Simulates a loss of lock if Test Mode is enabled (TM=1) 

PLL_TEST_MODE Enables Test Mode (TM=1) 

This register is set to zero by default to disable Test Mode. 

Table 5-80. PLL Select Register - SelectReg 


PLL_CLKO_SELECT_ZCLK* Selects the Processor Clock output from the clock generation module 

PLL_CLKO_SELECT_NO_CLK Selects No Clock output from the clock generation module 



Table 5-78. PLL Divide-By Register - DivideReg 




Description: The plldrvInitialize call initializes the On Chip Clock Synthesis (OCCS) module. 

When the system is powered up, the SDK initializes and configures the OCCS module. During 

this initialization, if the PLL Lock Detect is enabled, the SDK monitors the Lock Detect bit, 

allowing the PLL to lock for a maximum of 10ms before proceeding. In the current SDK 

implementation, PLL Lock Detection is performed once during power-up. Code Example 5-21 

shows the SDK PLL Lock Detect implementation. 

NOTE: Notice that this detection scheme will continue even if the lock is NOT detected. If 

initial lock detection is critical to the execution of the application, the user should either 

modify this code or provide an additional lock detection function to ensure PLL lock is 

achieved. 




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Returns: None 



PLL Driver 

Code Examples: Code Example 5-20 illustrates how to use defined constants to configure the 

PLL Control Register through the SDK. To reconfigure the PLL Control Register, the constants in 

Table 5-77can be ORed together, except those with a single block, which are mutually exclusive, 

Code Example 5-20. Reconfigure the PLL_CONTROL_REG 

#define PLL_CONTROL_REG ( PLL_LOCK_DETECTOR | PLL_ZCLOCK_POSTSCALER ) 

Code Example 5-21 Illustrates the PLL lock detection code executed in the plldrvInitialize 

function when the Control Register is configured with the PLL_LOCK_DETECTOR set. 

Code Example 5-21. PLL Lock Detect, plldrv.c 

if ((ControlReg & PLL_LOCK_DETECTOR) == PLL_LOCK_DETECTOR) 

{ 

/* Wait for PLL to lock */ 

for (i=0; i






Code Example 5-22. Reconfiguring the PLL Divide-By Register 

#define PLL_MUL 18 // For 8 MHz input clock, 

// generate 144 MHz PLL output clock 

// which runs the part at 72 MHz 

#define PLL_DIVIDE_BY_REG ( PLL_CLOCK_OUT_DIVIDE_BY_1 \ 

| PLL_CLOCK_IN_DIVIDE_BY_1 \ 

| ( PLL_MUL -1 ) ) 

The CLKO Select Register, (CLKOSR), can be set either to ZCLK or to “no clock”; all other 

settings are reserved. The SDK uses ZCLK by default. To use the “no clock” setting, place the 

definition shown in Code Example 5-23 in your appconfig.h file. 

Code Example 5-23. Reconfiguring the PLL Select Register 

#define PLL_SELECT_REG PLL_CLKO_SELECT_NO_CLK 




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5.9.2.2 plldrvCalibrate - (DSP56F801 and DSP56F802 only) 

Call(s): 

UWord16 plldrvCalibrate(void) 

PLL Driver 

Description: The plldrvCalibrate call sets the internal oscillator control register (IOSCTL) to the 

factory calibration value. This value is calibrated at the factory to 8MHz at room temperature. If 

the value is invalid (0xFFFF), the IOSCTL will not be changed. 

Returns: Factory Calibration value. 

Special Issues: The calibration value is stored at the end of the Data Flash information block 

(0x103F). This address is reserved but may be overwritten by the user to force a different 

calibration value. 

Code Example: See Example 5-26 






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5.9.3 PLL Test Register 

The PLL test register (TESTR) can be configured by defining PLL_TEST_REG in the appconfig.h file and 

ORing any of the constants defined in the list below as part of its definition. By default, SDK sets this 

register to zero. 

• PLL_TEST_FEEDBACK_CLOCK 

• PLL_TEST_REF_FREQ_CLOCK 

• PLL_TEST_FORCE_LOSS_OF_CLOCK 

• PLL_TEST_FORCE_LOSS_OF_CLOCK1 

• PLL_TEST_FORCE_LOSS_OF_CLOCK2 

• PLL_TEST_MODE 

Using the PLL test register requires active code to update the register as needed for test 

implementation. This is handled in the SDK by the code found in Code Example 5-24. 

Code Example 5-24. Dynamically setting the PLL Test Register (TESTR) 

UWord16 TestReg; 

TestReg = ...; // Define the new contents of the TESTR 

periphMemWrite( TestReg, &ArchIO.Pll.TestReg ); // Set the register 

5.9.4 PLL Status Register 



The PLL status register can be read with this code: 

UWord16 PLLStatus; 

PLLStatus = periphMemRead( &ArchIO.Pll.StatusReg ); 

The status bits can then be checked by ANDing PLLStatus with the following definitions: 

• PLL_STATUS_LOCK_LOST_INT1 

• PLL_STATUS_LOCK_LOST_INT0 

• PLL_STATUS_CLOCK_LOST 

• PLL_STATUS_LOCK_1 

• PLL_STATUS_LOCK_0 

• PLL_STATUS_POWERED_DOWN 

• PLL_STATUS_ZCLOCK_PRESCALER 

• PLL_STATUS_ZCLOCK_POSTSCALER 

5.9.5 DSP56F801 and DSP56802 Clock Operation 

The DSP56F801 and DSP56F802 contain an internal relaxation oscillator that is selected at power 

up as the default system clock. The relaxation oscillator’s frequency can vary by manufacturing 




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PLL Driver 


process to produce a clock frequency anywhere between 7MHz and 9 MHz. For applications that 

require a more exact frequency, the chip provides a mechanism to trim the internal oscillator to 

the desired frequency (see the DSP5680x User’s Manual for detailed information). Every 

DSP56F801* and DSP56F802 internal oscillator has been calibrated to run at 8MHz. This 

calibration value is stored in the information block of the Data Flash at address $103F and may be 

used to dynamically calibrate the internal oscillator at system power up. The DSP56F801 and 

DSP56F802 Embedded SDK Stationery defaults to use the internal relaxation oscillator and 

provides startup code that automatically performs this calibration. This code can be found in the 

plldrv.c file in the plldrvCalibrate function; see Section 5.9.2.2. 

NOTE:* For the DSP56F801, only processors with a date code greater than 0152 marked in the 

lower right corner of the part contain the internal oscillator calibration value. For parts 

built prior to this date, see Code Example 5-25 for an example of the text that must be 

added to the appconfig.h file to select external clock operation. 

The DSP56F802 must use the internal relaxation oscillator, since it does not have an external 

clock option. The DSP56F801 processor defaults to use the internal relaxation oscillator at 

power-up, at which time the software may reconfigure the chip to run using the external oscillator. 

When making this switch, a strict sequence must be followed to guarantee a successful switch 

(see Section 5.9.5.1). The default DSP56F801 Embedded SDK Stationery configuration settings 

can be redefined by the user in the appconfig.h for a specific project. See Code Example 5-25 for 

an example of the text that must be added to the appconfig.h file to select external clock 

operation. 

Code Example 5-25. Selecting External Clock in appconfig.h File 

#define PLL_CONTROL_REG ( PLL_LOCK_DETECTOR \ 

| PLL_ZCLOCK_POSTSCALER \ 

| PLL_PRESCALER_EXTERNAL_CLK_SELECT) 

5.9.5.1 DSP56F801 Clock Switch-Over Procedure 

Reset or power-up configures the DSP56F801 to use the internal relaxation oscillator. To switch the clock 

from internal relaxation oscillator to external crystal oscillator, the DSP56F801 clock switch-over 

procedure is strongly recommended: 

• Disable the pull-up resistors for the EXTAL pin and XTAL pin 

• Wait for the external crystal oscillator to stabilize 

• Switch over to external crystal oscillator 

• Enable PLL lock detect circuit and enable PLL 

• Wait for PLL to lock 

• Switch from the PLL prescaler to postscaler clock 

By selecting the Embedded SDK DSP56F801 stationery, the SDK automatically performs this 

switch-over procedure in the start-up code, which is shown in Code Example 5-26. The relative 

delay required for the stabilization of the external oscillator may be configured by changing the 

defined constant, EXT_OSC_STABILIZATION_DELAY. 




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Code Example 5-26. DSP56F801 Clock switch-over procedure, plldrv.c 

/* (100 * 16430 Machine cycles )/40MHz = 41ms */ 

#define EXT_OSC_STABILIZATION_DELAY 100 

/****************************************************************************/ 

void plldrvInitialize ( UWord16 ControlReg, 



UWord16 SelectReg) 

{ 

UWord16 PLLStatus; 

UInt16 i; 

/* If External Oscillator selected */ 

if((ControlReg & PLL_PRESCALER_EXTERNAL_CLK_SELECT) \ 

== PLL_PRESCALER_EXTERNAL_CLK_SELECT) 

{ 

/* Disable Extal, Xtal pull up resistors */ 

periphMemWrite(PLL_DISABLE_PULLUP_EXTAL_XTAL,&ArchIO.PortB.PullUpReg); 

} 

else 

{ 

} 


/* Delay long enough to allow external oscillator to stabilize */ 

/* One pass through for loop = 16430 Machine cycles */ 

for (i=0;i





/* Program PLL to user defined value */ 

periphMemWrite(ControlReg, &ArchIO.Pll.ControlReg); 

} 

5.9.5.1.1 Disabling EXTAL and XTAL Pull Up Resistors 

The EXTAL and XTAL pull-up resistors are controlled by GPIO B Pull-Up Enable Register 

(PUR) bits two and three. The GPIO B pull-up resistors are enabled by default after reset or 

power-up. 

PLL Driver 

NOTE: Do not enable GPIO B pull-up resistors for bits two and three (EXTAL and XTAL pins). 

The user should ensure that these bits are not configured or changed when the external 

crystal oscillator is being used as a clock source for the DSP56F801. 

5.9.5.1.2 External Crystal Oscillator Stabilization Delay 

The correct operation of the DSP56F801 chip initialization depends on the reset input signal and 

the stability of the external clock oscillator. Generally, upon power-up, crystal oscillators may 

take 20ms or more before they reach a stable operating frequency. For the DSP56F801EVM, a 

delay of 40 to 50ms is recommended after the pull-up resistors of the EXTAL and XTAL pins are 

disabled to ensure the external crystal oscillator’s stabilization. Different crystal oscillators have 

different stabilization requirements, so the user should consult the manufacturer’s recommended 

specifications. The user can also hold the DSP56F801 reset signal while the external crystal 

oscillator is stabilizing and before gating it to the DSP56F801. For more DSP56F801 reset 

requirements and default PLL Registers, refer to the DSP56F80x User's Manual. 

Code Example 5-26 shows SDK implementation of a 41ms delay. This delay may vary, depending 

on the DSP56F801 internal oscillator frequency at power-up. In this example, an IPBus clock of 

40MHz clock is assumed (Maximum IPBus clock). The user can verify this delay by toggling a 

port pin and measuring it. 

NOTE: The internal relaxation oscillator clock frequency varies as a function of the wafer 

fabrication process. It varies little with temperature and voltage. The calculated delay 

in Code Example 5-26 is an estimation. The machine cycles number was measured using 

CodeWarrior’s (Simulator) instruction cycle count mechanism. 

5.9.5.1.3 External Crystal Oscillator Select 

The clock switch-over mechanism is available only for the DSP56F801 chip. The clock source to 

the prescaler circuit can be selected to be either the external crystal oscillator or the internal 

relaxation oscillator. Code Example 5-26 shows implementation of the SDK clock switch-over. 

NOTE: Clock switch-over from the external crystal oscillator to the internal crystal oscillator 

is not supported. 

5.9.5.2 Internal Oscillator Control Register (IOSCTL) 

Figure 5-6 shows the revised Internal Oscillator Control Register (IOSCTL). The Relaxation 

Oscillator Power-Down bit (ROPD) is no longer supported and is currently reserved for future 

use. For more information on the Internal Oscillator Control Register, refer to the DSP56F80x 

User's Manual. 




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DSP56F801 Internal 

Oscillator Control 

Register (IOSCTL) 

CLKGEN_BASE+$5 



Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 

R 0 0 0 0 0 0 0 0 

W 

Figure 5-6. Internal Oscillator Control Register (IOSCTL) 

TRIM[7:0] 

reset 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 

NOTE: The Internal Oscillator Control Register (IOSCTL) in Figure 5-6 is an updated version 

from the OCCS shown in Figure 15-13 in the DSP56F80x User’s Manual Rev. 2. 




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Computer Operating Properly (COP) Driver 


5.10 Computer Operating Properly (COP) Driver 

The COP Driver supports a mechanism for initializing COP registers, the services to reset the 

COP timer and to check system status. Current restrictions of the COP Driver functionality are 

related to the hardware implementation, which disables the COP module when the OnCE debug 

interface is active. Due to this hardware limitation, the COP module does not generate reset in the 

debug mode, even though the COP timeout has expired. 



The COP driver’s default configuration is defined in config.h and is shown in Table 5-81 and 

Table 5-82. Please refer to the DSP56F80x User’s Manual for a detailed description of these bits. 

Table 5-81. COP Control Register (COPCTL) Default Configuration 

COPCTL Bits Explanation and Default Value 

Stop Enable (CSEN) If 0, COP counter stops in Stop mode 

if 1, COP counter runs in Stop mode 

SDK Default = 0; COP Driver does not provide modification of this 

bit 

COP Wait Enable (CWEN) If 0, COP counter stops in Wait mode 

If 1, COP counter runs in Wait mode 


bit 

COP Enable (CEN) If 0, COP is disabled 

If 1, COP is enabled 

SDK Default = 0 

COP Write Protect (CWP) If 0, COPCTL, COPTO registers are readable and writable 

If 1, COPCTL, COPTO registers are read-only 


bit 

Table 5-82. COP Timeout Register (COPTO) Default Configuration 

COPTO Bits Explanation and Default Value 

COP Timeout (CT[11:0]) COP Timeout Period = 16384 x (CT[11:0] + 1) clock cycles 

Write the CT[11:0] value before the COP is enabled 

Valid values for CT[11:0] are 0-4095 

SDK Default = 4095 

Overwrite the COP driver’s default configuration for a specific project via the appconfig.h by 

redefining the COP_TIMEOUT definitions (See Code Example 5-28). This value defines COP 

timeout length in microseconds. The actual value that will be written to the COP Timeout 

Register depends on which DSP bus frequency is used. For a 40MHz frequency of the DSP bus, 

the maximum available timeout is 819100 µs (about 0.8 sec). Insert the following line of code into 




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the appconfig.h file to configure the COP timeout to be 1000 µs and the COP will be enabled 

automatically): 

#define COP_TIMEOUT 1000 

If the user redefines the COP_TIMEOUT value, the COP driver will be initialized and enabled 

during SDK’s initialization. 

By default, the COP reset interrupt vector is assigned with archStart() in SDK’s regular startup 

code. It can be reassigned in the appconfig.h, as shown in the following example: 

extern void copResetInterruptVector(void); 

#define INTERRUPT_VECTOR_ADDR_1 copResetInterruptVector 

NOTE: The processor has been reset due to the COP timeout and therefore the C environment 

has not been set up. It is recommende dthat an assemply routine be written for the COP 

ISR. 

To automatically include the code to initialize the COP driver in an SDK Embedded Project, 

insert the following line in the appconfig.h file: 






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The following pages specify the Application Programming Interface (API). 











5-139 






5.10.2.1 copInitialize() 

Call(s): 

Arguments: 

void copInitialize(UWord16 ControlReg, UWord16 TimeoutReg); 

Description: The copInitialize() call restarts COP timer and writes two values to the COP 

appropriated registers. 

Returns: None 

Code Example 5-27. copInitialize() 

#include "cop.h" 



Table 5-83. COP Driver Arguments - copInitialize() 

ControlReg in This argument will be written directly to the COP Control Register. The following 

macro or its combinations can be used: 

COP_RUN_IN_STOP - COP module will be active in the STOP mode. 

COP_RUN_IN_WAIT - COP module will be active in the WAIT mode. 

COP_ENABLE - Enable COP timeout processing. 

COP_WRITE_PROTECT - Prohibit any following writing to the COP Control 

Register. 

TimeoutReg in This argument will be written directly to the COP Timeout Register. The 

maximum allowed value is 0x0FFF and minimum value is 0. 

/* Initialize COP module with the maximum allowed timeout value */ 

copInitialize(COP_ENABLE|COP_WRITE_PROTECT,0x0FFF); 




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5.10.2.2 copReload() 

Call(s): 

Arguments: None 



void copReload(void); 

Description: The copReload() call restarts the COP timer. Place a copReload() call into the 

critical part of code that is executed periodically. If the code is not executed during the time 

specified by the COP_TIMEOUT value, the DSP chip will be restarted. Avoid placing the 

copReload() call into the interrupt service routine, because the interrupt can be going well, but the 

main code can be looping at the same time. 

Returns: None 






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5.10.2.3 copForceReset() 

Call(s): 


void copForceReset(void); 

Description: The copForceReset() call forces COP timeout and causes the procesor to reset. This 

function may be used to debug the COP exception handling of the application. 

Returns: None 







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5.10.2.4 copGetSysStatus() and copClrSysStatus() 

Call(s): 

Arguments: 

UWord16 copGetSysStatus(UWord16 mask); 

void copClrSysStatus(UWord16 mask); 

Table 5-84. COP Driver Arguments - copGetSysStatus() and copClrSysStatus() 

mask in The DSP chip has three reset sources: 

COP_RESET - COP timeout expired Reset 

PWR_RESET - Power-On Reset 

EXT_RESET - External Reset 

Description: The copGetSysStatus() call checks corresponded bits in the System Status Register. 

It makes it possible to determine the last reset source. The copClrSysStatus() call clears 

corresponding bits in the System Status Register. 

Returns: The copGetSysStatus() returns zero value if the event specified by the mask argument 

did not occur or if the event was cleared by copClrSysStatus() service. In other cases, the return 

word contains non-zero value. The copClrSysStatus() has no return value. 

Code Example: See Code Example 5-29, which shows how to overwrite the default COP driver 

configuration in the appconfig.h file. This example configures COP timeout by 0.8 second value 

and redirects the default COP reset interrupt vector to the user-defined interrupt service routine. 

Code Example 5-28. Owerwriting Default COP Driver Settings in appconfig.h 


EXPORT void copTimeoutISR(void); 


#define INTERRUPT_VECTOR_ADDR_1 copTimeoutISR 

#define COP_TIMEOUT 800000L 

Code Example 5-29 shows how to use the COP Driver API, causing the Green LED on the EVM 

board to blink at a rate equal to the COP timeout value. 

Caution! This sample will not work when the OnCE debug interface is active. Please refer the 

appropriate EVM board manual to learn how to disable the OnCE port. 




5-143 







Code Example 5-29. COP Driver API usage 

void main(void ) 

{ 

static int LedFD; /* File descriptor for LED driver */ 

} 

/* Open LED's driver */ 


/* Check COP TIMEOUT status */ 

if ( copGetSysStatus(COP_RESET) ) 

{ 

/* Clear each second event to provide GREEN LED blinking */ 

if (COP_RESET_COUNTER & 0x0001) 

{ 

copClrSysStatus(COP_RESET); 

} 

} 

do 

{ 

/* 

To avoid COP reset uncomment the following function call: 

copReload(); 

*/ 

/* Indicate RESET SOURCE (from System Status register) */ 

if ( copGetSysStatus(COP_RESET) != 0) 

ioctl(LedFD, LED_ON, LED_GREEN); 

} while (1); 

asm void copTimeoutISR(void ) 

{ 

move #-1,x0 

move x0,m01 /* ; Set the m register to linear addressing */ 

} 


move X:0x0000,X0 /* ; Increment COP_COUNTER_RESET */ 

incw X0 

move X0,X:0x0000 

jsr archStart /* ; The STARTUP procedure of the SDK */ 




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5.10.3 COP Driver Application 

The COP application demonstrates how to set up and use the COP module in an application. By 

lighting LEDs, the application indicates why the chip was reset. The RED LED indicates that a 

Power-On Reset occurred. The YELLOW LED indicates an External Reset occurred. The 

GREEN LED toggles its state on each occurrence of a COP Reset, causing it to blink at the COP 

timeout frequency. 

The application is written for the "Flash" target only, because the COP module is inactive when 

the OnCE debug port is enabled. This means CodeWarrior debug features are unavailable during 

execution time and the application must be run in stand-alone mode. 


The COP application consists of the application cop.mcp and the source code for the application, 

cop.c, and can be found at: 

\src\dsp56801evm\nos\applications\cop 


Use the default jumper settings for the DSP56F801EVM board. See the DSP56F801 Evaluation 

Module Hardware Reference Manual for more information on jumper settings. 

Execution: 

• Ensure that jumper JG5 "CC Disable" is removed and download the code via Metrowerks 

CodeWarrior through the parallel cable OnCE port interface 

• Place the EVM board in stand-alone mode by connecting jumper JG5 "CC Disable" to 

disable the OnCE port and enable all COP module features on the EVM board 

• Switch off, then switch on the board’s power to provide the DSP chip Power-On reset 

• The COP application will automatically begin execution and the GREEN LED will blink 

at the COP timeout frequency 








Execution: 




• Place the EVM board in stand-alone mode by connecting jumpers JG4 "INT Boot" and JG2 

"CC Disable" to disable the OnCE port and enable all COP module features on the EVM 

board 





5-145 







• The COP application will automatically begin execution and the GREEN LED will blink 

at the COP timeout frequency 








Execution: 





board 


• The COP application will automatically begin execution and the RED LED will indicate 

that the Power-On reset occurred. The GREEN LED will blink at the COP timeout 

frequency. Press the reset button to switch on the YELLOW LED. 








Execution: 






board 


• The COP application will automatically begin execution and the RED LED will indicate 

that the Power-On reset occurred. The GREEN LED will blink at the COP timeout 

frequency. Press the reset button to switch on the YELLOW LED. 




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Core Configuration Registers (CORE) Driver 


5.11 Core Configuration Registers (CORE) Driver 

CORE services include on-chip core configuration registers, such as Bus Control and Interrupt 

Priority Register. The Bus Control Register’s fields include wait state generation for External 

Data (X) Memory, and External Program (P) Memory. These bits allow for programming up to 15 

wait states for both External Data and External Program Memory, depending on the DSP Core 

used. For example, the DSP56F807/805/803 chips can generate up to 12 wait states, while the 

DSP56824 chip can generate 15 wait states. The DSP56F801 and DSP56F802 processors do not 

support external Data or Program Memory. For specific peripherals, refer to the DSP56F80x 

User’s Manuals. Table 5-85 shows a list of variables needed for CORE configuration. 

Table 5-85. CORE Configuration 

CORE Configuration Definition 

BUS_CONTROL_EXT_X_MEM_WAIT_STATES •Bus Control External Data Memory Wait state 

•0,4,8,12 Wait State (DSP56F807/805/803/826/827) 

•0 - 15 Wait State (DSP56824) 

BUS_CONTROL_EXT_P_MEM_WAIT_STATES •Bus Control External Program Memory Wait State 

•0,4,8,12 Wait State (DSP56F807/805/803/826/827) 

•0 - 15 Wait State (DSP56824) 

INTERRUPT_PRIORITY REGISTER •0 - Level 1(Non-Maskable) and Level 0 (Maskable) 

Interrupts are Disabled 

•1 - Level 1 and Level 0 Interrupts are Enabled 

The following are configured when 

INTERRUPT_PRIORITY_REGISTER is defined: 

IPR_ENABLE_CHANNEL_0 







IPR_ENABLE_IRQA 

IPR_ENABLE_IRQB 

IPR_IRQA_TRIGGER_RISING_EDGE 

IPR_IRQB_TRIGGER_RISING_EDGE 


Channel 0 Peripheral Interrupt 







IRQA (External Interrupt) 

IRQB(External Interrupt) 

IRQA Trigger Rising Edge (select) 

IRQB Trigger Rising Edge (select) 

5.12 Interrupt Controller (ITCN) Driver 

Table 5-86 lists the ITCN variables’ configuration. The table also shows the default configuration 

set-up value for Global Priority Registers 0-15 (GPR_REG_0 to GPR_REG_15); Global Interrupt 

Priority (GPR_INT_PRIORITY_0 to GPR_INT_PRIORITY_63); and Board Support Peripherals 

(BSP_ENABLE_INTERRUPTS). Before making changes, the user should consult the 

DSP56F80x User’s Manual for correct ITCN operation . 




5-147 






ITCN Configuration Value Definition 

GPR_REG_0 0 

1 

GPR_REG_1 0 

1 

GPR_REG_2 0 

1 

GPR_REG_3 0 

1 

GPR_REG_4 0 

1 

GPR_REG_5 0 

1 

GPR_REG_6 0 

1 

GPR_REG_7 0 

1 

GPR_REG_8 0 

1 



Table 5-86. ITCN Default Configuration 

Default Value set by config.h; user defines the following interrupts: 

GPR_INT_PRIORITY_0 















































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GPR_REG_9 0 

1 

GPR_REG_10 0 

1 

GPR_REG_11 0 

1 

GPR_REG_12 0 

1 

GPR_REG_13 0 

1 

GPR_REG_14 0 

1 

GPR_REG_15 0 

1 

BSP_ENABLE_INTERRUPTS 0 

1 


System Integration Module (SIM) Driver 


Table 5-86. ITCN Default Configuration (Continued) 




































•Disable Board Support Interrupts 

•Enable Board Support Interrupts 

•Board Support Interrupts includes on-chip Non-Maskable and 

Maskable interrupts 

5.13 System Integration Module (SIM) Driver 

The SDK provides a driver for the SIM with limited functionality. Presently, the SIM Driver only 

supports a mechanism for initializing the SIM’s SYS_CNTL register. 




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The SIM driver’s default configuration is defined in config.h and is shown in Table 5-87. Please 

refer to the DSP56F80x User’s Manual for a detailed description of these bits. 

Table 5-87. SYS_CNTL Default Configuration 

SYS_CNTL Bits Explanation and Default Value 

Timer I/O Pull-up Disable (TIM PD) •If 0, pull-ups for the timer I/O pins are enabled 

•If 1, pull-ups for the timer I/O pins are disabled 

•SDK Default = 0 

Control Signal Pull-Up Disable (CTRL PD) •If 0, pull-ups for the DS, PS, RD, and the WR I/O pins are 

enabled 

•If 1, pull-ups for the DS, PS, RD, and the WR I/O pins are 

disabled 


Address Bus [5:0] Pull-up Disable (ADR PD) •If 0, pull-ups for the lower address I/O pins are enabled 

•If 1, pull-ups for the lower address I/O pins are disabled 


Data Bus I/O Pull-up Disable (DATA PD) •If 0, pull-ups for the data bus I/O pins are enabled 

•If 1, pull-ups for the data bus I/O pins are disabled 


Bootmap (BOOTMAP_B) •The Bootmap bit and the MA and MB bits in the OMR register 

determine memory mapping for program memory 

•If the Bootmap bit is 0, and the MA and MB bits are 0, the Boot 

Mode is selected (Mode 0A) 

•If the Bootmap bit is 1, and the MA and MB bits are 0, the first 

32K of program memory is internal and the second 32K of 

program memory is external (Mode 0B) 

•If either MA or MB is 1, then the Bootmap bit is ignored 


2.7 V Low Voltage Interrupt Enable (LVIE27) •If 0, 2.7V low-voltage interrupt is disabled 

•If 1, 2.7V low-voltage interrupt is enabled 


2.2 V Low Voltage Interrupt Enable (LVIE22) •If 0, 2.2V low-voltage interrupt is disabled 

•If 1, 2.2V low-voltage interrupt is enabled 


Permanent STOP/WAIT Disable (PD) •If 0, STOP and WAIT instructions are enabled 

•If 1, STOP and WAIT instructions act as NOPs 


Note: The part must be reset to clear this bit 

Re-programmable STOP/WAIT (RPD) •If 0, STOP and WAIT instructions are enabled. 

•If 1,STOP and WAIT instructions act as NOPs. 


Note: Software sets and clears this bit 




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CAN Driver 


The SIM driver’s default configuration can be overwritten via the appconfig.h for a specific 

project by re-defining the SIM_CONTROL_REG definition. Each of the SIM #defines in 

Table 5-88 corresponds directly to a bit in the SYS_CNTL register. 

To disable the Timer I/O Pull-ups and select Mode 0B, insert the following line of code into the 

appconfig.h file : 

#define SIM_CONTROL_REG (SIM_TIMER_PULLUP_DISABLE | SIM_BOOT_MODE_B) 

Code to initialize the SIM driver may automatically be included in an SDK Embedded Project by 

inserting the following line in the appconfig.h file: 

#define INCLUDE_SIM 

5.14 CAN Driver 

The Motorola Scalable Controller Area Network (MSCAN) driver is described in more detail in 

the DSP56800/MSCAN Driver User’s Manual. 

5.15 Timer Driver 


Table 5-88. Configuration Items for appconfig.h 

SIM #define Explanation 

SIM_TIMER_PULLUP_DISABLE Use this label to disable the pull-ups for the Timer I/O pins 

SIM_CONTROL_PULLUP_DISABLE Use this label to disable the pull-ups for the Control Signal pins 

SIM_ADDRESS_PULLUP_DISABLE Use this label to disable the pull-ups for the lower address I/O pins 

SIM_DATA_BUS_PULLUP_DISABLE Use this label to disable the pull-ups for the data bus I/O pins 

SIM_BOOT_MODE_B Use this label to select Mode 0B 

SIM_27V_LOW_VOLTAGE_INT_ENABLE Use this label to enable the 2.7V low-voltage interrupt 

SIM_22V_LOW_VOLTAGE_INT_ENABLE Use this label to enable the 2.2V low-voltage interrupt 

SIM_PERM_STOP_WAIT_DISABLE Use this label to have the STOP and WAIT instructions act as 

NOPs 

SIM_PROG_STOP_WAIT_DISABLE Use this label to have the STOP and WAIT instructions act as 

NOPs 

The Timer Driver interface is implemented through SDK Timer services. The SDK includes a 

Timer service whose purpose is to furnish a device-independent, standard method both for 

integrating timer drivers into the system and for calling these timer drivers from the user’s 

application. 




5-151 











MOTOROLA 





Chapter 6 


One strength of the SDK is that it provides a high degree of architectural and hardware 

independence for application code. This portability is due to the SDK’s modular design, which, in 

this case, isolates all EVM board specific functionality into a set of libraries that are part of the 

Board Support Package (BSP). The BSP can be found at \src\dsp5680xevm\nos\bsp of the SDK. 

This chapter is composed of two major components: Drivers and Interfaces. It defines the 

Application Programming Interface (API) by identifying all public interface functions and data 

structures. The SDK Off Chip API Interface can be used at two levels: Device-Independent I/O 

API interface and a Low-Level device driver interface. The Device-Independent I/O layer 

interface provide a standard I/O interface and invokes the lower layer device driver interface. 

Your application may use either the Device-Independent layer interface or the low-level device 

driver interface, depending on your specific goals for efficiency and portability. The 

Device-Independent I/O layer is portable; while the Low-Level device drivers are not portable, 

they are potentially more efficient than the Device-Independent I/O layer. 

6.1 LED Driver 


The LED interface manipulates the light emitting diodes (LEDs). 


The LED driver currently has no default configurations that can be overwritten through a project’s 

appconfig.h file. 




Code to create and initialize the LED driver is automatically included in an SDK Embedded 





MOTOROLA Off-Chip Drivers 



6-1 







The following information may be found in the public header file led.h: 


/***************************************************************************** 




*****************************************************************************/ 


None 

Members: 

None 


6.1.4 LED Device-Independent I/O API Specifications 

The following pages specify device independent Application Programming Interface (API). 











MOTOROLA 





6.1.4.1 open 

Call(s): 


LED Driver 

Description: The open call opens the LED driver for operations and returns a file descriptor used 

by ioctl function calls. The LED driver needs to be opened for ioctl calls. 


descriptor for the LED driver. This file descriptor is used by the LED driver’s close and ioctl 

functions. When the open call is not successful, a “-1” is returned. 




Table 6-1. LED Driver Arguments - open 

pName in The LED device name; use BSP_DEVICE_NAME_LED_0 


FileDesc out LED device descriptor returned by open call and used in ioctl function calls 




6-3 






6.1.4.2 close 

Call(s): 


Description: The close call closes the LED driver. 





Table 6-2. LED Driver Arguments - close 

FileDesc in LED device descriptor returned by open call and used in ioctl function calls 




MOTOROLA 





6.1.4.3 ioctl 

Call(s): 


Table 6-3. LED Driver Arguments 

FileDesc in LED device descriptor returned by open call and used in ioctl function calls 

Cmd in Commands found in led.h which are used to modify specific LEDs on EVM board 

pParams in A specific LED; see Table 6-4 



Table 6-4. LEDs for Specific EVM Boards (pParams - input parameter) 

DSP56F801EVM DSP56F803EVM DSP56F805EVM DSP56F807EVM 

LED_GREEN LED_GREEN LED_RED 

LED_YELLOW 

LED_GREEN 

Table 6-5. LED ioctl Commands 


Description: The ioctl call manipulates the LEDs on the EVM board. 

LED Driver 

Return: Although the ioctl function is specified to return a UWord16 value, this return value is 

not returned by this driver and should not be checked by the application. 

Code Example: Code Example 6-1 toggles a green LED. 

LED_RED 

LED_YELLOW 

LED_GREEN 

LED_OFF Specific LED; see Table 6-4 None Turns specific LED off 

LED_ON Specific LED; see Table 6-4 None Turns specific LED on 

LED_TOGGLE Specific LED; see Table 6-4 None Toggles specific LED 




6-5 







Code Example 6-1. LED Driver Usage 

/****************************************************************************/ 






{ 

int LedFD; 


/* open LED driver */ 


/* toggle Green LED */ 

ioctl(LedFD, LED_TOGGLE, LED_GREEN); 

/* close LED driver */ 

close(LedFD); 

} 

/***************************************************************************/ 




MOTOROLA 







6.1.5 Low-Level Device Drivers I/O API Specifications 

The following pages specify the low level Application Programming Interface (API). 

LED Driver 











6-7 






6.1.5.1 ledOpen 

Call(s): 

int ledOpen(const char *pName, int OFlags); 

Description: The ledopen call opens the LED driver for operations and returns a file descriptor 

used by ledIoctl function calls. The LED driver needs to be opened for ledIoctl calls. 


descriptor for the LED driver. This file descriptor is used by the LED driver’s close and ioctl 

functions. If the open call is not successful, a“-1” is returned. 




Table 6-6. Low-Level LED Driver Arguments - open 

pName in The LED device name; use BSP_DEVICE_NAME_LED_0 





MOTOROLA 





6.1.5.2 ledClose 

Call(s): 

int ledClose (int FileDesc); 

Description: The ledClose call closes the LED driver. 

Returns: The ledClose call returns a type int. This int is always zero. 




Table 6-7. LED Driver Arguments - ledClose 

FileDesc in LED device descriptor returned by ledOpen call and used in ioctl function calls 

LED Driver 




6-9 






6.1.5.3 ledIoctl 

Call(s): 

UWord16 ledIoctl(int FileDesc, UWord16 Cmd, UWord16 led, const char 

*ledDevice); 

Description: The ledIoctl call manipulates the LEDs on the EVM board. 

Return: Void 


Code Example 6-2. Low-Level LED Driver Usage 

/****************************************************************************/ 




{ 

int ledFD; 

/* Open LED driver */ 

ledFD = ledOpen(BSP_DEVICE_NAME_LED_0,0); 

/* Toggle the Green LED */ 

ledIoctl(ledFD, LED_TOGGLE, LED_GREEN, BSP_DEVICE_NAME_LED_0); 

/* Close the LED driver */ 

ledClose(ledFD); 

} 

/****************************************************************************/ 

6.1.6 LED Driver Application 

None 



Table 6-8. Low-Level LED Driver Arguments 

FileDesc in LED device descriptor returned by ledOpen call and used in ledIoctl function calls 

Cmd in Commands found in led.h which are used to modify specific LEDs on EVM board 

led in Pin on which to perform the command, denoted as LED_RED, LED_GREEN, 

LED_YELLOW 

ledDevice in The LED device name from bsp.h; typically, BSP_DEVICE_NAME_LED_0 




MOTOROLA 





6.2 FILE I/O Driver 


FILE I/O Driver 


The File I/O driver allows a DSP application to send data from the target platform to a specified 

file located on a Personal Computer (PC). It also allows a DSP application to receive data from a 

specified file located on a PC into the target platform. This is accomplished by a Windows 

program on a PC running simultaneously with the File I/O driver application on the target 

platform. The Windows executable must be launched prior to the DSP File I/O driver application 

and can be found at: 

..\Embedded SDK\src\x86\win32\applications\fileio\fileio.exe 

Communication between the target platform and PC is done by RS-232 protocol through the serial 

port at 9600 baud on the respective platforms. As a result of this driver’s use of the SCI port, the 

File I/O driver prohibits the use of this port by a user’s application for any other use. Figure 6-1 

shows a block diagram with the set-up required to utilize the File I/O driver in an application. 

Personal 

Computer 

Figure 6-1. Basic Set-up for File I/O Utilization 

NOTE: A serial communication port must be set up on a personal computer with the following 

settings: 

– Baud Rate = 9600 

– Data Bits = 8 

– Parity = None 

– Stop Bit = 1 

– Flow Control = None 



Reading Data from file on PC into DSP 

via RS-232 Serial Port 

Writing Data to a file on PC from DSP 

via RS-232 Serial Port 

Target 

Platform 

The File I/O device driver currently has no default configurations that can be overwritten through 

a project’s appconfig.h file. 




6-11 









Code to create and initialize the File I/O driver may be automatically included into an SDK 


#define INCLUDE_FILEIO 

The following information may be found in the public header file fileio.h: 


/***************************************************************************** 






*****************************************************************************/ 


None 

Members: 

None 






MOTOROLA 








6.2.4 File I/O Device-Independent I/O API Specifications 












6-13 






6.2.4.1 open 

Call(s): 


Description: The open call opens the File I/O for operations and returns a file descriptor used by 

read/write function calls. When \\\\PC\\Embedded SDK\\yourfile.txt is used as the pName 

parameter, it looks to the registry for a relative path into the SDK. The registry path is found in the 

registry at: 

HKEY_LOCAL_MACHINE\SOFTWARE\MOTOROLA\Embedded SDK\ 

The File I/O driver needs to be opened for read/write calls. A windows executable must also be 

launched before any write/read operations take place. The windows application can be found at: 

Embedded SDK\src\x86\win32\applications\fileio\fileio.exe 


descriptor for the File I/O driver. This file descriptor is used by the File I/O driver’s read, write, 

close, and ioctl functions. If the open call is not successful, a “-1” is returned. 




Table 6-9. File I/O Driver open Arguments - open 

pName in The File I/O driver name; use: 

\\\\PC\\specificdrive\\yourfile.txt 

or 

\\\\PC\\Embedded SDK\\yourfile.txt 

OFlag in Use O_RDONLY for a read operation 

Use O_WRONLY for a write operation 

FileDesc out File I/O device descriptor returned by open call and used in write/read function calls 




MOTOROLA 





6.2.4.2 write 

Call(s): 




Description: The write call writes the user buffer out of the SPI device to a user specified file. 

Returns: The write call returns a type ssize_t. This ssize_t is the number of transferred words. 


Table 6-10. File I/O Driver Arguments - write 

FileDesc in File I/O device descriptor returned by open call and used in write/read function calls 







6-15 






6.2.4.3 read 

Call(s): 


Description: The read call reads data from a specified file into a user buffer. 

Returns: The read call returns a type ssize_t. This ssize_t is the number of received words. 


Table 6-11. File I/O Driver Arguments - read 









MOTOROLA 





6.2.4.4 close 

Call(s): 




Description: The close call closes the File I/O driver and releases the file descriptor handle. 




Table 6-12. File I/O Driver Arguments - close 





6-17 






6.2.4.5 ioctl 

Call(s): 


Description: The ioctl call changes the File I/O device data mode; it defaults to 8 bits. 


Code Example 6-3. File I/O Driver Usage 

/***************************************************************************/ 




#include "fileio.h" 

#include "mem.h" 

#define BUFFER_SIZE 10 


{ 

int Fd; 

int I; 

/* Dynamic memory allocation is only supported in External RAM configuration */ 

UWord16 * pBuffer = malloc(BUFFER_SIZE * sizeof(UWord16)); 

UWord16 * pTemp = pBuffer; 

for(I = 0; I < BUFFER_SIZE; I++) 

{ 

*pTemp = 0xFF0F; 

pTemp += 1; 

} 

Table 6-13. File I/O Driver Arguments 

FileDesc in File I/O device descriptor returned by open call and used in read/write function calls 

Cmd in Commands found in fileio.h which are used to modify the data format 

pParams in NULL 



Table 6-14. File I/O ioctl Commands 


FILE_IO_DATAFORMAT_RAW None None Data format will be set to 16 bits 

FILE_IO_DATAFORMAT_EIGHTBITCHARS None None Data format will be set to 8 bits 




MOTOROLA 







/* opens file on a PC in which to write data buffer to, gets relative path from 

registry */ 

Fd = open("\\\\PC\\Embedded SDK\\test.txt", O_WRONLY); 

/* set data mode for 16 bits */ 

ioctl(Fd, FILE_IO_DATAFORMAT_RAW,NULL); 

/* write buffer to test.txt */ 

write(Fd, pBuffer, 10 * sizeof(UWord16)); 

close(Fd); 

} 

/***************************************************************************/ 

6.2.5 Low-Level I/O Services API Specifications 

None 

6.2.6 FILE I/O Driver Application 

None 





6-19 






6.3 PC Master SCI Communication Driver 


The PC Master SCI Communication driver communicates with the PC master softwareWindows 

application to develop and debug target applications. A description of the communication 

protocol can be found in the PC Master Software Communication Library Help files. The 

pcmasterdrvIsr function is the main function which is called from the SCI interrupt service 

routine. The pcmasterdrvInit initializes the SCI port to enable communication. The 

pcmasterdrvGetAppCmdSts and pcmasterdrvWriteAppCmdSts reads and writes the application 

command status for the user application. The pcmasterdrvRecorder samples data into an internal 

data buffer. This driver is automatically installed and initialized simply by defining 

INCLUDE_PCMASTER in the appconfig.h file. Keep in mind that this driver requires the use of 

the SCI port, thereby prohibiting the use of this port by the application for any other use. The PC 

Master SCI Communication driver utilizes the SCI driver, which is configured to run at a rate of 

9600 baud. For an overview of PC Master, please refer to the PC Master Software User’s 

Manual. 


The PC master driver has default configurations defined in config.h which can be redefined in the 

appconfig.h for that project. These settings are explained in Table 6-15. 

6.3.3 API Definitions 

Table 6-15. PC Master Driver appconfig.h Settings 

PC Master #defines Default Explanation 

PC_MASTER_REC_BUFF_LEN 40 Recorder buffer length 

PC_MASTER_APPCMD_BUFF_LEN 0 Application Command buffer length 

PC_MASTER_RECORDER_TIME_BASE 0x8030 Recorder timebase = 48us 

This section defines the Application Programming Interface (API) and public data structures. For 

a more detailed description of this interface, see Section 6.3.4. 

The header file pcmasterdrv.h includes all required prototypes and structure/type definitions. 




/***************************************************************************** 

Initialization of SCI Communication Algorithm 

This function must be called first, before start of communication. 

Parameter passed to this function is a variable of the structure sPCMasterComm 

*****************************************************************************/ 

Word16 pcmasterdrvInit(sPCMasterComm *p_sPCMasterComm); 




MOTOROLA 





PC Master SCI Communication Driver 


/***************************************************************************** 

Get Application Command Status 

This function is used to check whether an Application Command has been received 

*****************************************************************************/ 

UWord16 pcmasterdrvGetAppCmdSts(void); 

****************************************************************************** 

Write Application Command Status 

This function clears the flags in Application Command status word and responds to PC 

that a new Application Command from PC can be accepted 

*****************************************************************************/ 

Word16 pcmasterdrvWriteAppCmdSts(UWord16 state); 

/***************************************************************************** 

Main SCI Communication routine which provides receiving, decoding of incoming message 

and sending a response to PC 

*****************************************************************************/ 

void pcmasterdrvIsr(void); 

/***************************************************************************** 

Recorder Routine 

Performs sampling of data into a buffer which is located at the address p_recBuff is 

pointing at and its length is determined by recSize item in sPCMasterComm structure 

*****************************************************************************/ 

void pcmasterdrvRecorder(void); 



The structure sPCMasterComm is defined as shown in Table 6-16. 

./* structure with SCI communication settings */ 

typedef struct { 

UWord16 *p_dataBuff;/* pointer to input/output communication buffer */ 

UWord16 dataBuffSize;/* size of input/output communication buffer */ 

UWord16 *p_recBuff; /* pointer to recorder buffer */ 

UWord16 recSize; /* recorder buffer size */ 

UWord16 *p_recorder;/* structure with rec settings and temp variables */ 

UWord16 *p_scope; /* structure with scope settings */ 

UWord16 timeBase; /* period of Recorder Routine launch */ 

UWord16 *p_appCmdBuff;/* pointer to application command buffer */ 

UWord16 appCmdSize; /* application command buffer size */ 

UWord16 globVerMajor;/* board firmware version major number */ 

UWord16 globVerMinor;/* board firmware version minor number */ 

UWord16 idtString[PCMDRV_IDT_STRING_LEN];/* device identification string 

*/ 

} sPCMasterComm; 




6-21 







Table 6-16. sPCMasterComm structure 

variable type explanation 

p_recBuff UWord16 Pointer pointing to start of recorder buffer 

recSize UWord16 Size of recorder buffer 

timeBase UWord16 Period of Recorder Routine launch; see Table 6-17 

p_appCmdBuff UWord16 Pointer pointing to start of buffer for application command calls 

appCmdSize UWord16 Size of user functions buffer 

globVerMajor UWord16 Board firmware version major number 

globVerMinor UWord16 Board firmware version minor number 

idtString[25] UWord16 Identification string 

The timeBase variable in the sPCMasterComm structure is coded in the format shown in 

Table 6-17. 

Example of timeBase variable coding: 

1) Frequency of the pcmasterdrvRecorder routine call is 48us. 

timeBase = 0x8030 

2) Frequency of the pcmasterdrvRecorder routine call is 100ms. 

timeBase = 0x4064 


Table 6-17. timeBase format 

bits format explanation 

0-13 14-bits Mantissa of Recorder Routine launch period 

14-15 2-bits Exponent of Recorder Routine launch period 

0- 1 (10 0 ) 

1 - m (10 -3 ) 

2- u (10 -6 ) 

3- n (10 -9 ) 




MOTOROLA 








6.3.4 PC Master Driver Low-Level I/O API Specification 












6-23 






6.3.4.1 pcmasterdrvInit - Initialize PC Master Driver Communication 

Call(s): 

Arguments: 

Word16 pcmasterdrvInit(sPCMasterComm *p_sPCMasterComm); 

Table 6-18. pcmasterdrvInit parameters 

Description: Initializes receiver functions and internal variables. The pcmasterdrvInit function is 

called in the config.c file; therefore, the user need not call this function from an application. 

Returns: If initialization was successful, pcmasterdrvInit returns “0”. If the SCI device open 

failed, pcmasterdrvInit returns “-1”. 

Range Issues: None 

variable in/out explanation 

p_sPCMasterComm in Pointer to structure sPCMasterComm with initialization data 

Special Issues: None 







MOTOROLA 







6.3.4.2 pcmasterdrvGetAppCmdSts - Get Application Command 

Status 

Call(s): 

UWord16 pcmasterdrvGetAppCmdSts(void); 


Description: This function confirms whether or not a new application command call has been 

received. If a new application command has been received, data is in the 

PCMasterCommApplicationCommandBuffer and there is an application command code at the 

first position and the parameters of the application command in the buffer. The length of this 

buffer is defined by PC_MASTER_APPCMD_BUFF_LEN in the config.h file. The parameters are 

passed to the pcmasterdrvInit function during initialization; see Table 6-16 for details. 

To enable application command calls, set PC_MASTER_APPCMD_BUFF_LEN in the config.h 

file to define the length of the application command buffer. The application command buffer, 

PCMasterCommApplicationCommandBuffer, will be declared automatically. 

Returns: If no application command has been received, the pcmasterdrvGetAppCmdSts returns 

“0”; if the PCMasterCommApplicationCommandBuffer contains data (a new application 

command has been received ), the pcmasterdrvGetAppCmdSts returns “-1”. 


Special Issues: The application command status returned by the pcmasterdrvGetAplCmdSts 

function must be rewritten with the pcmasterdrvWriteAppCmdSts function to enable receipt of the 

next application commands; see Section 6.3.4.3. 






6-25 






6.3.4.3 pcmasterWriteAppCmdSts - Write Application Command 

Status 

Call(s): 

Word16 pcmasterdrvWriteAppCmdSts(UWord16 state); 

Description: The pcmasterdrvWriteAppCmdSts function stores a state value to be sent to the PC 

as an application command return code. If the status of the application command call is not 

changed to the range below after its execution, no new application command can be called. 

To enable application command calls, set the PC_MASTER_APPCMD_BUFF_LEN in the 

config.h file to define the length of the application command buffer. The application command 

buffer PCMasterCommApplicationCommandBuffer will be declared automatically. 

To service an application command call, follow these steps: 

• To check whether a new command has been received, call the pcmasterdrvGetAplCmdSts 

function 

• If a new command has been received, perform the action related to the application 

command received 

• Write back an application command return code using the pcmastercrvWriteAppCmdSts 

function 

Returns: The pcmastercrvWriteAppCmdSts function unconditionally returns “0”. 

Range Issues: Only the low byte of state is used. The value of the state must be within the range: 

0x0000





6.3.4.4 pcmasterdrvIsr - Main communication function 

Call(s): 

void pcmasterdrvIsr(void); 


Description: The function pcmasterdrvIsr is the main communication function and decodes 

received messages and executes proper commands. This function is called in SCI0 receiver and 

transmitter interrupts. 

Returns: void 


Special Issues: The pcmasterdrvIsr function is installed to be called in receiver and transmitter 

interrupts of the SCI0 module. 






6-27 






6.3.4.5 pcmasterdrvRecorder - Sample recorded variables 

Calls: 

void pcmasterdrvRecorder(void); 


Description: The function pcmasterdrvRecorder provides a sampling of required variables. The 

pcmasterdrvRecorder function should be called periodically (e.g., using timer interrupt) to 

provide a constant sampling period. The pcmasterdrvRecorder function uses the 

PCMasterCommRecorderBuffer defined in config.c file. The length of the buffer is defined by 

PC_MASTER_REC_BUFF_LEN and the time base of the pcmasterdrvRecorder routine is defined 

by PC_MASTER_RECORDER_TIME_BASE in the config.h file. The parameters are passed to the 

pcmasterdrvInit function during initialization; see Table 6-16 and Table 6-17 for details. 

To use the recorder follow these steps: 

• Set PC_MASTER_REC_BUFF_LEN to define the recorder buffer length 

• The recorder buffer PCMasterCommRecorderBuffer will be declared automatically 

• Call the pcmasterdrvRecorder function periodically 

Returns: Void 

Range Issues:None 

Special Issues: None 







MOTOROLA 





6.3.5 PC Master Driver Application 

Switch Driver 

Examples which demonstrate the use of the PC master driver can be found in such Motor Control 

applications as 3ph_srm_hall_sensor_type1, located in the ...\dsp5680xevm\nos\applications 

directory for the specific target. 

6.4 Switch Driver 


The Switch interface reads the state of the Run/Stop switch on the EVM board. 


The Switch driver currently has no default configurations that can be overwritten through a 





Code to create and initialize the Switch driver is automatically included in an SDK Embedded 


#define INCLUDE_SWITCH 

The following information may be found in the public header file switch.h: 


/***************************************************************************** 




*****************************************************************************/ 


Members: None 






6-29 








6.4.4 Switch Device-Independent I/O API Specifications 












MOTOROLA 





6.4.4.1 open 

Call(s): 


Switch Driver 

Description: The open call opens the Switch driver for operations and returns a file descriptor 

used by ioctl function calls. The Switch driver needs to be opened for ioctl calls. 


descriptor for the Switch driver. This file descriptor is used by the Switch driver’s read, write, 

close, and ioctl functions. If the open call is not successful, “-1” is returned. 




Table 6-20. Switch DriverArguments - open 

pName in The Switch device name; use BSP_DEVICE_NAME_SWITCH_0 


FileDesc out Switch device descriptor returned by open call and used in ioctl function calls 




6-31 






6.4.4.2 close 

Call(s): 


Description: The close call closes the Switch driver. 





Table 6-21. Switch Driver Arguments - close 

FileDesc in Switch device descriptor returned by open call and used in ioctl function calls 




MOTOROLA 





6.4.4.3 ioctl 

Call(s): 


Description: The ioctl call finds the state of the Run/Stop switch on the EVM board. 

Switch Driver 

Returns: The ioctl call returns a type UWord16. This UWord16 is the state of the Run/Stop 

switch. A “1” signifies the switch is On; a “0” signifies the switch is Off. 

Code Example: Code Example 6-4 determines the state of the Run/Stop switch on the EVM board 

and returns the state in variable SwPos. 

Code Example 6-4. Switch Driver Usage 

/****************************************************************************/ 




#include "switch.h" 


{ 

int SwitchFD; 

int SwPos; 



Table 6-22. Switch Driver Arguments 

FileDesc in Switch device descriptor returned by open call and used in ioctl function calls 

Cmd in Command found in switch.h which are used to read state of Run/Stop switch on EVM 

board 

pParams in pParams must be set to the switch device name: BSP_DEVICE_NAME_SWITCH_0 

Table 6-23. Switch ioctl Commands 


SWITCH_GET_STATE pParams must be set to the switch 

device name: 

BSP_DEVICE_NAME_SWITCH_0 

/* open switch driver */ 

SwitchFD = open(BSP_DEVICE_NAME_SWITCH_0, 0); 

The state of the 

Run/Stop switch on 

the EVM board 

/* get state of switch */ 

SwPos = ioctl(SwitchFD, SWITCH_GET_STATE, BSP_DEVICE_NAME_SWITCH_0); 

A “1” signifies that the 

Run/Stop switch is On 

A “0” signifies that the 

Run/Stop switch is Off 




6-33 








/* close switch driver */ 

close(SwitchFD); 

} 

/***************************************************************************/ 




MOTOROLA 









Switch Driver 











6-35 






6.4.5.1 switchOpen 

Call(s): 

int switchOpen(const char *pName, int OFlags); 

Description: The switchOpen opens a particular SWITCH device. The argument pName is the 

particular device name. The SWITCH device needs to be opened before configuring the port with 

switchIoctl calls. 

Returns: If switchOpen is successful, the switchOpen Port file descriptor is returned. If 

switchOpen failed, “-1” value is returned. 




Table 6-24. Low-Level Switch Driver Arguments - open 

pName in The Switch device name; use BSP_DEVICE_NAME_SWITCH_0 





MOTOROLA 





6.4.5.2 switchClose 

Call(s): 

int switchClose (int FileDesc); 

Description: The switchClose call closes the Switch driver. 

Returns: The switchClose call returns a type int. This int is always zero. 




Table 6-25. Low-Level Switch Driver Arguments - close 

Switch Driver 

FileDesc in Switch device descriptor returned by switchOpen call and used in switchIoctl function 

calls 




6-37 






6.4.5.3 switchIoctl 

Call(s): 

UWord16 switchIoctl(int FileDesc, UWord16 Cmd, void * pParams, const char* 

Device); 

Description: The switchIoctlr reads the state of the SWITCH. 

Returns: Void 

Table 6-26. Low-Level Switch Driver Arguments - switchIotcl 

FileDesc in Switch device descriptor returned by switchOpen call and used in ioctl function calls 

Cmd in Command found in switch.h which is used to read the state of the Run/Stop switch on 

the EVM board; see Table 6-23 

pParams in Not used 

Device in The SWITCH device name from bsp.h; typically, BSP_DEVICE_NAME_SWITCH_0 


Code Example 6-5. Low-Level Switch Driver Usage 

/***************************************************************************/ 


#include "switch.h" 


{ 

int switchFD, SwitchState; 



/* Open SWITCH driver */ 

switchFD = switchOpen(BSP_DEVICE_NAME_SWITCH_0, 0); 

/* Read the state of the switch */ 

SwitchState = switchIoctl(switchFD, SWITCH_GET_STATE, 0, 

BSP_DEVICE_NAME_SWITCH_0); 

/* Close the SWITCH driver */ 

switchClose(switchFD); 

} 

/***************************************************************************/ 




MOTOROLA 





6.4.6 Low-Level I/O Services API Specification 

None 

6.4.7 Switch Driver Application 



Switch Driver 

Examples which demonstrate use of the switch driver can be found in such Motor Control 



6.4.8 Switch Driver Considerations 

When utilizing the Switch Driver in an application on the DSP56F803EVM, there are several 

interdependencies to consider. The RUN/STOP switch on this EVM is connected to the ADC, 

used by the Switch Driver to capture a level which determines the state of the RUN/STOP switch. 

The Switch Driver configures the ADC, via the ADC Driver, to a Once Sequential Scan mode 

(See Chapter 9 of the DSP56F80x User’s Manual for more information on the ADC). Each time 

the state of the RUN/STOP switch is to be determined, the ADC is started in this mode. As a 

result, the user must take special care when using the Switch Driver concurrently with the ADC 

Driver. 




6-39 






6.5 Brake Driver 

This section discusses the use of the Brake Driver in Motor Control applications. 


The Brake interface controls the operation of a Motor Control brake used as a peripheral from the 

EVM board. The Motor Control brake is typically found in the suitcases used to demonstrate 

various motors. 


The Brake driver currently has no default configurations that can be overwritten through a 





Code to create and initialize the Brake driver is automatically included into an SDK Embedded 


#define INCLUDE_BRAKE 

The following information may be found in the public header file brake.h: 


/***************************************************************************** 

* int open (const char *pName, int OFlags,...); 

* int close (int FileDesc); 

* UWord16 ioctl (int FileDesc, UWord16 Cmd, void * pParams); 

* UWord16 brakeIoctl (int FileDesc, UWord16 Cmd, void * pParams, const char 

*pName); 

*****************************************************************************/ 


Members: None 






MOTOROLA 







6.5.4 Brake Device-Independent I/O API Specifications 

Brake Driver 












6-41 






6.5.4.1 open 

Call(s): 


Description: The open call opens the Brake driver for operations and returns a file descriptor 

used by ioctl function calls. The Brake driver needs to be opened for ioctl calls. 


descriptor for the Brake driver. This file descriptor is used by the Brake driver’s close and ioctl 

functions. When the open call is not successful, “-1” is returned. 


Table 6-27. Brake Driver open Arguments - open 

pName in The Brake device name; see Table 6-28 


FileDesc out Brake device descriptor returned by open call and used in ioctl function calls 

Table 6-28. Availability of Brake Devices for Specific Platforms 

DSP56F801EVM 



DSP56F803EVM BSP_DEVICE_NAME_BRAKE_A 


BSP_DEVICE_NAME_BRAKE_B 


BSP_DEVICE_NAME_BRAKE_B 




MOTOROLA 





6.5.4.2 close 

Call(s): 


Description: The close call closes the Brake driver. 





Table 6-29. Brake Driver Arguments - close 

FileDesc in Brake device descriptor returned by open call and used in ioctl function calls 

Brake Driver 




6-43 






6.5.4.3 ioctl 

Call(s): 


UWord16 brakeIoctl(int FileDesc, UWord16 Cmd, void * pParams, const char * 

pName); 

Description: The ioctl call controls the Brake from the EVM board. The brakeIoctl call is 

functionally equivalent to ioctl, although perhaps more efficient in its operation, because it can 

use static information (from the pName parameter) about which Brake is being used. 


Code Example: Code Example 6-6 opens the Brake driver and turns the brake Off. 

Code Example 6-6. Brake Driver Example 

/****************************************************************************/ 




#include "brake.h" 


{ 

int BrakeFD; 

/* open brake driver */ 

BrakeFD = open(BSP_DEVICE_NAME_BRAKE_A, 0); 

/* turn brake off */ 

Table 6-30. Brake ioctl Arguments 

FileDesc in Brake device descriptor returned by open call and used in Brake driver function calls 

Cmd in Command found in brake.h which are used to control the Brake 

pParams in pParams must be set to NULL 



pName in The Brake device name; see Table 6-28 

Table 6-31. Brake ioctl Commands 


BRAKE_ON NULL void Turns the brake on 

BRAKE_OFF NULL void Turns the brake off 




MOTOROLA 






brakeIoctl(BrakeFD, BRAKE_OFF, NULL, BSP_DEVICE_NAME_BRAKE_A); 

/* close brake driver */ 

close(BrakeFD); 

} 

/***************************************************************************/ 

6.5.5 Brake Driver Application 


Brake Driver 

Examples which demonstrate the use of the brake driver can be found in such Motor Control 






6-45 






6.6 Button Driver 


The Button driver provides a software interface to the push buttons on a specific EVM board. 


The Button driver currently has no default configurations that can be overwritten through a 





Code to create and initialize the Button driver is automatically included into an SDK Embedded 


#define INCLUDE_BUTTON 

The following information may be found in the public header file button.h: 


/***************************************************************************** 

* typedef void (*button_tCallback)(void *pCallbackArg); 

* typedef struct { 

* button_tCallback pCallback; 

* void *pCallbackArg; 

* }button_sCallback; 

* int open(const char *pName, int OFlags, button_sCallback * pCallbackSpec); 


* *****************************************************************************/ 


Members: None 






MOTOROLA 







6.6.4 Button Device-Independent I/O API Specifications 

Button Driver 












6-47 






6.6.4.1 open 

Call(s): 

int open(const char *pName, int OFlags, button_sCallback * pCallbackSpec); 

Description: The open call opens the Button driver for operations and returns a file descriptor 

used by other Button driver function calls. 

The callback function, specified by pCallbackSpec, is called whenever the specified push button 

is pressed. The button is debounced to ensure that the callback function is only called once per 

button press. 


descriptor for the Button driver. This file descriptor is used by the Button driver’s close function. 

When the open call is not successful, a “-1” is returned. 




Table 6-32. Button Driver Arguments - open 

pName in The Button device name; see Table 6-33 


pCallbackSpec in The function to be called when a button is pushed 

FileDesc out Button device descriptor returned by open call and used in ioctl function calls 

Table 6-33. Availability of Button Devices for Specific Platforms 

DSP56F801EVM BSP_DEVICE_NAME_BUTTON_A 

BSP_DEVICE_NAME_BUTTON_B 










MOTOROLA 





6.6.4.2 close 

Call(s): 

Arguments: 


Description: The close call closes the Button driver. 


Button Driver 

Code Example: Code Example 6-7 shows how a user function will be called when push button A 

is pressed on the EVM board. 

Code Example 6-7. Button Driver Example 

/****************************************************************************/ 




#include "button.h" 

/* Function prototype */ 

static void ButtonISR(void *pCallbackArg); 

/* File descriptor */ 

static int ButtonAFD; 

/* Button ISR */ 

void ButtonISR (void *pCallbackArg) 

{ 

/* logic to execute when button is pushed */ 

} 


{ 

button_sCallback ButtonSpec = {ButtonISR, NULL}; 

/* open button driver */ 

ButtonAFD = open(BSP_DEVICE_NAME_BUTTON_A, 0, &ButtonSpec); 

// ....... 



Table 6-34. Button Driver Arguments - close 

FileDesc in Button device descriptor returned by open call and used in driver function calls 

/* close button driver */ 

close(ButtonAFD); 

} 

/***************************************************************************/ 




6-49 




















MOTOROLA 





6.6.5.1 buttonOpen 

Call(s): 

int buttonOpen(const char *pName, int OFlags, button_sCallback * 

pCallbackParam); 

Button Driver 

Description: Opens a particular BUTTON device. The argument pName is the particular device 

name. 

The pCallbackParam is a pointer to a structure that specifies which user function to call when the 

button is pressed. 

Returns: If open is successful, a file descriptor is returned. This file descriptor must bepassed to 

other Button driver functions. If open failed, a “-1” value is returned. 




Table 6-35. Button Driver Arguments - open 

pName in The name of the particular device; the pCallbackParam specifies which user function 

to call when the button is pressed 


pCallbackParam in A pointer to a structure which specifies a function to call when the button is pressed. 

This structure contains two values: the address of the function to be called and the 

value of the parameter to that function. The parameter value can be used in the 

function for such purposes as designating which button was pressed or to refer to an 

application-specific structure which must be modified by the callback function. 




6-51 






6.6.5.2 buttonClose 

Call(s): 

Arguments: 

int buttonClose (int FileDesc); 

Description: The close call closes the Button driver. 



Code Example 6-8. Low-Level Button Driver Example 

/****************************************************************************/ 


#include "button.h" 

/* Function prototype */ 

void ButtonFunc(void *pCallbackArg); 

volatile int buttonAcounter; 

/* ButtonFunc Function */ 

void ButtonFunc (void *pCallbackArg) 

{ 

volatile int * pCounter = (volatile int *)pCallbackArg; 

} 

(*pCounter)++; 


{ 

int buttonFD; 

button_sCallback ButtonACallbackSpec = {ButtonFunc, (void*) &buttonAcounter}; 

/* Open button driver */ 

buttonFD = buttonOpen(BSP_DEVICE_NAME_BUTTON_A, 0,(void*) 

&ButtonACallbackSpec); 

// ....... 



Table 6-36. Button Driver Arguments - close 

FileDesc in Button device descriptor returned by buttonOpen call and used in driver function calls 

/* Close button driver */ 

close(buttonFD); 

} 

/****************************************************************************/ 




MOTOROLA 





Digital to Analog Converter (DAC) Driver 


6.6.6 Button Driver Application 

Examples which demonstrate the use of the button driver can be found in such Motor Control 

applications as bldc_sensors, located in the ...dsp56824evm/nos/applications directory for the 

specific target. 

6.7 Digital to Analog Converter (DAC) Driver 


The DAC driver currently works only with the DSP56F805EVM and the DSP56F807EVM target 

boards. These target boards have one DAC device, a MAX5251 3V, four channel, 10-bit 

precision, Voltage-Output DAC with serial interface. This device is connected to the SPI bus of 

the DSP56F805 or the DSP56F807 processor. The DAC hardware is configured to run in 

Unipolar mode, meaning that its output voltages and reference inputs have the same polarity. 

These output voltages will range between 0V and +Vref(1023/1024). See the MAX5251 data 

sheet and the appropriate DSP56F805 or DSP56F807 Evaluation Module Hardware Reference 

Manual for hardware details. 

This section will define the API, specify its usage and provide example code and application code 

for the DAC driver. 


The DAC driver currently has no default configurations that can be overwritten through a 





Code to create and initialize the DAC driver is automatically included in an SDK Embedded 


#define INCLUDE_DAC 

The following information may be found in the header file dac.h: 


/***************************************************************************** 





/***************************************************************************** 






6-53 








6.7.4 DAC Device-Independent I/O API Specification 

This section species the device-independent Application Programming Interface (API). 











MOTOROLA 





6.7.4.1 open 

Call(s): 



int open(const char *pName, int OFlags); 

Description: Opens the DAC device and configures default parameters. The DAC device must be 

opened prior to all other API function calls. 

Returns: Upon successful completion, the function will return a valid handle to the DAC device 

requested. Otherwise, “IO_NULL_DEVICE_HANDLE” will be returned. 

Code Example 6-9. DAC open Usage 

// Open the DAC and get a handle to the device 

static int dacDevice; 


Table 6-37. DAC Driver Arguments - open 

pName in The DAC device name; values = BSP_DEVICE_NAME_DAC 

OFlag in Standard API argument, not used; values = NULL 

dacDevice = open(BSP_DEVICE_NAME_DAC, NULL); 




6-55 






6.7.4.2 write 

Call(s): 


Description: This function writes one 16-bit word to the DAC specified in the file descriptor. If a 

buffer larger than one is passed, only the first element will be sent. 

Returns: Upon successful completion, the function will return the number of words written. If 

unsuccessful, it will return “-1.” 

Range Issues: The MAX5251 DAC has only 10 bits of precision, so only the 10 most significant 

data bits will be sent to the DAC. 

Example: 

Input data = MSB 0111 0110 0101 0100 LSB 

Data to DAC = MSB xxxx 0111 0110 01(00) LSB 

The driver automatically replaces 'x' with address and control bits and the two least significant 

bits are reserved and set to zero. 

Since the DAC hardware is configured for Unipolar output, the data written represents DAC 

voltage output between 0V and +Vref(1023/1024) as shown below: 

xxxx 1111 1111 11(00) - +Vref(1023/1024) 

xxxx 0000 0000 00(00) - 0V 

Special Issues: A valid writeMode must be set prior to calling this function via an ioctl command. 

Code Example 6-10. DAC write Usage 

// Generate max output on channel A 

static UWord16 * pChannelAValue; 

*(pChannelAValue) = (UWord16)0xFFFF; 



Table 6-38. DAC Driver Arguments - write 

FileDesc in DAC device handle returned by call 

pBuffer in Pointer to a single 16-bit data word 

Size in Number of words to write (must be one) 

ioctl(dacDevice, DAC_SET_CHANNEL_A, NULL); 

ioctl(dacDevice, DAC_WRITE_MODE_UPDATE, NULL); 

write(dacDevice, pChannelAValue, sizeof(UWord16)); 




MOTOROLA 





6.7.4.3 close 

Call(s): 




Description: This function will close communication with the DAC device and free any allocated 

memory or resources used. 

Returns: Upon successful completion, the function will return “0”; if unsuccessful, it will return 

“-1.” 

Code Example 6-11. DAC close Usage 

// Close communication with DAC device 


Table 6-39. DAC Driver Arguments - close 

FileDesc in DAC device handle returned by open call 

close (dacDevice);UWord16 Data = 0x1234; 




6-57 






6.7.4.4 ioctl 

Call(s): 


Description: This function handles all static control and configuration for the DAC device. 

Returns: If a valid command is requested, the function will return “PASS” (0). Otherwise, it will 

return “FAIL” (0xFFFF). 

Range Issues: A test for valid commands is made during debug mode. 

Code Example 6-12. DAC ioctl Usage 

// This will put the DAC in sleep mode 

ioctl(dacDevice, DAC_SLEEP, NULL); 



Table 6-40. DAC Driver Arguments - ioctl 


Cmd in Commands found in dac.h which are used to modify the DAC address 

and control registers; see list of values in Table 6-41 

pParams in Standard API argument, not used; values = NULL 

Table 6-41. DAC ioctl Commands 

Cmd Result 

DAC_WRITE_MODE_WAKE_AND_UPDATE Exit shutdown mode and update all channel outputs 

from data written 

DAC_WRITE_MODE_NO_UPDATE Update input register but not channel output 

DAC_WRITE_MODE_UPDATE Update input register and channel output 

DAC_SLEEP Enter shutdown mode 

DAC_WAKE Exit shutdown mode and update all channel outputs 

from their respective input registers 

DAC_SET_CHANNEL_A Select channel A for update 

DAC_SET_CHANNEL_B Select channel B for update 

DAC_SET_CHANNEL_C Select channel C for update 

DAC_SET_CHANNEL_D Select channel D for update 




MOTOROLA 








6.7.5 Low-Level I/O Services API Specification 

This section species the Low-Level Application Programming Interface (API). 











6-59 






6.7.5.1 dacOpen 

Call(s): 

int dacOpen(const char *pName, int OFlags); 

Description: This function opens communications with the DAC device. The DAC device must 

be opened prior to all other API function calls. 

Returns: Upon successful completion, the function will return a valid handle to the DAC device 

requested. Otherwise, “IO_NULL_DEVICE_HANDLE” will be returned. 




Table 6-42. dacOpen Driver Arguments - dacOpen 

pName in The DAC device name; values = BSP_DEVICE_NAME_DAC 

OFlag in Standard API argument, not used; values = NULL 




MOTOROLA 





6.7.5.2 dacWrite 

Call(s): 



void dacWrite(int FileDesc, UWord16 dacData); 

Description: This function writes one 16-bit word to the DAC specified in the file descriptor. 

Returns: Void 

Table 6-43. Low Level dacWrite Driver Arguments - dacWrite 

FileDesc in DAC device handle returned by call 

dacData in The 16-bit data word to be written 






6-61 






6.7.5.3 dacClose 

Call(s): 

int dacClose (int FileDesc); 

Table 6-44. Low-Level dacClose Driver Arguments - dacClose 


Description: This function closes communication with the DAC device. 

Returns: Upon successful completion, the function will return “0”. Otherwise, it will return “-1.” 







MOTOROLA 





6.7.5.4 dacIoctl 

Call(s): 



void dacIoctl((int FileDesc, UWord16 Cmd, void * pParams, const char* 

dacDeviceName); 

Description: This function handles all static control and configuration for the DAC device. 

Returns: Void 


Code Example 6-13. Low-Level DAC dacIoctl Usage 

/****************************************************************************/ 


#include "dac.h" 

static int dacDevice; 


Table 6-45. DAC Driver Arguments - ioctl 


Cmd in Commands found in dac.h which are used to modify the DAC address 

and control registers; see list of values in Table 6-41 

pParams in Standard API argument, not used; values = NULL 

dacDeviceName in The name of the DAC device from bsp.h; typically, this is 

BSP_DEVICE_NAME_DAC 


{ 

dacDevice = dacOpen(BSP_DEVICE_NAME_DAC, 0); 

// Generate max output on channel A 

dacIoctl(dacDevice, DAC_SET_CHANNEL_A, NULL, BSP_DEVICE_NAME_DAC); 

dacIoctl(dacDevice, DAC_WRITE_MODE_UPDATE, NULL, BSP_DEVICE_NAME_DAC); 

dacWrite(dacDevice, 0xFFFF); 

// Close communication with DAC device 

dacClose(dacDevice); 

} 

/****************************************************************************/ 




6-63 






6.7.6 DAC Driver Application 

The DAC driver application is designed to test and demonstrate the usage of the DAC driver’s 

API to control and communicate with the DSP56F805EVM or the DSP56F807EVM target 

board’s hardware. This is accomplished by stepping through a series of generated output signals. 

The sequence follows: 

1. 500Hz sine wave on Channel A and 250Hz sine wave on Channel D 

2. 500Hz sine wave on Channel A and +Vref constant output voltage on Channel D 

3. Sleep the DAC causing 0V on both Channels 

4. Wake the DAC and resume series (2) 

5. Sleep the DAC causing 0V on both Channels 

6. Wake the DAC and generate a 500Hz sine wave on Channel A and +(Vref/2) 

constant output voltage on Channel D 

For the 56F805EVM: 

This application may be executed by opening the CodeWarrior project dac.mcp, located in the 

directory: 

...\src\dsp56805evm\nos\applications\dac 

To view the output signals, apply a scope probe to pin 1 (Channel A) and another to pin 7 

(Channel D) on connector J20, using ground pins 2, 4, 6, or 8. 

For the 56F807EVM: 

This application may be executed by opening the CodeWarrior project dac.mcp, located in the 

directory: 

...\src\dsp56807evm\nos\applications\dac 

To view the output signals, apply a scope probe to pin 1 (Channel A) and another to pin 7 

(Channel D) on connector J26, using ground pins 2, 4, 6, or 8. 

Trimpot Settings for 56F805EVM: R107 on the DSP56F805EVM board must have a reference 

voltage of 2.5V between pins 2 and 1. This is the maximum reference voltage before clipping of 

the sine signal ensues. 

Trimpot Settings for 56F807EVM: R97 on the DSP56F807EVM board must have a reference 

voltage of 2.5V between pins 2 and 1. This is the maximum reference voltage before clipping of 

the sine signal ensues. 




Use the default jumper settings for the DSP56F805EVM and DSP56F807EVM boards. For more 

information on jumper settings, see the DSP56F805 or DSP56F807 Evaluation Module 

Hardware User’s Manual. 




MOTOROLA 





Chapter 7 

Libraries 



This chapter describes all SDK libraries that are not part of the core libraries (see SDK 

Programmer’s Guide), and are part of the SDK DSP56F80x release. The domain-specific 

libraries are: 

• DSP Functional Library 

• Motor Control Library 

• AC Induction Motor Library 

• Switched Reluctance Motor Library 

• Brushless DC Motor Library 

• V.8bis Library 

• V.21 Library 



• Data Encryption Standard (DES) Library 

• Triple Data Encryption Standard (3DES) Library 

• RSA Library 

• Acoustic Echo Canceller Library 

• Caller ID Library 

• CAS Detect Library 

• CPT Library 

• Common Tone Generation Library 

• DTMF Generation Library 

• DTMF Detection Library 

• G.165 Library 




• MFCR2 Detection Library 

• VAD Library 

• Voice Recognition (VRLite-1) Library 

7.1 Signal Processing Libraries 

Signal processing libraries provide general-purpose DSP algorithms’ functionality. 

MOTOROLA Libraries 



7-1 





Libraries 

7.1.1 DSP Functional Library 

The Digital Signal Processing Function Library provides mathematical algorithms for digital 

signal processing applications using fractional data types. The fractional data type is a fixed point 

representation encompassing the range -1



7.1.1.2.1 autoCorr 

Signal Processing Libraries 


Table 7-2 shows the approximate worst-case cycle counts and Memory details. 

Options Instruction Cycle Count 

nx = input vector length 

7.1.1.2.2 cbitrev 

Table 7-3 details the approximate worst-case instruction cycle count (= oscillator clocks/2) for 

Complex Bit-Reverse ASM Code. 

7.1.1.2.3 cfft 

Table 7-2. autoCorr Performance 

Program 

Memory 

(words) 

Data 

Memory 

(words) 

Data ROM 

(words) 

Stack Depth 

(words) 

CORR_RAW (nx) 2 + 33nx + 52 96 0 0 8 

CORR_BIAS (nx) 2 + 33nx + 75 

CORR_UNBIAS (nx) 2 + 62nx + 52 


Table 7-3. cbitrev Performance 

Size of Complex FFT, N Instruction Cycle Count 

8 271 

16 521 

32 1063 

64 2081 

128 4195 

256 8285 

512 16615 

1024 32993 

2048 66043 

Table 7-4 shows the approximate worst-case instruction cycle counts (= oscillator clocks/2) for the 

ASM code. For more details on options for FFT, see the DSP Function Library. 




7-3 





Libraries 

Size of 

Complex 

FFT, N 

7.1.1.2.4 cifft 

Table 7-4. cfft Performance 

Core Complex FFT Core Complex FFT + API 

AS BFP NS AS BFP NS 

8 438 736 438 833 1134 843 

16 1062 1635 1062 1707 2290 1717 

32 2454 3917 2454 3636 5109 3646 

64 5558 8231 5558 7763 10446 7773 

128 12438 18393 12438 16757 22722 16767 

256 27574 40843 27574 35983 49262 35993 

512 60630 90045 60630 77369 106794 77379 

1024 132342 197103 132342 165459 230230 165469 

2048 286998 428577 286998 353165 494754 353175 

Table 7-5 details the approximate worst-case instruction cycle counts (= oscillator clocks/2) for 

the ASM code. For information on options for IFFT, see the DSP Function Library. 

Size of 

Complex 

IFFT, N 



Table 7-5. cifft Performance 

Core Complex IFFT Core Complex IFFT + API 


8 455 723 455 836 1121 846 

16 1084 1626 1084 1722 2274 1732 

32 2500 3963 2500 3682 5155 3692 

64 5652 8342 5652 7850 10550 7860 

128 12628 18792 12628 16940 23114 16950 

256 27956 42010 27956 36358 50422 36368 

512 61396 93132 61396 78128 109874 78138 

1024 133876 204798 133876 166986 237918 166996 

2048 290068 447024 290068 356228 513194 356238 




MOTOROLA 





7.1.1.2.5 corr 

Signal Processing Libraries 


Table 7-6 shows the approximate worst-case cycle counts and machine instructions. 

nx = length of the first input vector 

ny = length of the second input vector 

7.1.2 fir 

Performance of the fir functions vary, depending on whether firCreate was able to align the 

history buffer in memory to perform modulo addressing and to allocate the coefficient buffer 

within internal memory. 

For the performance formulas that follow: 

• n = the number of input samples to be processed by the filter 

• f = the number of filter coefficients 

Case 1: History buffer aligned for modulo addressing; coefficients in internal memory 

Number of machine instructions (uses REP): 29 + 13n 

Number of oscillator cycles: 132 + n(2f + 50) 

Number of oscillator cycles interrupts blocked: 2f (due to REP instruction) 

Case 2: History buffer aligned for modulo addressing; coefficients in external memory 

Number of machine instructions: 31 + n(2f + 11) 


Number of oscillator cycles interrupts blocked: 0 

Case 3: History buffer not aligned for modulo addressing; coefficients in external memory 

Number of machine instructions: 29 + n(6f + 22) 


Number of oscillator cycles interrupts blocked: 0 

7.1.2.1 iir 


Table 7-6. corr Performance 

Options Oscillator Cycles Machine Instructions 

CORR_RAW 140 + 144(nx - 1) + 132ny 38 + 36(nx - 1) + 38ny 

CORR_BIAS 196 + 144(nx - 1) + 132ny 45 + 36(nx - 1) + 38ny 

CORR_UNBIAS 140 + 208(nx - 1) + 196ny 38 + 46(nx - 1) + 48ny 

Performance of the iir functions vary, depending on whether iirCreate was able to align the 

history buffer in memory to perform modulo addressing and to allocate the coefficient buffer 

within internal memory. 




7-5 





Libraries 


For the performance formulas in Table 7-7: 

• n = the number of input samples to be processed by the filter 

• nbiq = the number of filter biquads; each biquad uses 5 coefficients 

The following cases are defined: 

Case 1: History buffer aligned for modulo addressing; coefficients in internal memory 

Case 2: History buffer aligned for modulo addressing; coefficients in external memory 

Case 3: History buffer not aligned for modulo addressing; coefficients in external memory 

7.1.2.2 rfft 

Table 7-7. iir Performance 

Case Oscillator Cycles Machine Instructions 

Case 1 100 + n(80 + 32*nbiq) 26 + n(13 + 11*nbiq) 



Table 7-8 details the approximate worst-case instruction cycle counts (= oscillator clocks/2) for 

the ASM code. For more information on options for FFT, see the DSP Function Library. 

Size of 

Real FFT, 

N 


Table 7-8. rfft Performance 

Core Real FFT Core Real FFT + API 


8 485 729 490 567 806 569 

16 1007 1435 1017 1077 1512 1096 

32 2081 2914 2101 2147 2987 2185 

64 4415 6103 4449 4485 6180 4528 

128 9337 12931 9403 9407 13008 9482 

256 19931 27703 20061 20001 27780 20140 

512 42357 59235 42615 42427 59312 42694 

1024 90143 126751 90657 90213 126828 90736 

2048 191033 270155 192059 191103 270232 192138 




MOTOROLA 





7.1.2.3 rifft 

Motor Control Library 


Table 7-9 shows the approximate worst-case instruction cycle counts (= oscillator clocks/2) for the 

ASM code. For details on options for FFT, see the DSP Function Library. 

Size of 

Real IFFT, 

N 

This library is described in more detail in the Digital Signal Processing Function Library. 

This library is described in more detail in the document Digital Signal Processing Function 

Library. 

7.2 Motor Control Library 

The Motor Control Library provides the application developer with a complete set of algorithms 

that target the development of motor control applications. This library includes: 

• Motor Control Function Library 

• AC Induction Motor Library 

• Switched Reluctance Motor Library 

• Brushless DC Motor Library 

7.2.1 Motor Control Function Library 

The Motor Control Function Library contains general-purpose algorithms that apply to motor 

control applications, independent of the specific motor type. Among these algorithms are such 

categories as: 

• PWM Waveform Generation 

• Field Oriented Control 


Table 7-9. rifft Performance 

Core Real IFFT Core Real IFFT + API 


8 447 638 452 519 714 529 

16 980 1317 985 1052 1393 1062 

32 2081 2791 2086 2144 2865 2154 

64 4448 5401 4453 4520 5977 4530 

128 9450 12681 9455 9522 12737 9532 

256 20204 27453 20209 20276 27529 20286 

512 42950 59177 42955 43022 59253 43032 

1024 91376 127461 91381 91448 127537 91458 

2048 193546 273169 193551 193618 273245 193628 




7-7 





Libraries 


• Speed Control 

• Power Factor Correction 

This library is described in more detail in the document Motion Control Library. 

7.2.2 AC Induction Motor Library 

The AC Induction Motor Library contains algorithms that apply to AC Induction-type motors. 

Note: This library is not part of the current SDK release. 

7.2.3 Switched Reluctance Motor Library 

The Switched Reluctance Library contains algorithms that apply to Switched Reluctance-type 

motors. This library is described in more detail in the document Motion Control Library. 

7.2.4 Brushless DC Motor Library 

The Brushless DC Library contains algorithms that apply to Brushless DC-type motors. This 

library is described in more detail in the document Motion Control Library. 

7.3 Modem Libraries 

Modem libraries provide modem functionality. 

7.3.1 V.8bis Library 


The V.8bis allows DCEs and DTEs with multiple modes of operation over the PSTN and on 

leased telephone-type circuits, to perform these functions: 

• selection of the desired mode of operation at automatic call establishment on the PSTN, 

controlled by either the calling or answering station 

• selection of the desired mode of operation while in telephony mode on an 

already-established connection, controlled by either station 

• determination by either station of whether the remote station supports V.8bis, with 

minimum disturbance to a voice caller 

• exchange of available capabilities between stations on a connection, at call establishment 

or while in telephony mode 

• graceful recovery in the event of transmission of errors or selection of an unavailable mode 

of operation 

These functions are provided by defining a set of signals, messages and procedures. Signals are 

intended to be detected in the presence of an interfering voice or other audio; to turn around any 

echo suppressors in the network prior to the beginning of information transmission; and to 




MOTOROLA 





Modem Libraries 


indicate the initiation of a V.8bis transaction to the receiving station, while not appearing to the 

user and receiver as an indication of a data or facsimile device. 

Messages convey significantly more information than signals, but may be used only when they 

will not cause disruption to a voice caller. They are intended to be used only in the absence of an 

interfering voice or other audio. 

This Recommendation provides for error detection and rejection of corrupted messages, and 

rejection of mode selections that are unavailable. 

7.3.1.1 Background 

Two stations, Initiating and Responding, can have different capabilities, some of which are 

common. A common mode of communication must be agreed upon by both sides, depending on 

the priorities on each side. This is facilitated by V.8bis recommendation. 

7.3.1.2 Features and Performance 

Table 7-10 details the memory and MIPS requirements for V.8bis. 

Table 7-10. V.8bis Memory and MIPS Requirements 

Program 

Memory 

(words) 

Data ROM 

(words) 

Data RAM - 

Algorithm 

(words) 

Data RAM 

Per Instance 

(words) 

Library allocates memory 6774 557 1298 Only one 

instance can 

exist 

User application allocates 

memory 


Data RAM per 

instance is 

1298 words 

6774 557 1298 Only one 

instance can 

exist 

Data RAM per 

instance is 

1298 words 

Notes: 

• Data RAM figures in Table 7-10 do not include the gaps (unused memory) that will be introduced 

due to circular buffers. These buffers take advantage of the modulo buffer indexing feature of the 

Motorola DSP architecture which has strict memory alignment requirements. 

• Table 7-10 does not include memory requirements for the input and output buffers and the 

structures which must be passed to the calling modules. 

The v.21 modem and the tone generator and detector algorithms are MIPS-intensive modules. The 

MIPS for these threads are shown in Table 7-11. 




7-9 

MIPS 

N/A 

N/A 





Libraries 

• In Table 7-11, MIPS specified for baud processing are the peak values. 

• In Table 7-11, MIPS specified are for the period while the complete program and data are kept in 

external memory with zero wait states. 

This library is described in more detail in the document V.8bis Library. 

7.3.2 V.21 Library 

V.21 is a 300 bits-per-second duplex modem for use in the general switched telephone network. 

The V.21 uses a binary modulation obtained by frequency shift, resulting in a modulation rate 

equal to the data signaling rate (i.e., baud rate = bit rate). Since V.21 is a duplex modem, each unit 

has two channels, one for transmission and one for reception. The frequencies at which the 

channels work are shown in the following table. The V.21 library works at 7200Hz sampling rate. 

Channel Number 

Even high-end modems like V.90 might require a fallback to lower data-rate modes (e.g., 300bps, 

75bps). V.21 provides a solution to this requirement by allowing a data rate of 300bps. 

7.3.2.1 Performance 



Table 7-11. MIPS 

Module Name MIPS 

V.21 modem Transmitter 0.1134 

V.21 modem Receiver 1.2516 

Single Tone Generation 0.0647 

Single Tone Detection 0.8656 

DTMF Generation 0.1655 

DTMF Detection 0.9992 

Table 7-12. Frequencies Used in V.21 

Nominal Mean 

Frequency 

Mark Frequency Zero Frequency 

1 1080Hz 980Hz 1180Hz 

2 1750Hz 1650Hz 1850Hz 

Table 7-13 shows V.21 Memory and MIPS figures for internal memory on the DSP56F80x. 




MOTOROLA 





F 

Notes: 



Table 7-13. V.21 Memory and MIPS Requirements for Internal Memory on the DSP5680x 

Library allocates 

memory [includes 

v21Create() and 

v21Destroy()] 

User application 

allocates memory 

[does not include 

v21Create() and 

v21Destroy()] 

Program 

Memory 

(words) 

• Memory resources in Table 7-13 do not include the gaps (unused 

memory) that are introduced due to circular buffers 

• Table 7-13 does not include memory requirements for the input and 

output buffers and the structures which must be passed to the calling 

modules 

This library is described in more detail in the document V.21 Library. 


V.22bis conforms to the V.22bis Low-Speed Modem ITU-T Standard. 

Lower-end internet telephony and e-cash applications require a low-speed modem for exchanging 

data. ITU-T standard V.22 bis with 2400 bits per second is usually the preferred modem for these 

applications. Motorola has internally developed a single library module containing the V.22 bis 

modem. The modem was tested over all telephone networks available in continental North 

America using a network simulator and is available for the Motorola DSP568XX range of 

processors. 

7.3.3.1 Background 


Data ROM 

(words) 

Software 

Stack Per 

Channel 

(words) 

The ITU-T V.22bis recommendation describes a split-band modem for use on the General 

Switched Telephone Network and on Point-to-Point two wire leased telephone-type circuits. A 

split-band modem is characterized by transmission and reception on two spectral bands which do 

not overlap. The standard defines: 

• Calling modem to: 

— * transmit with a carrier frequency of 1200 Hz and 

— * receive with a carrier frequency of 2400 Hz 

• – Answering modem to: 

— * transmit with a carrier frequency of 2400 Hz and 

— * receive with a carrier frequency of 1200 Hz 

Data RAM 

Per Channel 

(words) 

MIPS at 7200Hz Sampling 

Rate 

Transmitter Receiver 

2325 535 24 248 0.14 1.0 

2081 535 24 248 0.14 1.0 




7-11 





Libraries 


Quadrature amplitude modulation technique is used for each channel with synchronous line 

transmission at 600 baud. The constellation could be either 16 point, 4 bits/baud supporting an 

input bit rate of 2400 bps, or 4 point, 2 bits/baud supporting 1200 bps. A scrambler is included in 

the input to the transmitter and a descrambler at the output of the receiver. The modem should 

have both an adaptive equalizer and a compromise equalizer. A guard tone of 1800 ±20 Hz or 550 

±20 Hz may be used while transmitting only in the high channel (transmitter of the answering 

modem). 


Table 7-14 shows the operating range of the V.22bis modem. 

Table 7-14. V.22bis Operating Range 

Data Rate 2400 / 1200 bits per second 

Line Bandwidth 300 - 3400 Hz 

Sampling Rate 7200 Hz 

Processing requirements for the V.22bis are shown in Table 7-15. 


Program 

Memory 

(words) 

Data ROM 

(words) 

Data RAM - 

Algorithm 

(words) 

Data RAM 

Per Instance 

(words) 


instance 

exists 


memory 


Data RAM per 

instance = 

310 

N/A N/A N/A N/A N/A 

Notes: 

• MIPS specified for baud processing are the peak values and are for the period while the complete 

program is kept in the external memory with zero wait states, the data tables in the internal 

memory and all other data variables in the external memory with zero wait states. 

• Data RAM figures in Table 7-15 do not include the gaps (unused memory) that will be introduced 

due to circular buffers. These buffers take advantage of the modulo buffer indexing feature of the 

Motorola DSP architecture which has strict memory alignment requirements. The table does not 

include memory requirement for the input and output buffers nor the structures which are to be 

passed to the calling modules. 





MOTOROLA 

MIPS 

Transmitter - 0.4 

Receiver - 3.6 








The V.42bis recommendation describes a data compression procedure that can be used while 

transferring data to improve throughput. The DCE then uses the error-correcting procedures 

defined in the Recommendation. 

The standard also provides options for transferring data in un-compressed (transparent) mode, 

which is useful when the transferred data is already compressed. The compressibility of the data is 

tested periodically to choose the most efficient mode. 

The compression algorithm used is the LZW algorithm, a version of Lempel and Ziv’s LZ2, 

modified by Terry Welch. The algorithm makes use of the data’s repeating patterns. Every 

subsequent occurrence of a pattern can be encoded as an index to its previous occurrence, rather 

than encoding the entire pattern itself. These frequently-occurring strings are stored in a 

dictionary. 

For successful decoding operation, the decoder must construct a dictionary, which is identical to 

the dictionary used by the encoder. Since the dictionary is constructed dynamically, the encoder 

cannot use entries which were added before the decoder’s construction process. The standard 

specifies the dictionary construction procedure under normal operations and under such special 

modes of operation as transition from transparent to compressed modes, flush request, etc. 


Table 7-16 shows MIPS and memory requirements for the V.42bis library. 


Program 

Memory 

(words) 

Data ROM 

(words) 

Data RAM - 

Algorithm 

(words) 

Data RAM 

Per Instance 

(words) 


instance 

exists. 


memory 


Data RAM per 

instance = 

16454 

2331 0 16454 Only one 

instance 

exists. 

Data RAM per 

instance = 

16454 




7-13 

MIPS 

N/A 

N/A 





Libraries 

Notes: 

• P1 is the dictionary size and P2 is the string length. 

• The data memory in Table 7-16 includes the memory for both encoder and decoder dictionaries. 

Both share equal amounts of memory. The dictionary size for the memory requirement is 2048 

nodes, and each node requires four locations. The encoder’s dictionary requirement is 2048 * 4 = 

8192 words. The decoder takes another 8192 words. Table 7-17 includes cycle count for V.42bis 

encoder and decoder for different dictionary sizes. Cycle Count in Table 7-17 = Oscillator Cycle 

Count / 2. 


7.4 Security Libraries 



Table 7-17. V.42bis Cycle Count 

Dictionary Parameters Encoder Cycle Count Decoder Cycle Count 

P1 = 512, P2 = 6 MAX count = 130046 

MIN count = 352 

P1 = 1024, P2 = 10 MAX count = 130046 


MAX count = 1988 


MAX count = 2490 


Security libraries provide information and transmission security algorithms. 

7.4.1 Data Encryption Standard (DES) Library 

DES conforms to the Federal Information Processing Standards Publications 46-2 and 81 (FIPS 

PUB 46-2 and FIPS PUB 81). 

Any secure communication/storage requires converting data to be transmitted into an 

unintelligible form, called cipher, and reconverting data back to its original form, called plaintext. 

The FIPS PUB 46-2 standard describing DES is the most widely-used encryption standard for 

these applications. Motorola has internally developed a single library module containing the DES 

in Cipher Feedback Mode (CFB) and Cipher Block Chaining Mode (CBC). 

Table 7-18 details DES memory requirements for external memory on the DSP56F80x. 




MOTOROLA 





Security Libraries 


Table 7-18. DES Memory and MIPs Requirements for External Memory on the DSP56F80x 



desCreate() and 

desDestroy()] 




desCreate() and 

desDestroy()] 

Program 

Memory 

(words) 

Data ROM 

(words) 

Note: Data RAM figures in Table 7-18 do not include the gaps (unused memory) that will be 

introduced due to circular buffers. These buffers take advantage of the modulo buffer indexing 

feature of the Motorola DSP architecture which has strict memory alignment requirements. 

Table 7-19 contains DES cycle count information for external memory on the DSP56F80x. 

Instruction Cycle Count = Oscillator Clock Cycles / 2 


Software Stack Per 

Channel (words) 

2711 231 Encrypt (CBC Mode) 

44 

Decrypt (CBC Mode) 

44 

Encrypt (CFB Mode) 

43 

Decrypt (CFB Mode) 

43 

2251 231 Encrypt (CBC Mode) 

44 

Decrypt (CBC Mode) 

44 

Encrypt (CFB Mode) 

43 

Decrypt (CFB Mode) 

43 

Note: The cycle counts in Table 7-19 are obtained for an input block (data to be encrypted or 

decrypted) of size 128 characters. 

This library is described in more detail in the document DES Library. 

Data RAM 

Per Channel 

(words) 




7-15 

MIPS 

890 N/A 

890 N/A 

Table 7-19. DES Cycle Counts for External Memory on the DSP56F80x 

Module Instruction Cycle Count for CFB Mode Instruction Cycle Count for CBC Mode 

Initialization 21042 21042 

Encryption 334092 163190 

Decryption 335484 164884 





Libraries 

7.4.2 Triple Data Encryption Standard (3DES) Library 

The DES core used in 3DES conforms to the Federal Information Processing Standards 

Publication 46-2, (FIPS PUB 46-2). 

A variant of the DES algorithm is 3DES, where DES is used three times, with different keys each 

time. Motorola has internally developed a single library module containing 3DES. 

Table 7-20 details the 3DES basic performance for external memory on the DSP56F80x. 

Table 7-20. 3DES Memory and MIPS Requirements for External Memory on the DSP56F80x 

Library allocates memory 

[includes triDesCreate() and 

triDesDestroy()] 


memory [does not include 

triDesCreate() and 

triDesDestroy()] 



Program 

Memory 

(words) 

Data ROM 

(words) 


introduced due to circular buffers. These buffers take advantage of the modulo buffer 

indexing feature of the Motorola DSP architecture which has strict memory alignment 

requirements. 

Table 7-21 shows the 3DES cycle count for external memory on the DSP56F80x. 

Instruction Cycle Count = Oscillator Clock Cycles / 2. 

Software 

Stack Per 

Channel 

(words) 

1850 231 Encrypt 

53 

Decrypt 

43 


53 

Decrypt 

43 

Note: The cycle counts in Table 7-21 are obtained for an input block (data to be encrypted or 

decrypted) of size 128 characters. 

This library is described in more detail in the document 3DES Library. 

Data RAM 

Per Channel 

(words) 




MOTOROLA 

MIPS 

1003 N/A 

1003 N/A 

Table 7-21. 3DES Cycle Count for External Memory on the DSP56F80x 

Module Instruction Cycle Count 

Initialization 50870 

Encryption 470662 

Decryption 470420 





7.4.3 RSA Library 

Security Libraries 


Discrete exponentiation has been employed in a different way by Rivest, Shamir and Adleman 

(RSA) to produce a public key cryptosystem. They make use of the fact that finding large prime 

numbers is computationally easy, but that factoring the product of two such numbers appears to be 

computationally infeasible. 

User A selects two large prime numbers at random, p and q, and multiplies them together to 

obtain a number, n. The number n is made public, but the factors p and q are kept secret. Using p 

and q, User A can compute the Euler's Totient function: 

Φ( n) 


(the number of integers less then n and relatively prime to n as) 

Φ( n) 

= (p-1)(q-1) 

User A then chooses another number, e, at random from the interval 2 through Φ( n) 

, such that e 

and Φ( n) 

are relatively prime. This number is also made public. Enciphering is carried out on each 

block as m, using the public information e and n as: 

c = m e (mod n) 

In this example, c represents the ciphertext. Using the secret number Φ( n) 

, User A can easily 

calculate a number, d, such that: 

(e.d) mod Φ( n) 

= 1 

If e has a common factor with then d does not exist. User B receives c and computes c d Φ( n) 

mod 

(n) which is equivalent to 

m.exp(k Φ( n) 

+1) (mod n) 

for some k. From Euler's theorem, x.exp( Φ( n) 

) (mod n) = 1, if x and n are relatively prime. Also, 

x.exp(k Φ( n) 

+1) (mod n) = x, for any integer x lying between 0 and n-1, where n=pq. Hence, User 

B gets the original message, m, by exponentiating c with d and finding modulo with respect to n. 

Similarly, we can explain the signaturing process with the following equations: 

m d (mod n) = s 

m = se (mod n) 

Table details the basic performance of RSA for external memory on the DSP56F80x. 




7-17 





Libraries 

Table 7-23 shows the cycle count for RSA on the DSP56F80x, when data memory is external. 

. 

Table 7-22. RSA Memory and MIPS Requirements for External Memory on the DSP56F80x 



rsaEncCreate() 

rsaEncDestroy() 

rsaDecCreate() and 

rsaDecDestroy()] 




rsaEncCreate() 

rsaEncDestroy() 

rsaDecCreate() and 

rsaDecDestroy()] 

Program 

Memory 

(words) 

Data 

ROM 

(words) 

Instruction Cycle Count = Oscillator Clock Cycles / 2 

Note: The cycle counts in Table 7-23 are obtained for 512 bit modulo (or 32 words) 

This library is described in more detail in the document RSA Library. 

7.5 Telephony Libraries 



Software Stack Per 

Channel (words) 


22 

Decrypt 

21 


22 

Decrypt 

21 

Telephony libraries include algorithms that are used in telephone applications. 

7.5.1 Acoustic Echo Canceller Library 

Acoustic echo cancellers (AECs) are voice-operated devices which eliminate acoustic echoes and 

protect the communication from howling due to acoustic feedback from loudspeaker to 

microphone. AECs are placed in audio terminals on the customer’s premises. 

Table 7-24 shows Memory and MIPS figures on the DSP56F80x. 

Data RAM 

Per Instance 

(words) 

153 + n*26, 

where n = length 

of modulo buffer 

153 + n*26, 

where n = length 

of modulo buffer 

Table 7-23. RSA Cycle Count for External Memory on the DSP56F80x 

Module Instruction Clock Cycles 

Initialization 32782 

Encryption 18349054 

Decryption 18349054 




MOTOROLA 

MIPS 

N/A 

N/A 





Notes: 

Telephony Libraries 


Table 7-24. AEC Memory and MIPS Requirements for External Memory on the DSP56F80x 


memory 

[includes 

aecCreate() and 

aecDestroy()] 

User 

application 



aecCreate() and 

aecDestroy()] 

Program 

Memory 

(words) 

• Memory resources in Table 7-24 include the gaps (unused memory) that 

are introduced due to circular buffers. These buffers take advantage of the 

modulo buffer indexing feature of Motorola’s DSP architecture, which has 

strict memory alignment requirements. 

• Table 7-24 does not include memory requirements for the input and output 

buffers and the structures which must be passed to the calling modules. 

For example, a 64ms tail length at an 8KHz sampling rate (512 taps), AEC library (on the 

DSP5680x) takes a peak MIPS of 23, 1024 internal memory words, and 1079 external 

memory words. 

This library is described in more detail in the document AEC Library. 

7.5.2 Caller ID Library 


Data ROM 

(words) 

Software 

Stack Per 

Channel 

(words) 

Data RAM 

Per Channel 

(words) 

1142 0 28 2N internal memory 

words 

55+2N external 

memory words 

N = Filter length 

(or echo tail length 

in taps) 

Multiple instances 

can exist 

869 0 28 2N internal memory 

words 

55+2N external 

memory words 

N = Filter length 

(or echo tail length 

in taps) 

Multiple instances 

can exist 

This algorithm implements GR-CORE-30 standard, a Bellcore standard for receiving 

on-hook/off-hook data transmission of Caller ID information. 

Table 7-25 details basic performance information for Caller ID on the DSP56F80x. 




7-19 

MIPS 

⎛1574 + 8N 

⎝ 

--------------------------- ⎞Fs10 2 ⎠ 

6 – × 

N = Filter length (or echo 

tail length in taps) 

F s = Sampling Frequency 

in Hz 

⎛1574 + 8N 

⎝ 

--------------------------- ⎞Fs10 2 ⎠ 

6 – × 

N = Filter length (or echo 

tail length in taps) 

F s = Sampling Frequency 

in Hz 





Libraries 

Table 7-25. Caller ID Memory and MIPS Requirements for External Memory on the DSP56F80x 


(includes CallerIDCreate() 

and callerIDDestroy()] 



CallerIDCreate() and 

callerIDDestroy()] 

Program 

Memory 

(words) 


introduced due to circular buffers. These buffers take advantage of the modulo buffer indexing 

feature of the Motorola DSP architecture which has strict memory alignment requirements. 

This library is described in more detail in the document Caller ID Library. 

7.5.3 CAS Detect Library 

Data ROM 

(words) 

Software 

Stack Per 

Channel 

(words) 

Data RAM 

Per Channel 

(words) 

MIPS at 

8000Hz 

Sampling Rate 

1365 28 16 393 2.584 

1089 28 16 393 2.584 

The CAS Detect library provides functionality for detecting the Customer Premises Equipment 

Alerting Signals. 

Table 7-26 shows CAS Detect performance information for external memory on the DSP56F80x. 

Table 7-26. CAS Detect Memory and MIPS for External Memory on the DSP56F80x 


(includes casDetectCreate 

and casDetectDestroy) 


memory (does not include 

casDetectCreate and 

casDetectDestroy) 



Program 

Memory 

(words) 

Data ROM 

(words) 

Software 

Stack Per 

Channel 

(words) 

Data RAM 

Per Channel 

(words) 

MIPS at 

8000Hz 

Sampling Rate 

1728 82 16 406 3.625 

1671 82 16 406 3.625 

Note: Table 7-26 does not include memory requirements for the input and output buffers or for 

the structures which are to be passed to the calling modules. 

For more details about CAS detection, refer to the document Customer Premises Equipment 

Alerting Signal (CAS) Library. 




MOTOROLA 





7.5.4 CPT Library 



The detection of Call Progress Tones (CPT) is used in the telephone network to detect a signal 

comprised of two frequencies that represent a specific tone. 

Table 7-27 details CPT MIPS and memory for external memory on the DSP56F80x. 

Table 7-27. CPT Memory and MIPS Requirements for External Memory on the DSP56F80x 


[includes CPTDetCreate() 

and CPTDetDestroy()] 



CPTDetCreate() and 

CPTDetDestroy()] 

Program 

Memory 

(words) 

Data ROM 

(words) 

Software 

Stack Per 

Channel 

(words) 

Note: Figures in Table 7-27 do not include the gaps (unused memory) that will be introduced 

due to circular buffers. 

This library complies with North American Telecom standards and is described in more detail in 

the document CPT Library. 

7.5.5 Common Tone Generation Library 

Data RAM 

Per Channel 

(words) 

MIPS at 

8000Hz 

Sampling Rate 

1221 6 23 142 1.5828 

1085 6 23 142 1.5828 

The Common Tone Generation library is capable of generating any tone with any number of simultaneous 

frequencies.These frequencies can have different starting and ending times and they can be repeated for 

different number of cycles. 

Table 7-28 details basic performance information for Common Tone Generation on the 

DSP56F80x. 

Table 7-28. CTG MIPS and Memory Requirements for External Memory on the DSP56F80x 


[includes ctgCreate() and 

ctgDestroy()] 

User application allocates memory 

[does not include ctgCreate() 

and ctgDestroy()] 


Program 

Memory 

(words) 

Data ROM 

(words) 

Software 

Stack Per 

Channel 

(words) 

Data RAM 

Per Channel 

(words) 

768 0 12 20 + 16 * 

(number of 

frequencies) 

568 0 12 20 + 16 * 

(number of 

frequencies) 

MIPS at 

8000Hz 

Sampling 

Rate 




7-21 

4.228 

4.228 





Libraries 


Note: Table 7-28 does not include memory requirements for the input and output buffers or for the 

structures which are to be passed to the calling modules. 

MIPS given in Table 7-28 is for a input buffer length of 16 samples. The MIPS are 

calculated for Call Progress Tones which involve 2 simultaneous frequencies. 

This library is described in more detail in the document Common Tone Generation Library. 

7.5.6 DTMF Generation Library 

The generation of Dual Tone Multiple Frequency (DTMF) signals (also known as Touch Tone 

signals) is used in the telephone network. A signal comprised of two frequencies that represent a 

digit on the telephone keyboard is generated. 

Table 7-29 details basic performance features of the DTMF Generation Library for external 

memory on the DSP56F80x. 

Table 7-29. MIPS and Memory Requirements for External Memory on the DSP56F80x 


(includes dtmfCreate() and 

dtmfDestroy()) 


memory (doesn’t include 

dtmfCreate() and dtmfDestroy()) 

Program 

Memory 

(words) 

This library is described in more detail in the document DTMF Generation Library. 

7.5.7 DTMF Detection Library 


Data ROM 

(words) 

Software 

Stack Per 

Channel 

(words) 

Data RAM 

Per 

Channel 

(words) 

MIPS at 

7200Hz 

Sampling 

Rate 

458 0 9 23 0.6642 

427 0 9 23 0.6642 

The detection of Dual Tone Multiple Frequency (DTMF) signals (also known as Touch Tone 

signals) is used in the telephone network. The aim is to detect a signal comprised of two 

frequencies that represent a digit on the telephone keyboard. 

The DTMF Detection MIPS and memory requirements for external memory on the DSP56F80x 

are shown in Table 7-30. 




MOTOROLA 







Table 7-30. MIPS and Memory Requirements for External Memory on the DSP56F80x 


[includes DTMFDetCreate() 

and DTMFDetDestroy()] 



DTMFDetCreate() and 

DTMFDetDestroy()] 

Note: Data memory figures in Table 7-30 do not include the gaps (unused memory) that will 

be introduced due to circular buffers. These buffers take advantage of the modulo buffer 

indexing feature of the Motorola DSP architecture which has strict memory alignment 

requirements. 

This library is described in more detail in the document DTMF Detection Library. 

7.5.8 G.165 Library 

Program 

Memory 

(words) 

Data ROM 

(words) 

Software 

Stack Per 

Channel 

(words) 

Data RAM 

Per Channel 

(words) 

MIPS at 

8000Hz 

Sampling Rate 

1337 48 34 266 0.9644 

1186 48 34 266 0.9644 

G.165-based echo cancellers conform to the ITU-T Recommendation (Previously “CCITT 

Recommendation”) G.165. 

Echo cancellers are voice operated devices placed in the four-wire portion of the circuit. They are 

used for reducing the echo by subtracting the echo estimate from the circuit echo. In this 

recommendation, echo cancellers are assumed to be “half” echo cancellers; i.e., those in which 

cancellation takes place only in the send path, due to signals present in the receive path of the 

circuit. 

Table 7-31 details basic performance of the G.165 Echo Canceller for external memory on the 

DSP56F80x. 

Table 7-31. G.165 Memory and MIPs Requirements for External Memory on the DSP56F80x 


[includes g165Create() and 

g165Destroy()] 



g165Create() and 



Program 

Memory 

(words) 

Data ROM 

(words) 

Software 

Stack Per 

Channel 

(words) 

Data RAM 

Per Channel 

(words) 

2552 234 17 742+4 * EchoSpan 

(number of taps) 

1966 234 17 742+4 * EchoSpan 


MIPS at 

8000Hz 

Sampling 

Rate 

13.1 for Echo 

Canceller 

13.1 for Echo 

Canceller 




7-23 





Libraries 



introduced due to circular buffers.These buffers take advantage of the modulo buffer 

indexing feature of Motorola’s DSP architecture, which has strict memory alignment 

requirements. Data ROM has a circular buffer of length 4. Data RAM has circular 

buffers of length 3, 3, 3, 3, 6, 6, EchoSpan (number of filter taps at an 8KHz sampling 

rate). 

This library is described in more detail in the document G.165 Library. 

7.5.9 G.168 Library 

G.168-based echo cancellers conform to the ITU-T Recommendation (Previously “CCITT 


Echo cancellers are voice-operated devices placed in the 4-wire portion of the circuit. They are 

used for reducing the echo by subtracting the echo estimate from the circuit echo. In this 

recommendation, the echo cancellers are assumed to be “half” echo cancellers, i.e., those in which 

cancellation takes place only in the send path, due to signals present in the receive path of the 

circuit. 


Table 7-32 details basic performance of the G.168 Echo Canceller on the DSP56DF80x. 

Table 7-32. G.168 Memory and MIPS Requirements for Internal Memory on the DSP56F80x 


[includes g168Create() and 




g168Create() and 



Program 

Memory 

(words) 

Data ROM 

(words) 

Software 

Stack Per 

Channel 

(words) 

Data RAM 

Per Channel 

(words) 

2211 234 20 282 + 3 * Echo- 

Span 


1716 234 20 282 + 3 * Echo- 

Span 


MIPS at 

8000Hz 

Sampling 

Rate (echo 

tail (msec)) 

5.2429 (8) 

6.0077(16) 

7.2685 (24) 

8.5613 (32) 

9.8541 (40) 

11.1469 (48) 

12.4397 (56) 

13.7325 (64) 

5.2429 (8) 

6.0077(16) 

7.2685 (24) 

8.5613 (32) 

9.8541 (40) 

11.1469 (48) 

12.4397 (56) 

13.7325 (64) 




MOTOROLA 





Notes: 



• Data RAM figures in Table 7-32 do not include the gaps (unused 

memory) that will be introduced due to circular buffers. These 

buffers take advantage of the modulo buffer indexing feature of 

Motorola’s DSP architecture, which has strict memory alignment 

requirements. Data ROM has a circular buffer of length 4. Data 

RAM has circular buffers of length 3, 3, 3, 3, 6, 6, EchoSpan 

(number of filter taps at an 8KHz sampling rate). 

• MIPS in Table 7-32 are for 80 input samples per call. 


7.5.10 G.711 Library 

G.711-based log-PCM conforms to the ITU-T Recommendation (Previously “CCITT 


The characteristics mentioned in the standard are recommended for encoding (A-law or µlaw) 

voice frequency signals to yield a bit rate of 64 kbits/s at an 8000Hz sampling rate. G.711 is a 

PCM Encoding and Decoding (log-PCM) Library. 

Table 7-33 outlines basic performance of the G.711 library for external memory on the 

DSP56F80x. 

Notes: 

Table 7-33. G.711 Memory and MIPS for External Memory on the DSP56F80x 

Library Functions 


Program 

Memory 

(words) 

Data ROM 

(words) 

Software 

Stack Per 

Channel 

(words) 

• Table 7-33 does not include memory requirements for the input and output 

buffers. 

• Data RAM figures in Table 7-33 do not include the gaps (unused memory) 

that will be introduced due to circular buffers. These buffers take 

advantage of the modulo buffer indexing feature of Motorola’s DSP 

architecture, which has strict memory alignment requirements. 


Data RAM 

Per 

Channel 

(words) 

MIPS at 

8000Hz 

Sampling Rate 

Linear2alaw 116 0 11 N/A 1.8 

Linear2ulaw 102 0 11 N/A 1.7 

alaw2linear 60 0 2 N/A 0.4 

ulaw2linear 42 0 2 N/A 0.37 

alaw2ulaw 44 256 2 N/A 0.4 

ulaw2alaw 46 256 2 N/A 0.41 

User application allocates memory N/A N/A N/A N/A N/A 




7-25 





Libraries 

7.5.11 G.726 Library 

The ITU-T Recommendation G.726 Adaptive Differential Pulse Code Modulation Speech Codec 

converts a 64 Kbits/s A-Law or µLaw pulse code modulation (PCM) channel to and from 40, 32, 

24, 16 Kbits/s PCM stream using an ADPCM transcoding technique. 

Memory requirements for the G.726 ADPCM Codec library for external memory on the 

DSP56F80x are shown in Table 7-34. 

Table 7-34. G726 Memory and MIPS Requirements for External Memory on the DSP56F80x 

Library 

allocates 


G726EncCreate() 

G726EncDestroy() 

G726DecCreate() 

and 

G726DecDestroy()] 

User 

application 

allocates 

memory [does not 

include 

G726EncCreate() 

G726EncDestroy() 

G726DecCreate() 

and 

G726DecDestroy()] 

Program 

Memory 

(words) 



Program 

ROM 

(words) 

Data 

ROM 

(words) 


introduced due to circular buffers. These buffers take advantage of the modulo buffer 

indexing feature of Motorola’s DSP architecture which has strict memory alignment 

requirements. 


7.5.12 MFCR2 Detection Library 

Software 

Stack 

Per 

Channel 

(words) 

1349 417 305 Encoder 

14 

Decoder 

14 

1274 417 305 Encoder 

14 

Decoder 

14 

Data 

RAM 

Per 

Channel 

(words) 

133 

Only one 

instance 

exists 

133 

Only one 

instance 

exists 

MIPS at 8000Hz Sampling Rate 

Encoder Decoder 

8.088 @40kbps 

7.896 @32kbps 

7.800 @24kbps 

7.773 @16kbps 

8.088 @40kbps 

7.896 @32kbps 

7.800 @24kbps 

7.773 @16kbps 

8.992 @40kbps 

8.800 @32kbps 

8.704 @24kbps 

8.640 @16kbps 

8.992 @40kbps 

8.800 @32kbps 

8.704 @24kbps 

8.640 @16kbps 

The MFCR2 signal consists of two frequencies, taken from either the set of six forward 

frequencies or from the set of six backward frequencies. The MFCR2 receiver detects any valid 

MFCR2 signal and outputs the numerical value corresponding to that signal. 




MOTOROLA 








The MFCR2 Detection memory and MIPS requirements for internal memory on the DSP56F80x 


Notes: 

Table 7-35. MFCR2 Detection Memory and MIPS for Internal Memory on the DSP56F80x 


[includes 

MFCR2DetectCreate() and 

MFCR2DetectDestroy()] 



MFCR2DetectCreate() and 

MFCR2DetectDestroy()] 

• Data memory figures in Table 7-35 do not include the gaps (unused 

memory) that will be introduced due to circular buffers. These 

buffers take advantage of the modulo buffer indexing feature of the 

Motorola DSP architecture, which has strict memory alignment 

requirements. 

• MIPS in Table 7-35 is for an input buffer length of 32 samples. 

A test that verifies the operation of the MFCR2 Detection library is described in Chapter 8. 

This library is described in more detail in the document MFCR2 Detection Library. 

7.5.13 VAD Library 


Program 

Memory 

(words) 

Data ROM 

(words) 

Software 

Stack Per 

Channel 

(words) 

Data RAM 

Per Channel 

(words) 

MIPS at 

8000Hz 

Sampling Rate 

986 250 5 216 4.1 

816 250 5 216 4.1 

The VAD library implements an algorithm to detect voice activity and activate or deactivate the 

transmission of packets to optimize bandwidth. 

Table 7-36 details the basic performace of VAD for external memory on the DSP56F80x. 




7-27 





Libraries 

Notes: 

Table 7-36. VAD Memory and MIPS Requirements for External Memory on the DSP56F80x 


[includes vadCreate() and 

vadDestroy()] 



vadCreate() and vadDestroy()] 

Program 

Memory 

(words) 

• Table 7-36 does not include memory requirement for the input and output 

buffers, nor for the structures which must be passed to the calling modules. 

• Data RAM figures in Table 7-36 do not include the gaps (unused memory) 

that will be introduced due to circular buffers. These buggers take 

advantage of the modulo buffer indexing feature of the Motorola DSP 

architecture which has strict memory alignment requirements. 

This library is described in more detail in the document Voice Activity Detector Library. 

7.6 Speech Libraries 



Data ROM 

(words) 

Software 

Stack Per 

Channel 

(words) 

7.6.1 Voice Recognition (VRLite-1) Library 

Data RAM 

Per Channel 

(words) 

MIPS at 

8000Hz 

Sampling Rate 

1299 0 27 84 1.833 

1214 0 27 84 1.833 

VRLite-1 is a memory-optimized, isolated-word, speaker-dependent speech recognition system. 

This means that the system must be trained to the voice of a particular user and that it can 

recognize only isolated words. For example, if the user trained the words “call” and “Bob”, the 

algorithm can recognize both “call” and “Bob”, but not the phrase “call Bob”. 

Many products, such as a mobile phone, require a voice recognition system to operate the phone 

through voice. VRLite-1 is a solution to this requirement. 

Figure 7-1 shows the entire system in the context of a product and emphasizes the scope of the 

VRLite-1 software algorithm. 




MOTOROLA 





Speech Libraries 


Microphone 

Display 


BPF 

(0.25--3.8KHz) 

Host Software 

(Product Specific) 

Handset Controller Core Algorithm 

Figure 7-1. Typical Speaker-Dependent Speech Recognition Block Diagram 

Handset: The input is a signal (through a microphone) containing speech, and will output a 

symbol that represents the recognized utterance or perform some task associated with the 

recognized speech. The display might be used to prompt the user for different inputs or flag-out 

messages to the user. 

Controller 1 : This part consists of host processor, A/D, and D/A converters. The input speech is 

filtered and digitized. The host software supplies one frame at a time to the front end of the 

VRLite algorithm. Note that front end processing in VRLite is real time. After the front end 

processing, the host appropriately invokes the back end for either training or recognition. 

Core Algorithm: The core algorithm consists of frontend and backend of VRLite-1. The frontend 

is filter-bank based and extracts the features from the speech frames. The backend consists of 

HMM based training and recognition algorithms. 

Table 7-37 shows VRLite-1 Memory and MIPS figures for external memory on the DSP56F80x. 

1. The APIs provided in Chapter 3 are not for the “Handset” user but for the user who writes the “host software”. The test files provided in the 

library somewhat serve as “controller”. 




7-29 

ADC 

8KHz 

DAC 

8KHz 

VRLite-1 

Algorithm 

(Front end 

+ 

Back end) 





Libraries 

Table 7-37. VRLite-1 Memory and MIPS Requirements for External Memory on the DSP56F80x 



vrlite1Create() and 

vrlite1Destroy()] 




vrlite1Create() and 

vrlite1Destroy()] 

Program 

Memory 

(words) 

Data ROM 

(words) 

Software 

Stack Per 

Channel 

(words) 

Data RAM 

Per Channel 

(words) 

7100 540 51 4670 

(only one 

channel is 

possible) 

7100 540 51 4670 

(only one 

channel is 

possible) 

Table 7-38 shows the Instruction Cycle Count figures for external memory on the DSP56F80x 

(which equals Oscillator Cycle Count / 2) for Training, Rejection Analysis, and Recognition, 

non-real time modules. 

Notes: 

• Memory resources in Table 7-38 include the gaps (unused memory) that are introduced due to 

circular buffers. These buffers take advantage of the modulo buffer indexing feature of the 

Motorola DSP architecture, which has strict memory alignment requirements. 

• Table 7-38 does not include memory requirements for the input and output buffers and the 

structures which must be passed to the calling modules. 

This library is described in more detail in the document Voice Recognition (VRLite-1) Library. 




MOTOROLA 

MIPS 

28 for front end only, which 

is real time 

28 for front end only, which 

is real time 

Table 7-38. Instruction Cycle Counts for External Memory on the DSP56F80x 

Module Instruction Cycle Count 

Training of a word 1440766 

Rejection Analysis per trained word in the 

vocabulary 

Recognition per trained word in the 

vocabulary 



626078 

568926 





Chapter 8 

Library Tests 

The SDK for the DSP56F80x platform comes with several tests. These tests are used to verify that 

the libraries in the SDK are functioning correctly. The following sections describe these tests in 

more detail. 

8.1 System Library 

The system test, used to verify the system library, is found in: 

...\sdk\src\dsp5680xevm\nos\sys\test\testsys.mcp for the DSP56F80x device you’re 

implementing. 

8.1.1 System Test 

The system test verifies the correct operation of the intrinsic functions; SDK handling of 

interrupts; and the SDK memory management functions. 

8.1.1.1 Set-up for System Test 

EVM Jumper Settings: 



Use the default settings shown in the DSP56F80x Evaluation Module User’s Manual for the 

device you’re implementing 

8.1.1.2 Procedure for System Test 

• Using CodeWarrior, open: 

...\nos\sys\test\testsys.mcp 

• Build and download the project; when the debugger reaches main(), it will stop 

• Select Run in the debugger to continue executing the test 

• The test results will be displayed on CodeWarrior’s console 

MOTOROLA Library Tests 



8-1 





Library Tests 

8.2 Tools Library 

The tools tests, used to verify the tools library, are found in: 

...\sdk\src\dsp5680xevm\nos\tools\Debug\tools.lib 

The tools library includes the FIFO, stack check, and debug functions of the SDK. 

8.2.1 FIFO Test 

The FIFO test verifies the correct operation of the FIFO functions provided by the SDK. 

8.2.1.1 Set-up for FIFO Test 



device you’re implementing. 

8.2.1.2 Procedure for FIFO Test 


...\nos\tools\test\fifo.mcp 




8.3 DSP Functions Library 

The DSP function tests are used to verify the DSP functions library, found in: 

...\sdk\src\dsp5680xevm\nos\signal\dspfunc\Debug\dspfunc.lib 

The DSP Functions library includes the Math, Filters, RFFT, and CFFT functions of the SDK. 

8.3.1 Math Tests 

The math tests verify the correct operation of the math functions provided by the SDK. There are 

separate tests available to test 16-bit math operations and 32-bit math operations. 

8.3.1.1 Set-up for Math Test 









MOTOROLA 





DSP Functions Library 


8.3.1.2 Procedures for Math Tests 

To test 16-bit math operations: 


...\nos\signal\dspfunc\test\math\math.mcp 




To test 32-bit math operations: 


...\nos\signal\dspfunc\test\math2\math2.mcp 




8.3.2 Filter Test 

The filter test verifies the correct operation of the filter functions provided by the SDK. 

8.3.2.1 Set-up for Filter Test 




8.3.2.2 Procedure for Filter Test 


...\nos\signal\dspfunc\test\filters\filters.mcp 




8.3.3 RFFT Test 

The RFFT test verifies the correct operation of the RFFT functions provided by the SDK. 

8.3.3.1 Set-up for RFFT Test 





MOTOROLA Library Tests 



8-3 





Library Tests 


8.3.3.2 Procedure for RFFT Test 


...\nos\signal\dspfunc\test\rfft\testrfft.mcp 




8.3.4 CFFT Test 

The RFFT test verifies correct operation of the CFFT functions provided by the SDK. 

8.3.4.1 Set-up for CFFT Test 





8.3.4.2 Procedure for CFFT Test 


...\nos\signal\dspfunc\test\cfft\testcfft.mcp 









MOTOROLA 







Chapter 9 


9.1 Porting 801 Applications to 802 

Due to the many similarities between the DSP56F801 and DSP56F802, applications written for 

the DSP56F801 may easily be ported to the DSP56F802 . In fact, the DSP56F802 is supported by 

the DSP56F801 Evaluation Module (EVM) target hardware and Embedded SDK software 

libraries. It is the user’s responsibility to understand the differences between the processors and 

avoid the use of software libraries that are not supported by the hardware. All applications 

described in this section will run on the DSP56F801 by default using the external oscillator, 

except the Serial Bootloader, which uses the internal relaxation oscillator by default. These same 

applications will run on the DSP56F802 simply by changing the configuration of the clock 

selection from external to internal. This internal clock selection may be accomplished by adding 

the code shown in Code Example 9-1 to the appconfig.h file of the selected application. 

Code Example 9-1. Internal Clock Selection 

#define PLL_CONTROL_REG ( PLL_LOCK_DETECTOR \ 

| PLL_ZCLOCK_POSTSCALER \ 

| PLL_PRESCALER_INTERNAL_CLK_SELECT) 

9.2 Common Hardware Configuration for Motor 

Control Applications 

The DSP56F801EVM board provides hardware interfaces for motor control applications. These 

include Encoder/Hall Effect Interface; Overvoltage Sensing; Overcurrent Sensing; Back-EMF 

zero-crossing detection logic; and Start/Stop motor overide switch. For more specific 

DSP56F801 information, refer to the DSP56F80x User’s Manual. 

9.2.1 Settings for EVM Trimpots 

Settings for the DSP56F801 board-required fault trimpots are shown in Figure 9-1, Table 9-1: 

MOTOROLA DSP56F801/802 Applications 



9-1 







Figure 9-1. Trimpot Pins (Top View) 

Table 9-1. Trimpot Settings for EVM Motor Board BLDC Motor Control Application 

9.3 BLDC Sensorless with Back-EMF Zero Crossing 

Using ADC Application 

This application exercises sensorless control of the BLDC motor on the DSP56F801EVM board 

and the EVM Motor Kit. 

9.3.1 Files 


GND - pin TP2 

Trimpot Comment 

POT 

The BLDC Sensorless with BEMF Zero Crossing using ADC application is composed of the 

following files: 

• ...\dsp56801evm\nos\applications\bldc_adc_zerocross\bldcadczcapplication.c, 

main program 

• ...\dsp56801evm\nos\applications\bldc_adc_zerocross\bldcadczcdefines.h, 

main program definitions 

• ...\dsp56801evm\nos\applications\bldc_adc_zerocross\bldc_adc_zerocross.mcp, 

application project file 

• ...\dsp56801evm\nos\applications\bldc_adc_zerocross\configflash\appconfig.c, 

application configuration file for Flash 

• ...\dsp56801evm\nos\applications\bldc_adc_zerocross\configflash\appconfig.h, 


• ...\dsp56801evm\nos\applications\bldc_adc_zerocross\configflash\linker.cmd, 

linker command file for Flash 

• ...\dsp56801evm\nos\applications\bldc_adc_zerocross\configflash\flash.cfg, 

configuration file for Flash 

These files are located in the SDK installation directory. 

Voltage 

POT - Pin 2 to GND 

R25 Overvoltage Fault Detection UNI-3 3.3V 

R30 Overcurrent Fault Detection UNI-3 3.3V 

2 

1 3 

9-2 Targeting Motorola DSP5680X Platform 



MOTOROLA 





9.3.2 Specifications 

BLDC Sensorless with Back-EMF Zero Crossing Using ADC Application 


This application performs a sensorless control of the BLDC motor on the DSP56F801 processor 

with closed loop speed control. In the application, the PWM module is set to independent mode 

with a 10.0KHz switching frequency. The state of the zero crossing signals are read from the 

Input Monitor Register of the Quadrature Encoder. The masking of the PWM channels is 

controlled by the PWM Channel Control Register. The content of this register is derived from 

Back-EMF zero crossing signals. 

The application can run on: 

• Flash 

• EVM Motor Board 

• Manual Operating Mode 

• 12V AC Power Supply 


This BLDC sensorless motor control application can operate in the following mode: 

1. Manual Operating Mode 

The drive is controlled by the RUN/STOP switch, which enables/disables motor 

spinning. The required speed is set independently on the commutation by the IRQA 

push button; refer to Figure 9-2. When the application is running and RUN/STOP 

switch is set to STOP, the green user LED, shown in Figure 9-2, will blink. When the 

switch is set to RUN, the green user LED is on constantly. In the RUN mode, pressing 

the IRQA button causes the motor to spin the motor incrementally faster in one 

direction until it reaches the maximum speed. Subsequent keypresses will 

incrementally slow the motor until it reaches a stop state and then will begin spinning 

incrementally faster in the opposite direction. If a DCBus Overcurrent condition 

occurs, the internal fault logic is asserted and the application enters a fault state (the 

green LED is turned off). This state can be exited only by an application RESET. It 

is strongly recommended that you inspect the entire application to locate the source 

of the fault before starting it again. 




9-3 








Figure 9-2. RUN/STOP Switch and IRQA Button 




MOTOROLA 





9.3.3 Set-up 



Figure 9-3 illustrates the hardware set-up for the BLDC Sensorless with BEMF Zero Crossing 

using ADC application when using the EVM motor board. 

Figure 9-3. Set-up of the EVM motor board BLDC Motor Control Application 

9.3.3.1 EVM Jumper Settings 


To execute the BLDC Sensorless with BEMF Zero Crossing using ADC application, the 

DSP56F801EVM board requires the strap settings shown in Figure 9-4 and Table 9-2. 




9-5 







Jumper 

Group 

Figure 9-4. DSP56F801EVM Jumper Reference 

Note: When running the EVM target system in a stand-alone mode from Flash, the JG5 

jumper must be set in the 1-2 configuration to disable the command converter parallel 

port interface. 

9.3.4 Build 


3 

2 

1 

JG9 

JG1 

1 2 

3 4 

3 

2 

1 

JG4 

3 

2 

1 

JG2 

P3 

J7 JG3 

3 

2 

1 

J5 JG9 JG2 

JG1 

3 

2 

1 

JG4 

S3 

RUN/STOP 

Table 9-2. DSP56F801EVM Jumper Settings 

Comment 

DSP56F801EVM 

Jumpers 

Connections 

JG1 UNI-3 Serial Selected; PFC Disabled 1-2, 3-4 

JG2 Zero Cross Selected 1-2, 4-5 & 7-8 

JG3 UNI-3 Overcurrent Selected for FAULT0 2-3 

JG4 UNI-3 Back-EMF Selected as inputs to A/D 1-2, 4-5 & 7-8 

JG5 Enable On-board Parallel JTAG Host/Target Interface NC 

JG6 Enable RS-232 output NC 

JG7 Use on-board EXTAL crystal input for DSP oscillator 1-2 

JG8 Use on-board XTAL crystal input for DSP oscillator 1-2 

J3 

JG9 Encoder Input Selected to TD1 and TD2 2-3, 5-6 

To build this application, open the bldc_adc_zerocross.mcp project file and execute the Make 

command, as shown in Figure 9-5. This will build and link the BLDC Motor Control application 

and all needed Metrowerks and SDK libraries 

J1 




MOTOROLA 

S2 

1 

JG7 

JG3 

U1 

S1 

RESET IRQA 

S4 S5 

UP 

DOWN 

Y1 

3 

J4 

JG5 

JTAG 

U5 

J2 

JG8 

J6 

U2 

JG6 

J8 

P2 

P4 

P1 

1 

JG7 

3 

JG8 

JG5 

JG6 





9.3.5 Execute 





To execute the BLDC Motor Control application, choose the Program/Debug command in the 

CodeWarrior IDE, followed by the Run command. For more help with these commands, refer to 

the CodeWarrior tutorial documentation in the following file, which is located in the CodeWarrior 

installation directory: 


Once the application is running, indicated by a flashing green LED, move the RUN/STOP switch 

to the RUN position and set the required voltage with the IRQA push button. If successful, the 

BLDC motor will be spinning. The switch is in RUN position when it is flipped down toward the 

RUN/STOP lettering on the EVM board. 

Note: If the RUN/STOP switch is set to the RUN position when the application starts, toggle 

the RUN/STOP switch between the STOP and RUN positions to enable motor 

spinning. This is a protection feature that prevents the motor from starting 

automatically without human intervention. 


Application - Open Loop 

This application demonstrates a principal of the V/Hz control of the 3-Phase AC Induction motor 

using the DSP56F801EVM board, Optoisolation board, and 3-phase AC BLDC High Voltage 

power stage. 




9-7 







9.4.1 Files 

The 3-Phase AC Induction Motor Control V/Hz Application - Open Loop is found in directory: 

..\src\dsp56801evm\nos\applications\3ph_AC_VHz_OL\ 

and is composed of the following files: 

• 3ph_AC_VHz_OL.c, Open Loop main application program 

• 3ph_AC_VHz_OL.h, Open Loop application header file 

• 3ph_AC_VHz_OL.mcp, Open Loop project file 

• configflash\appconfig.c, application configuration file for Flash 

• configflash\appconfig.h, application configuration file for Flash 

• configflash\linker.cmd, linker command file used for Flash 

• appconst.c, application constants placed in data Flash 

• appconst.h, header file for appconst.c 


9.4.2 Specification 

This application performs principal control of the 3-phase AC induction motor using the 

DSP56F801 processor. The control technique sets the speed ([rpm], [Hz]) of the magnetic field 

and calculates the phase voltage amplitude according to a V/Hz table. This table is private to the 

application and reflects the AC induction motor parameters Base Voltage/frequency; Boost 

Voltage/frequency; and DC Boost Voltage. The incremental encoder is used to derive the actual 

rotor speed. Protection is provided against drive faults Overcurrent, Overvoltage, Undervoltage 

and Overheating. 

System Outline 


The system is designed to drive a 3-phase AC induction motor (ACIM). The application has the 

following specifications: 

• Volt per Hertz control technique used for ACIM control 

• Targeted for DSP56F801EVM 

• Running on 3-phase AC induction motor control development platform at variable line 

voltage 115V AC and 230V AC (range -15% to +10%) 

• Motor mode 

• Generator mode 

• DCBus brake 

• Minimum speed 50 rpm 

• Maximum speed 2250 rpm at input power line 230V AC 


• Power stage and optoisolation board identification 

• Fault protection 

• Manual interface (RUN/STOP switch; UP/DOWN push buttons control; LED indication) 

• PC master software remote control interface (speed set-up) 

• PC master software remote monitor 

• PC master software monitor interface (required speed; actual motor speed; drive fault 

status; DCBus voltage level; identified power stage boards) 




MOTOROLA 





Application Description 



The Volt per Hertz control algorithm is calculated on the Motorola DSP56F801. The algorithm 

generates 3-phase PWM signals for an AC induction motor inverter according to the 

user-required inputs, measured and calculated signals. 

The concept of the ACIM drive incorporates the following hardware components: 

• AC induction motor-brake set 

• 3-phase AC/BLDC high voltage power stage 

• DSP56F801EVM boards 

• Optoisolation box, which is connected between the power stage board and the 

DSP56F801EVM 

The AC induction motor--brake set incorporates a 3-phase AC induction motor and attached 

BLDC motor brake. The AC induction motor has four poles. The incremental position sensor 

(encoder) is coupled on the motor shaft. The detailed motor--brake specifications are listed in 

Table 9-3. 

The following software tools are needed for compiling, debugging, loading to the EVM, remote 

control and monitoring: 

• Metrowerks CodeWarrior 4.0 

• PC master software 

• SDK 2.4 or later 


Table 9-3. Motor--Brake Specifications 

Set Manufactured EM Brno, Czech Republic 

Motor Specification Motor Type AM40V 

3-Phase AC Induction Motor 

Pole-Number 4 

Nominal Speed 1300 rpm 

Nominal Voltage 3 x 200V 

Nominal Current: 0.88A 

Brake Specification Brake Type SG40N 

3-Phase BLDC Motor 

Pole-Number 6 

Nominal Speed: 1500rpm 


Nominal Current 2.6 A 

Position Sensor (Encoder) Type Baumer Electric 

BHK 16.05A 1024-12-5 

Pulses per revolution 1024 




9-9 







Measured quantities: 

• DCBus voltage 

• Power module temperature 

• Rotor speed 

The faults used for drive protection: 


• Overvoltage (PC master software error message - Overvoltage fault) 

• Undervoltage (PC master software error message - Undervoltage fault) 

• Overcurrent (PC master software error message - Overcurrent fault) 

• Overheating (PC master software error message - Overheating fault) 

• Wrong-hardware (PC master software error message - Wrong HW used) 

The 3-phase AC Induction Motor Control V/Hz Application can operate in two modes: 


The drive is controlled by the RUN/STOP switch (S3). The motor speed is set by the 

UP (S4) and DOWN (S5) push buttons (refer to Figure 9-6). If the application runs 

and motor spinning is disabled (i.e., the system is ready), the green user LED (LED7; 

see Figure 9-6) will blink. When motor spinning is enabled, the green user LED will 

be On and the actual state of the PWM outputs are indicated by PWM output LEDs. 

If Overcurrent, Overvoltage or Overheating occur, the green user LED starts to flash 

quickly and the PC master software signals the identified fault. When the fault 

condition passes and the fault is acknowledged (the RUN/STOP switch is in the 

STOP position), the application returns to its normal state. It is strongly 

recommended that you inspect the entire application to locate the source of the fault 

before starting it again. Refer to Table 9-4 for application states. 




MOTOROLA 







Figure 9-6. RUN/STOP Switch and UP/DOWN Buttons 

2. PC master software (Remote) Operating Mode 

The drive is controlled remotely from a PC through the SCI communication channel of the 

DSP device via an RS-232 physical interface. The drive is enabled by the RUN/STOP 

switch, which can be used to safely stop the application at any time. 

The following control actions are supported: 

• Set the Required Speed of the motor 


Table 9-4. Motor Application States 

Application State Motor State Green LED State 

Stopped Stopped Blinking at a frequency of 2Hz 

Running Spinning ON 

Fault Stopped Blinking at a frequency of 8Hz 




9-11 







PC master software displays the following information: 

• Actual and Required Speed of the motor 

• Phase voltage amplitude (related to given DCBus voltage) 

• Application mode - RUN/STOP 

• DCBus voltage, temperature of power module 

• Drive Fault status 

If Overcurrent, Overvoltage, Undervoltage, or Overheating occur , the internal fault logic is 

asserted and the application enters a fault state (the user LED will start to flash quickly). When the 

fault condition has passed and the fault is acknowledged (the RUN/STOP switch is in the STOP 

position), the application returns to its normal state. It is strongly recommended that you inspect 

the entire application to locate the source of the fault before starting it again. 

The PC master software project file is located in : 


..\nos\applications\3ph_AC_VHz_OL\PC_Master\3ph_AC_VHz_Flash.pmp, which uses 

Map file for running in Flash 

Start the PC master software window’s application and choose the PC master software project for 

the desired PC master software Operating Mode. Figure 9-7 shows the PC master software control 

window for 3ph_AC_vHz_Flash.pmp. 

Figure 9-7. PC Master Software Control Window 




MOTOROLA 





9.4.3 Set-up 



Figure 9-8 illustrates the hardware set-up for the 3-phase AC Motor Control Application - Open 

Loop. 

Figure 9-8. Set-up of the 3-phase AC Induction Motor Control Application - Open Loop 

The correct order of phases (phase A, phase B, phase C) for the AC induction motor shown in 

Figure 9-8 follows: 

• phase A = red wire 

• phase B = white wire 

• phase C = black wire 

When facing a motor shaft, if the phase order is: phase A, phase B, phase C, the motor shaft 

should rotate clockwise (i.e., positive direction, positive speed). 

For detailed information, see the DSP56F801 Evaluation Module Hardware Reference 

Manual. The serial cable is needed for the PC master software debugging tool only. 



To execute the 3-Phase AC Induction Motor Control V/Hz Application - Open Loop, the 

DSP56F801 board requires the strap settings shown in Figure 9-9 and Table 9-5. 




9-13 







Jumper 

Group 


When running the EVM target system in a stand-alone mode from Flash, the JG5 jumper must be 

set in the 1-2 configuration to disable the command converter parallel port interface. 

9.4.4 Build 

3 

2 

1 

JG9 

JG1 

1 2 

3 4 

3 

2 

1 

JG4 


3 

2 

1 

JG2 

P3 

J5 

J7 JG3 

3 

2 

1 

JG9 JG2 

JG1 

3 

2 

1 

JG4 

S3 

RUN/STOP 

J3 

J1 


Comment 

DSP56F801EVM 

Jumpers 

Connections 

JG1 UNI-3 Serial Selected; PFC Disabled 1-2, 3-4 

JG2 Encoder input selected for incremental encoder signals 2-3, 5-6 & 8-9 

JG3 UNI-3 Overcurrent Selected for FAULT0 2-3 

JG4 UNI-3 Phase current sensing selected as inputs to A/D 2-3, 5-6 & 8-9 

JG5 Enable On-board Parallel JTAG Host/Target Interface NC 


JG7 Use on-board EXTAL crystal input for DSP oscillator 1-2 

JG8 Use on-board XTAL crystal input for DSP oscillator 1-2 

S2 

JG9 Encoder Input Selected to TD1 and TD2 2-3, 5-6 

To build this application, open the 3ph_AC_VHz_OL.mcp project file and execute the Make 

command; see Figure 9-10. This will build and link 3-phase AC V/Hz Motor Control application 

and all needed Metrowerks and SDK libraries. 




MOTOROLA 

1 

JG7 

JG3 

U1 

S1 

RESET IRQA 

S4 S5 

UP 

DOWN 

J4 

Y1 

3 

JG5 

JG8 

J6 

JTAG 

U5 

J2 

U2 

JG6 

J8 

P2 

P4 

P1 

1 

JG7 

3 

JG8 

JG5 

JG6 





9.4.5 Execute 





To execute the 3-phase AC V/Hz Motor Control application, choose the Program/Debug 

command in the CodeWarrior IDE, followed by the Run command. 

To execute the 3-phase AC V/Hz Motor Control application’s internal Flash version, choose the 

Program/Debug command in the CodeWarrior IDE. When loading is finished, set jumper JG5 to 

disable the JTAG port and push the RESET button. 

For more help with these commands, refer to the CodeWarrior tutorial documentation in the 

following file, located in the CodeWarrior installation directory: 


For jumper settings, see the DSP56F801 Evaluation Module Hardware User’s Manual. 

Once the application is running, move the RUN/STOP switch to the RUN position and set the 

required speed with the UP/DOWN push buttons. Pressing the UP/DOWN buttons should 

incrementally increase the speed of the motor until it reaches maximum speed. If successful, the 

3-phase AC Induction motor will be spinning. 



spinning. This is a protection feature that prevents the motor from starting when the 

application is executed from CodeWarrior. 

You should also see a lighted green LED which indicates that the application is running. If the 

application is stopped, the green LED will blink at a 2Hz frequency. 




9-15 







9.5 Serial Bootloader 

The Serial Bootloader has been developed to load and run a proprietary user application presented 

as an S-Record file into the Program and Data memory. The Serial Bootloader is located in the 

dedicated Program Memory region, called Boot Flash. The Serial Bootloader supports the 

simplest serial protocol, so a standard serial terminal program can be used on the host PC. 

The Serial Bootloader application reads the S-Record file of a user application (for example, 

generated by CodeWarrior) via serial interface, parses this S-Record file, and stores needed data 

in Program and Data Flash memory. When the processing of the S-Record file is finished, the 

Bootloader launches the loaded application. If any error occurs while loading the S-Record file, 

the Bootloader outputs an error message with an error number via the serial line and resets the 

processor. 

9.5.1 Files 

The Serial Bootloader application includes the following files: 

• ..\nos\applications\serial_bootloader\bootloader.mcp, project file 

• ..\nos\applications\serial_bootloader\bootloader.c, main program 

• ..\nos\applications\serial_bootloader\bootloader.h, header file with common parameters 

• ..\nos\applications\serial_bootloader\com.c, communication module 

• ..\nos\applications\serial_bootloader\com.h, header for communication module 

• ..\nos\applications\serial_bootloader\sparser.c, S-Record format parser module 

• ..\nos\applications\serial_bootloader\sparser.h, header for S-Record parser module 

• ..\nos\applications\serial_bootloader\prog.c, flash programming module 

• ..\nos\applications\serial_bootloader\prog.h, header for flash programming module 

• ..\nos\applications\serial_bootloader\bootstart.c, startup module 

• ..\nos\applications\serial_bootloader\constdata.asm, description of strings data 

• ..\nos\applications\serial_bootloader\resetvector.asm, Reset and COP Reset interrupt 

vectors description 

• ..\nos\applications\serial_bootloader\TargetDirectives, Board name definition 

• ..\nos\applications\serial_bootloader\config\linker.cmd, linker command file used for 

Boot Flash 

• ..\nos\applications\serial_bootloader\config\flash.cfg, Metrowerks CodeWarrior 

configuration file to work with Flash 

These files are located in the SDK installation directory. The Bootloader application does not use 

any other SDK files except port.h, arch.h and periph.h from the ..\nos\include directory. It can be 

compiled and used without other parts of the SDK. 

9.5.2 Target Configuration 


The Bootloader uses the minimum amount of DSP resources in order to reduce the possibility of 

conflict with the application being downloaded. Specifically, it uses SCI 0, Port E, and PLL DSP 

peripherals as well as internal RAM for data buffering. The SCI baud rate value is calculated 

statically with the assumption that the oscillator frequency is 8MHz. The DSP’s operational 




MOTOROLA 





Serial Bootloader 


frequency is set to 72MHz. All peripherals used by the Bootloader are returned to their initial 

state prior to the execution of the application programmed. 

The Bootloader application relies on the TargetDirectives file to define the target for which the 

application will be built. When this file contains #define DSP56801EVM, this application is built 

assuming the existence of an internal relaxation oscillator and corresponding calibration value. At 

run-time, the application automatically calibrates the internal relaxation oscillator to run at 8MHz. 

Note: For the DSP56F801, only processors with a date code GREATER THAN 0152 

marked in the lower right corner of the part contain the internal oscillator calibration 

value. For parts built prior to this date, the TargetDirectives file should contain the 

following for correct operation: 

#define DSP56801EVM 

#define PLL_USE_EXTERNAL_OSC 

Note: The DSP56F802 does NOT have an external oscillator and must therefore have the 

following in the TargetDirectives file for correct operation: 

9.5.3 Set-up 

#define DSP56801EVM 

To use the Bootloader, it must be programmed into boot Flash; the EVM P3 socket must be 

connected by serial cable with the host PC’s COM serial port; and jumpers on the EVM must be 

set with usage of internal memory without debug interface. 


To load the Bootloader into the DSP56F801 board, the following jumper settings are required: 

• Do not set jumper JG5, “Enable on-board Parallel JTAG Host Target Interface” 

To start a previously-loaded Bootloader on the DSP56F801 board, the following jumper settings 

are needed: 

• Set jumper JG5, “Enable on-board Parallel JTAG Host Target Interface” 

9.5.4 Build 

To build the Serial Bootloader, open the bootloader.mcp project file in the CodeWarrior IDE and 

execute the Project/Make command. This will build and link the Serial Bootloader application. 

9.5.4.1 Download into Boot Flash 


To download, build the Bootloader from Codewarrior and load it into board by choosing the 

Project/Debug command in the CodeWarrior IDE. Make sure that jumpers are set for loading as 

described in Section 9.5.3.1. 




9-17 







9.5.4.2 Host Terminal Program Set-up 

A host terminal program is used to communicate with Bootloader. The Terminal must be 

configured to the following mode: 

The following description assumes that Microsoft Windows HyperTerminal program is used. To 

configure Microsoft HyperTerminal to communicate with Bootloader, the PC user should start 

HyperTerminal and create a new connection. Select the COM port previously connected to EVM 

and set Baud rate at 115200 bps; Data bits equal to 8, Parity none, Stop bits 1; and Flow control as 

Xon/Xoff. The Hyperterminal can now display Bootloader messages. 

9.5.5 Execute 


Baud rate 115200 bps 

8N1 8 data bits, no parity, 1 stop bit character format 

Flow control protocol Xon/Xoff 

To execute the Serial Bootloader application after loading it into Flash, set jumpers as described 

in Section 9.5.3.1. and push the RESET button. 

If the terminal program is properly set up and the EVM and the Host PC are properly connected, 

the terminal program will display a Bootloader startup message: 

"(c) 2000-2001 Motorola Inc. S-Record loader. Version 1.3" 

To load the S-Record file, select the Transfer/Send text file from the HyperTerminal menu and 

select a file. When the S-Record file is loaded and the application is started, the terminal windows 

displays a message similar to this: 

"(c) 2000-2001 Motorola Inc. S-Record loader. Version 1.3 

Loaded 0x044d Program and 0x000a Data words. 

Application started." 

The download rate is about 7660 bytes of S-Record file per second loaded from the terminal or 

about 1740 words of program or data memory stored into Flash per second. 

If an error is detected while loading the S-Record file, the Bootloader displays the error message 

and resets the processor. For example, if an S-record file contains a character that is not permitted 

for S-Records, the following message is displayed: 


Error # 0002 

Resetting the processor." 

After this message, the Bootloader resets the processor and waits for the S-Record file again. 

Other loading errors are described in Table 9-6. 




MOTOROLA 





Error 

Code 



Table 9-6. Error Codes for the Serial Bootloader Application 

Error Title Possible Reasons What to Do 

1 Data Receive Error •Any SCI error except Noise Error 

(Overrun, Frame Error, Parity 

Error) 

2 Invalid Character •Received character is not "S" or 

any hexadecimal digit 

3 Invalid S-Record 

Format 

4 Wrong S-Record 

Checksum 

If an application previously loaded via the Bootloader uses the SDK variable 

BSP_BOOTLOADER_DELAY, (see Section 9.5.6), the Bootloader waits for the S-Record file 

only until the required time-out expires, then launches the application. When this happens, the 

terminal window contains a message similar to this: 



•Invalid record type; permitted 

type is 0,3,7 

•S-Record length is less than 

address plus checksum length 

•Checksum calculated around 

received S-Record did not match 

with received one. 

9.5.6 Requirements for a Loaded Program 

•Check connections with Host PC and 

settings for host terminal program 

•Verify that S-Record file does not contain any 

invalid characters 

•Check connections and send mode in the 

terminal program 

•Verify S-Record file 

•Check S-Record file 

•Check connections and send mode in 


5 Buffer Overrun •Internal data buffer was full •Terminal program did not stop after receiving 

Xoff character 

•Confirm that the terminal program supports 

Xon/Xoff flow control protocol 

6 Flash 

Programming Error 


•After program word into Flash 

this word is not equal to 

programmed one 

•The Bootloader tries to program Flash only 

once; there is a problem with internal DSP 

Flash 

7 Internal Error •Bootloader data corrupte. •Try to reload Bootloader via CodeWarrior 

If the application is loaded via the Bootloader, it must meet the following requirements: 

• Particular start address for application - The entry point for the loaded application must 

be located at address 0x0080 in Program memory, i.e., immediately after the interrupt table. 

• Application COP vector - To use COP interrupt vector in an application loaded via 

Bootloader, the entry point for the COP ISR must be located at address 0x0082 in Program 

memory. 




9-19 







• Application start delay variable must be set at address 0x0085 in Program Flash - The 

SDK provides a configuration variable for this purpose. For details on managing the 

Bootloader without SDK support, see file config\vector.c in the SDK. 

• Restricted resources use - The application cannot occupy Reset and COP interrupt 

vectors, and cannot place code into Boot Flash memory area. There is no way to place any 

initialized variable from the application into internal data RAM while loading. This 

memory area is used by Bootloader. All data from the S-Record file that address to the 

restricted area will be ignored. External Program memory is unavailable while loading the 

application because the Bootloader is performed in DSP Mode 0A memory map. 

All applications built with the SDK can be loaded via the Serial Bootloader. The SDK provides a 

fixed address for application entry point; redirection for the application COP vector and has a 

configuration variable (BSP_BOOTLOADER_DELAY) for the appconfig.h file that determines 

the application’s start delay time-out. 

Possible values of BSP_BOOTLOADER_DELAY: 

0 Disable the Bootloader, start the application immediately. 

After loading the application with this setting, there are only 

two ways to re-enter Bootloader: 

If there is no BSP_BOOTLOADER_DELAY set in the appconfig.h file, the default value for 

timeout is 30 seconds. 

9.6 ADC Application 


For details on building and executing this application, see Section 5.4.6. 

9.7 COP Driver Application 

• Reload the Bootloader from Metrowerks 

CodeWarrior into Boot Flash 

• Reprogram the value of the start delay variable 

located at address 0x0083 in the Program Flash to 

zero value (0x0000) in the loaded application 

0 - 254 Set waiting time for the start of the S-Record file for 0-255 

seconds before the start of a previously-loaded application 

255 Set waiting time to infinity. After reset, the Bootloader waits 

for the S-Record file without counting down any time-out 

Refer to Section 5.10.3 for information on building and executing the Computer Operating 

Properly Driver Application. 




MOTOROLA 





PWM Application 


9.8 PWM Application 

See Section 5.8.6 for more information on building and executing the PWM Driver Application. 

9.9 Quad Timer Application 

To learn more about building and executing this application, refer to Section 5.5.6. 

9.10 SCI Application 

Section 5.3.6 contains details on building and executing the SCI Driver Application. 

9.11 Timer Application 

This application exercises the Timer peripheral located on the DSP56F8xx processor. 

9.11.1 Files 

The Timer application is composed of the following files: 

• ...\dsp568xxevm\nos\applications\timers\timers.c, main program 

• ...\dsp568xxevm\nos\applications\timers\timers.mcp, application project file 

• ...\dsp568xxevm\nos\applications\timers\Config\appconfig.c, application configuration 

file 

• ...\dsp568xxevm\nos\applications\timers\Config\appconfig.h, application configuration 

file 

• ...\dsp568xxevm\nos\applications\timers\Config\linker.cmd, linker command file 




This application exercises Timer0, Timer1, and Timer2 peripherals located in the DSP56F8xx 

processor. It initializes Timer1 using clock ID CLOCK_AUX1 to 250ms with a reload value of 

250ms. Timer2 is initialized using clock ID CLOCK_AUX2 to 125ms with a reload value of 

125ms. When these timers expire, the application changes the On/Off state of the yellow and red 

LEDs. The net effect of this is that the yellow LED will come On once every 0.5 seconds, and the 

red LED will come On once every 0.25 seconds. 

For interaction with Timer0, the application uses the SDK timer services. The SDK timer services 

reserve Timer0 with clock ID CLOCK_REALTIME, and utilizes this timer for nanosleep 

functionality. This application calls the nanosleep interface with a time-out value of 0.5 seconds 




9-21 







in a tight loop. The net effect of this call will be suspension of the main function execution for 0.5 

seconds. 

9.11.3 Set-up 



Module Hardware User’s Manual for more information on jumper settings. 

9.11.4 Build 

To make this application, open the timers.mcp project file and execute the Make command as 

shown in Figure 9-11. This will build and link the Timer application and all needed Metrowerks 

and SDK libraries. 

9.11.5 Execute 



To execute the Timer application, choose the Program/Debug command in the CodeWarrior IDE, 

followed by the Run command. For more help with these commands, refer to the CodeWarrior 

tutorial documentation in the following file, located in the CodeWarrior installation directory: 


Once the application is running, you should see the green LED come On every 1 second, the 

yellow LED come On every 0.5 seconds , and the red LED come On every 0.25 seconds. 




MOTOROLA 







Chapter 10 





Settings for the DSP56F803 board-required fault trimpots are shown in Figure 10-1, Table 10-1, 

Table 10-2, and Table 10-3. 

GND - pin TP2 

Figure 10-1. Trimpot Pins (Top View) 


Trim pot Comment 

Voltage 




Table 10-2. Trimpot Settings for Low-Voltage BLDC Motor Control Application 


Voltage 



MOTOROLA DSP56F803 Applications 



10-1 

2 

POT 

1 3 








10.1.2 Communication Port Settings 

When utilizing the PC master software debugging tool, a communication port on a PC requires 

the following settings: 

10.2 BLDC Motor Control Application with Hall 

Sensors 

This application exercises simple control of the BLDC motor with the Hall Sensors on the 

DSP56F803EVM board and the EVM Motor Kit. 

10.2.1 Files 


Table 10-3. Trimpot Settings for High-Voltage BLDC Motor Control Application 


Voltage 




Baud Rate 

Data Bits 

Parity 

Stop Bit 

Flow Control 



9600 

8 

None 

1 

None 

Voltage 


The BLDC Motor Control application with Hall Sensors is composed of the following files: 

• ...\dsp56803evm\nos\applications\bldc_sensor\bldc_sensor.c, main program 

• ...\dsp56803evm\nos\applications\bldc_sensor\bldc_sensor.mcp, application project file 

• ...\dsp56803evm\nos\applications\bldc_sensor\configextram\appconfig.c, application 

configuration file for external RAM 

• ...\dsp56803evm\nos\applications\bldc_sensor\configflash\appconfig.c, application 





MOTOROLA 





Common Hardware Configuration for Motor Control Applications 


• ...\dsp56803evm\nos\applications\bldc_sensor\configextram\appconfig.h, application 


• ...\dsp56803evm\nos\applications\bldc_sensor\configflash\appconfig, application 


• ...\dsp56803evm\nos\applications\bldc_sensor\configextram\linker.cmd, linker 

command file for external RAM 

• ...\dsp56803evm\nos\applications\bldc_sensor\configflash\linker.cmd, linker command 

file for Flash 

• ...\dsp56803evm\nos\applications\bldc_sensor\configflash\flash.cfg, configuration file 

for Flash 

• ...\dsp56803evm\nos\applications\bldc_sensor\PCMaster\BLDC demo.pmp, 

PCMaster file 



This application performs simple control of a BLDC motor with Hall Sensors and closed loop 

control on the DSP56F803 processor. In the application, the PWM module is set to 

complementary mode with a 16kHz switching frequency. The state of the Hall Sensors is read 

from the Input Monitor Register of the Quadrature Decoder. The masking and swapping of the 

PWM channels is controlled by the PWM Channel Control Register. The content of this register is 

derived from the Hall Sensors’ signals. The commutation is done with each new edge of the Hall 

Sensors’ signals. The required voltage is set independently on the commutation by the speed PI 

controller. The speed is measured by the quad timer. The allowable range of speed for this motor 

application is from 400rpm to 1000rpm in both directions. 


• External RAM or Flash 


This BLDC Motor Control Application with Hall Sensors can operate in two modes: 



UP (S3-IRQB) and DOWN (S2-IRQA) push buttons; see Figure 10-2. If the 

application runs and motor spinning is disabled (i.e., the system is ready), the USER 

LED (LED8), shown in Figure 10-3, will blink. When motor spinning is enabled, the 

USER LED is On. Refer to Table 10-4 for application states. 




10-3 









Figure 10-3. USER and PWM LEDs 




Running Spinning On 





MOTOROLA 








The drive is controlled remotely from a PC through the SCI communication channel 

of the DSP device via an RS-232 physical interface. The drive is again enabled by 

the RUN/STOP switch; this switch can be used to safely stop the application at any 

time. 




• Applied Voltage 

• Required Voltage 

• Speed 

• RUN/STOP Switch Status 

• Application Mode 


Project files for the PC master software are located in: 

..\nos\applications\bldc_sensors\PC_Master\bldc demo.pmp 

Start the PC master software window’s application, BLDC Demo.pmp; Figure 10-4 shows the PC 

master software control window for BLDC Demo.pmp. 

Note: If the PC master software project (.pmp file) is unable to control the application, it is 

possible that the wrong load map (.elf file) has been selected. PC master software uses 

the load map to determine addresses for global variables being monitored. Once the 

PC master software project has been launched, this option may be selected in the PC 

master software window under "Project/Select other Map FileReload". 




10-5 












MOTOROLA 





10.2.3 Set-up 



Figure 10-5 illustrates the hardware set-up for the BLDC Motor Control application with Hall 

Sensors. 

Figure 10-5. BLDC Motor Control Application Set-up 





To execute the BLDC Motor Control application, the DSP56F803 board requires the strap settings 

shown in Figure 10-6 and Table 10-5. 




10-7 







1 2 3 

JG6 

JG1 

1 2 

7 8 


7 8 9 

JG5 

9 8 7 

3 2 1 

1 

JG6 

2 3 

7 8 9 

USER LED 

LED3 

7 8 9 

JG7 

3 2 1 

PWM LEDs 

JG7 

JG5 

JG4 

JG10 

JG1 

1 

S2 

P4 IRQA 

J3 

J2 

JG10 1 3 JG9 

JG3 

DSP56F803EVM 



Jumper Group Comment Connections 

JG1 UNI-3 serial selected 1-2, 3-4,5-6, 7-8 

JG2 Enable on-board parallel JTAG Command Converter Interface NC 

JG3 Use on-board crystal for DSP oscillator input 1-2 

JG4 Select DSP’s Mode 0 operation upon exit from reset 1-2 

JG5 Enable external SRAM 1-2 

JG6 UNI-3 3-Phase Current source selected 2-3, 5-6, 8-9 

JG7 Encoder Input Selected for Hall Sensor signals 2-3, 5-6, 8-9 

JG8 On-board Parallel JTAG command converter powered by Host system 1-2 


JG10 Leave CAN bus un-terminated NC 




J10 

1 




MOTOROLA 

U15 

S3 

S/N 

RUN/STOP 

S4 

Y1 

U1 

P2 

J9 

1 

JG4 

JTAG 

JG4 S1 

JG2 JG8 J1 

IRQB 

1 

JG3 

RESET 

J8 

JG2 

JG9 

J4 

U6 U7 

JG8 

P3 





10.2.4 Build 




When building the BLDC Motor Control application with Hall Sensors, the user can create an 

application that runs from internal Flash or External RAM. To select the type of application to 

build, open the bldc_sensor.mcp project and select the target build type; see Figure 10-7. Selecting 

Build All will create all application build types. A definition of the projects associated with these 

target build types may be found under the Targets tab of the project window. 

Figure 10-7. Target Build Selection 

The project may now be built by executing the Make command, as shown in Figure 10-8. This will 

build and link the BLDC Motor Control application and all needed Metrowerks and SDK 

libraries. 





10-9 








To execute the BLDC Motor Control application with Hall Sensors, select Project\Debug in the 





If the Flash target is selected, CodeWarrior will automatically program the DSP’s internal Flash 

with the executable generated during Build. If the External RAM target is selected, the executable 

will be loaded to off-chip RAM. 

Once Flash has been programmed with the executable, the EVM target system may be run in a 

stand-alone mode from Flash. To do this, set the JG2 jumper in the 1-2 configuration to disable 

the parallel port and press the RESET button. 

Once the application is running, switch the RUN/STOP switch to the RUN position and set the 


incrementally increase the motor speed until it reaches maximum speed. If successful, the BLDC 

motor will be spinning. 





You should also see a lighted green LED, which indicates that the application is running. If the 

application is stopped, the green LED will blink at a frequency of 2Hz. If an Undervoltage fault 

occurs, the green LED will blink at a frequency of 8Hz. 

10.3 BLDC Motor Control Application with 

Quadrature Encoder 

This application exercises simple control of the BLDC motor with the Quadrature Encoder on the 


10.3.1 Files 


The BLDC Motor Control application with Quadrature Encoder is composed of the following 

files: 

• ...\dsp56803evm\nos\applications\bldc_encoder\bldc_encoder.c, main program 

• ...\dsp56803evm\nos\applications\bldc_encoder\bldc_encoder.mcp, application project 

file 

• ...\dsp56803evm\nos\applications\bldc_encoder\configextram\appconfig.c, application 


• ...\dsp56803evm\nos\applications\bldc_encoder\configflash\appconfig.c, application 





MOTOROLA 







• ...\dsp56803evm\nos\applications\bldc_encoder\configextram\appconfig.h, 

application configuration file for external RAM 

• ...\dsp56803evm\nos\applications\bldc_encoder\configflash\appconfig.h, application 


• ...\dsp56803evm\nos\applications\bldc_encoder\configextram\linker.cmd, linker 


• ...\dsp56803evm\nos\applications\bldc_encoder\configflash\linker.cmd, linker 

command file for Flash 

• ...\dsp56803evm\nos\applications\bldc_encoder\configflash\flash.cfg, configuration 


• ...\dsp56803evm\nos\applications\bldc_encoder\PCMaster\BLDC_Encoder_demo.pmp, 

PCMaster file 



This application performs simple control of the BLDC motor with the Quadrature Encoder and 

close loop speed control on the DSP56F803 processor. In the application, the PWM module is set 

to complementary mode with a 16kHz switching frequency. The masking and swapping of the 


derived from Quadrature Encoder signals. The required voltage is set independently on the 

commutation by the speed PI controller. The speed is measured by the quad timer. The allowable 

range of speed is from 50rpm to 1000rpm in both directions. 




This BLDC Motor Control Application with Quadrature Encoder can operate in two modes: 


The drive is controlled by the RUN/STOP switch (S1) and the motor speed is set by 

the UP (S3-IRQB) and DOWN (S2-IRQA) push buttons; see Figure 10-9. If the 


LED (LED8), shown in Figure 10-10 will blink. When motor spinning is enabled, the 





10-11 













MOTOROLA 














of the DSP device via an RS-232 physical interface. The drive is again enabled by 

the RUN/STOP switch and this switch can be used to safely stop the application at 

any time. 




• Required Speed 

• Actual Speed 


• DCBus Voltage 




Projects files for the PC master software are located in: 

..\nos\applications\bldc_encoder\PC_Master\BLDC Encoder Demo.pmp 

Start the PC master software window’s application, BLDC Encoder Demo.pmp. Figure 10-11 

illustrates the PC master software control window for BLDC Encoder Demo.pmp. 









10-13 












MOTOROLA 





10.3.3 Set-up 



Figure 10-12 illustrates the hardware set-up for the BLDC Motor Control application with 

Quadrature Encoder. 

Figure 10-12. BLDC Motor Control Application Set-up 





To execute the BLDC Motor Control Application with Quadrature Encoder, the DSP56F803 

board requires the strap settings shown in Figure 10-13 and Table 10-7. 




10-15 







1 2 3 

JG6 


7 8 9 

JG1 

1 2 

7 8 

JG5 

9 8 7 

3 2 1 

1 2 3 

JG6 

7 8 9 

USER LED 

LED3 

7 8 9 

JG7 

3 2 1 

PWM LEDs 

JG7 

JG5 

JG4 

JG10 

JG1 

1 

S2 

P4 IRQA 

J3 

J2 

JG10 1 3 JG9 

JG3 

DSP56F803EVM 




JG1 UNI-3 serial selected 1-2, 3-4, 5-6, 7-8 






JG7 Encoder Input Selected for Quadrature Encoder signals 2-3, 5-6, 8-9 







J10 

1 




MOTOROLA 

U15 

S3 

S/N 

RUN/STOP 

S4 

Y1 

U1 

P2 

J9 

1 

JG4 

JTAG 

JG4 S1 

JG2 JG8 J1 

IRQB 

1 

JG3 

RESET 

J8 

JG2 

JG9 

J4 

U6 U7 

JG8 

P3 





10.3.4 Build 




When building the BLDC Motor Control Application with Quadrature Encoder, the user can 

create an application that runs from internal Flash or External RAM. To select the type of 

application to build, open the bldc_encoder.mcp project and choose the target build type; see 

Figure 10-14. Selecting Build All will create all application build types. A definition of the 

projects associated with these target build types may be found under the Targets tab of the project 

window. 


The project may now be built by executing the Make command; see Figure 10-15. This will build 

and link the BLDC Motor Control application and all needed Metrowerks and SDK libraries. 





10-17 








To execute the BLDC Motor Control Application with Quadrature Encoder, select Project\Debug 

in the CodeWarrior IDE, followed by the Run command. For more help with these commands, 

refer to the CodeWarrior tutorial documentation in the following file, which is located in the 

CodeWarrior installation directory: 









required speed by the UP/DOWN push buttons. Pressing the UP/DOWN buttons should 



Note: If the RUN/STOP switch is set to the RUN position when application starts, toggle the 

RUN/STOP switch between the STOP and RUN positions to enable motor spinning. 

This is a protection feature that prevents the motor from starting when the application 

is executed from CodeWarrior. 


application is stopped, the green LED will be blinking at a 2Hz frequency. If an Undervoltage 

fault occurs, the green LED will blink at a frequency of 8Hz. 

10.4 Synchro PM Motor Control Application with 


This application exercises simple control of the Synchro PM Motor with the Quadrature Encoder 

on the DSP56F803EVM board and the EVM Motor Kit. 

10.4.1 Files 


The Synchro PM Motor Control application is composed of the following files: 

• ...\dsp56803evm\nos\applications\bldc_synchro1\bldc_synchro1.c, main program 

• ...\dsp56803evm\nos\applications\bldc_synchro1\bldc_synchro1.mcp, application 

project file 

• ...\dsp56803evm\nos\applications\bldc_synchro1\configextram\appconfig.c, 


• ...\dsp56803evm\nos\applications\bldc_synchro1\configflash\appconfig.c, application 





MOTOROLA 







• ...\dsp56803evm\nos\applications\bldc_synchro1\configextram\appconfig.h, 


• ...\dsp56803evm\nos\applications\bldc_synchro1\configflash\appconfig.h, application 


• ...\dsp56803evm\nos\applications\bldc_synchro1\configextram\linker.cmd, linker 


• ...\dsp56803evm\nos\applications\bldc_synchro1\configflash\linker.cmd, linker 


• ...\dsp56803evm\nos\applications\bldc_synchro1\configflash\flash.cfg, configuration 


• ...\dsp56803evm\nos\applications\bldc_synchro1\PCMaster\BLDC Synchro 

demo.pmp, PC master software file 



This application performs a simple control of the Synchro PM Motor with the Quadrature 

Encoder and speed close loop on the DSP56F803 processor. In the application, the PWM module 

is set to complementary mode with a 16kHz switching frequency. The masking and swapping of 

the PWM channels is controlled by the PWM Channel Control Register. The content of this 

register is derived from Quadrature Encoder signals. The required voltage is set independently on 

the commutation by the speed PI controller. The speed is measured by the quad timer. The 

allowable range of speed is from 50rpm to 1000rpm in both directions. 




This Synchro PM Motor Control Application with Quadrature Encoder can operate in two 

modes: 


The drive is controlled by the RUN/STOP switch (S1) and the motor speed is set by 

the UP (S3-IRQB) and DOWN (S2-IRQA) push buttons; see Figure 10-16. If the 

application runs and motor spinning is disabled (i.e., the system is ready) the USER 

LED (LED8), shown in Figure 10-17, will blink. When motor spinning is enabled, the 





10-19 













MOTOROLA 














of the DSP device via an RS-232 physical interface. The drive is enabled by the 

RUN/STOP switch, which can be used to safely stop the application at any time. 






• Amplitude 






..\nos\applications\bldc_synchro1\PC_Master\BLDC Synchro Demo.pmp 

Start the PC master software window’s application, BLDC Synchro Demo.pmp. Figure 10-18 

illustrates the PC master software control window for the BLDC Synchro Demo.pmp. 









10-21 












MOTOROLA 





10.4.3 Set-up 



Figure 10-19 illustrates the hardware set-up for the Synchro PM Motor Control application with 


Figure 10-19. Set-up of the Synchro PM Motor Control Application 



10.4.3.1 PM Synchronous Motor Versus BLDC Motor 

The application software is targeted for a PM Synchronous motor with sine-wave Back-EMF 

shape. In this particular demo application, the BLDC motor is used instead of a PM Synchronous 

motor, due to the availability of the BLDC motor supplied as ECMTREVAL. Although the 

Back-EMF shape of this motor is not ideally sine-wave, it can be controlled by the application 

software. The drive parameters will be improved when a PMSM motor with exactly sine-wave 

Back-EMF shape is used. 



To execute the Synchro PM Motor Control Application with Quadrature Encoder, the DSP56F803 





10-23 







1 2 3 

JG6 

JG1 

1 2 

7 8 


7 8 9 

JG5 

9 8 7 

3 2 1 

1 2 3 

JG6 

7 8 9 

USER LED 

JG7 

3 2 1 

DSP56F803EVM 










JG7 Encoder Input Selected for Quadrature Encoder signals 2-3, 5-6, 8-9 

JG8 On-board Parallel JTAG command converter powered by Host 

system 

LED3 

7 8 9 

PWM LEDs 

JG7 

JG5 

JG4 

JG10 

JG1 

1 

S2 

P4 IRQA 

J3 

J2 

JG10 1 3 JG9 

JG3 



J10 

1 







MOTOROLA 

U15 

S3 

S/N 

RUN/STOP 

S4 

Y1 

U1 

P2 

J9 

1 

JG4 

JTAG 

JG4 S1 

JG2 JG8 J1 

IRQB 

1 

JG3 

RESET 

J8 

JG2 

JG9 

J4 

U6 U7 

JG8 

P3 

1-2 





10.4.4 Build 




When building this application, the user can create an application that runs from internal Flash or 

External RAM. To select the type of application to build, open the bldc_synchro1.mcp project and 

select the target build type; refer to Figure 10-21. Selecting Build All will create all application 

build types. A definition of the projects associated with these target build types may be viewed 

under the Targets tab of the project window. 


The project may now be built by executing the Make command; seeFigure 10-22. This will build 

and link the Synchro PM Motor Control application and all needed Metrowerks and SDK 

libraries. 




10-25 










To execute the Synchro PM Motor Control application, select Project\Debug in the CodeWarrior 

IDE, followed by the Run command. For more help with these commands, refer to the 

CodeWarrior tutorial documentation in the following file, which is located in the CodeWarrior 











incrementally increase the motor speed until it reaches maximum speed. If successful, the 

Synchro PM Motor will be spinning. 



spinning. This is a protection feature that prevents the motor from being started when 

the application is executed from CodeWarrior. 


application is stopped, the green LED will blink at a 2Hz frequency. If an Undervoltage fault 





MOTOROLA 







10.5 BLDC Sensorless with Back-EMF Zero 

Crossing Application 



10.5.1 Files 

The BLDC Sensorless with B-EMF Zero Crossing Application is composed of the following 

files: 

• ...\dsp56803evm\nos\applications\bldc_zerocross\bldczcapplication.c, main program 

• ...\dsp56803evm\nos\applications\bldc_zerocross\bldczcdefines.h, main program 

definitions 

• ...\dsp56803evm\nos\applications\bldc_zerocross\bldc_zerocross.mcp, application 

project file 

• ...\dsp56803evm\nos\applications\bldc_zerocross\configextram\appconfig.c, 


• ...\dsp56803evm\nos\applications\bldc_zerocross\configflash\appconfig.c, application 


• ...\dsp56803evm\nos\applications\bldc_zerocross\configextram\appconfig.h, 


• ...\dsp56803evm\nos\applications\bldc_zerocross\configflash\appconfig.h, application 


• ...\dsp56803evm\nos\applications\bldc_zerocross\configextram\linker.cmd, linker 


• ...\dsp56803evm\nos\applications\bldc_zerocross\configflash\linker.cmd, linker 


• ...\dsp56803evm\nos\applications\bldc_zerocross\configflash\flash.cfg, configuration 


• ...\dsp56803evm\nos\applications\bldc_zerocross\PCMaster\BLDC demo.pmp, 

PCMaster file 






with a 14.4kHz switching frequency. The state of the zero crossing signals is read from the Input 

Monitor Register of the Quadrature Encoder. The masking of the PWM channels is controlled by 

the PWM Channel Control Register. The content of this register is derived from Back-EMF zero 

crossing signals. 




10-27 










• EVM Motor Board; 3-Phase AC/BLDC High-Voltage Power Stage; or 3-Phase AC/BLDC 

Low-Voltage Power Stage 

• Manual or PC master software Operating Mode 

• 115 or 230V AC Power Supply 

The correct power stage is identified automatically and the appropriate constants are set. 

This BLDC sensorless motor control application can operate in two modes: 



spinning. The required speed is set independently on the commutation by the 

UP/DOWN buttons; see Figure 10-23. If the application runs and motor spinning is 

disabled, the green user LED, shown in Figure 10-24, will blink. When motor 

spinning is enabled, the user LED lights. If Overcurrent or Overvoltage occurs, or if 

the wrong pcb is identified, the internal fault logic is asserted and the application 

enters a fault state (the green LED does not light).This state can be exited only by an 

application RESET. It is strongly recommended that you inspect the entire 

application to locate the source of fault before starting it again. 





MOTOROLA 







Figure 10-24. USER and PWM LED 

2. PC master software (remote) Operating Mode 






• Start the motor (by setting the required speed on the bar graph) 

• Stop the motor (by setting the Zero speed on the bar graph) 



• Required Speed of the motor 

• Actual Speed of the motor 


• DCBus current 

• Temperature of power stage 

• Fault status (No Fault, Overvoltage, Undervoltage, Overcurrents in phases, Overcurrent in 

DCBus, Overheating) 

• Motor status - Running/Stand-by 

If the Fault Status is different from No Faults of Overcurrent, Overvoltage or Undervoltage 

conditions, or if the wrong pcb was used, the green LED does not light and the motor is stopped. 

This state can be exited by an application RESET. It is strongly recommended that you inspect the 

entire application to locate the source of the fault before starting it again. 




10-29 








...nos\applications\bldc_zerocross\PC_Master\bldc_demo.pmp 

Start the PC master software window’s application, bldc_demo.pmp. Figure 10-25 illustrates the 

PC master software control window for the bldc_demo.pmp. 






10.5.3 Set-Up 



Figure 10-26 illustrates the hardware set-up for BLDC Sensorless with B-EMF Zero Crossing 

Application when using an EVM motor board. 




MOTOROLA 








Figure 10-26. Set-up of the EVM Motor Board BLDC Motor Control Application 

The serial cable is needed for PC master software debugging tool only. 

Thanks to automatic board identification, the software can also be run on: 

• 3-Phase AC/BLDC Low-Voltage Power Stage; see Figure 10-27 

• 3-Phase AC/BLDC High-Voltage Power Stage; see Figure 10-28 




10-31 







Figure 10-27. Set-up of the Low-Voltage BLDC Motor Control Application 

The correct order of phases (phase A, phase B, phase C) for the BLDC motor is: 

• phase A = white wire 

• phase B = red wire 








MOTOROLA 







Figure 10-28. Set-up of the High-Voltage BLDC Motor Control Application 









To execute the BLDC Sensorless with B-EMF Zero Crossing application, the DSP56F803 board 

requires the strap settings shown in Figure 10-29 and Table 10-10. 




10-33 







1 2 3 

JG6 

JG1 

1 2 

7 8 


7 8 9 

JG5 

9 8 7 

3 2 1 

1 

JG6 

2 3 

7 8 9 

USER LED 

LED3 

7 8 9 

JG7 

3 2 1 

PWM LEDs 

JG7 

JG5 

JG4 

JG10 

JG1 

1 

S2 

P4 IRQA 

J3 

J2 

JG10 1 3 JG9 

JG3 

DSP56F803EVM 










JG7 Encoder Input Selected for Zero Crossing signals 1-2, 4-5, 7-8 




J10 

1 







MOTOROLA 

U15 

S3 

S/N 

RUN/STOP 

S4 

Y1 

U1 

P2 

J9 

1 

JG4 

JTAG 

JG4 S1 

JG2 JG8 J1 

IRQB 

1 

JG3 

RESET 

J8 

JG2 

JG9 

J4 

U6 U7 

JG8 

P3 





10.5.4 Build 



To build this application, open the bldc_zerocross.mcp project file and execute the Make 

command, as shown in Figure 10-30. This will build and link the BLDC Motor Control 

application and all needed Metrowerks and SDK libraries. 










required voltage with the UP/DOWN push buttons. Pressing the UP/DOWN buttons should 










10-35 








Crossing Using AD Converter Application 



10.6.1 Files 

The BLDC Sensorless with B-EMF Zero Crossing using ADC application is composed of the 

following files: 

• ...\dsp56803evm\nos\applications\bldc_adc_zerocross\bldcadczcapplication.c, main 

program 

• ...\dsp56803evm\nos\applications\bldc_adc_zerocross\bldcadczcdefines.h, main 

program definitions 



• ...\dsp56803evm\nos\applications\bldc_adc_zerocross\configextram\appconfig.c, 




• ...\dsp56803evm\nos\applications\bldc_adc_zerocross\configextram\appconfig.h, 




• ...\dsp56803evm\nos\applications\bldc_adc_zerocross\configextram\linker.cmd, 

linker command file for external RAM 

• ...\dsp56803evm\nos\applications\bldc_adc_zerocross\configflash\linker.cmd, linker 




• ...\dsp56803evm\nos\applications\bldc_adc_zerocross\PCMaster\BLDC demo.pmp, 

PCMaster file 






with a 10.0kHz switching frequency. The state of the zero crossing signals are read from the Input 

Monitor Register of the Quadrature Encoder. The masking of the PWM channels is controlled by 

the PWM Channel Control Register. The content of this register is derived from Back-EMF zero 





MOTOROLA 



















UP/DOWN buttons; refer to Figure 10-31. If the application runs and motor spinning 

is disabled, the green user LED, shown in Figure 10-32, will blink. When motor 

spinning is enabled, the green user LED lights. If Overcurrent or Overvoltage occur, 

or if the wrong pcb is identified, the internal fault logic is asserted and the application 

enters a fault state (the green LED does not light).This state can be exited only by an 


application to locate the source of the fault before starting it again. 





10-37 







Figure 10-32. USER and PWM LED 













• DC - bus voltage 

• DC - bus current 





If the Fault Status is different from the No Faults of Overcurrent, Overvoltage or Undervoltage 

conditions, or if the wrong pcb is being used, the green LED will not light and the motor will be 

stopped. This state can be exited by an application RESET. It is strongly recommended that you 

inspect the entire application to locate the source of the fault before starting it again. 




MOTOROLA 









...nos\applications\bldc_adc_zerocross\PC_Master\bldc_demo.pmp 

Start the PC master software window’s application, bldc_demo.pmp. Figure 10-33 shows the PC 

master software control window for bldc_demo.pmp. 










10-39 







10.6.3 Set-up 


Figure 10-34 illustrates the hardware set-up for the BLDC Sensorless with B-EMF Zero Crossing 

using ADC application when using the EVM motor board. 

NOT NEEDED 

Figure 10-34. Set-up of the EVM motor board BLDC Motor Control Application 

The serial cable is needed for the PC master software debugging tool only. 







MOTOROLA 







Figure 10-35. Set-upof the Low-Voltage BLDC Motor Control Application 











10-41 
















To execute the BLDC Sensorless with B-EMF Zero Crossing using ADC application, the 





MOTOROLA 







1 2 3 

JG6 

JG1 

1 2 

7 8 


7 8 9 

JG5 

9 8 7 

3 2 1 

1 2 3 

JG6 

7 8 9 

USER LED 

LED3 

7 8 9 

JG7 

3 2 1 

PWM LEDs 

JG7 

JG5 

JG4 

JG10 

JG1 

1 

S2 

P4 IRQA 

DSP56F803EVM 









JG6 UNI-3 3-Phase B-EMF Voltages source selected 1-2, 4-5, 7-8 

JG7 Encoder Input Selected for Zero Crossing signals 1-2, 4-5, 7-8 




J3 

J2 

JG10 1 3 JG9 

JG3 







10-43 

J10 

1 

U15 

S3 

S/N 

RUN/STOP 

S4 

Y1 

U1 

P2 

J9 

1 

JG4 

JTAG 

JG4 S1 

JG2 JG8 J1 

IRQB 

1 

JG3 

RESET 

J8 

JG2 

JG9 

J4 

U6 U7 

JG8 

P3 







10.6.4 Build 

To build this application, open the bldc_adc_zerocross.mcp project file and execute the Make 

command, as shown in Figure 10-38. This will build and link the BLDC Motor Control 

application and all needed Metrowerks and SDK libraries 




















MOTOROLA 







10.7 3-Phase PM Synchronous Motor Vector Control 

This application exercises vector control of the 3-Phase Permanent Magnet (PM) synchronous 

motor on the DSP56F803EVM board and 3-phase AC/BLDC High-Voltage power stage. 

10.7.1 Files 

The 3-Phase PM synchronous Motor Control application is composed of the following files: 

• ...\dsp56803evm\nos\applications\3ph_PMSM_VectorControl\3ph_PMSM_VectorControl.c, 

main program 

• ...\dsp56803evm\nos\applications\3ph_PMSM_VectorControl\3ph_PMSM_VectorControl.h, 

main header file of the program used for storing application references and defined 

constants that are required by the 3ph_PMSM_VectorControl.c file. 

• ...\dsp56803evm\nos\applications\3ph_PMSM_VectorControl\appconst.c, application 

constants for Data flash 

• ...\dsp56803evm\nos\applications\3ph_PMSM_VectorControl\appconst.h, header file to 

store the external references and defined constants related to the appconst.c file 

• ...\dsp56803evm\nos\applications\3ph_PMSM_VectorControl\3ph_PMSM_VectorControl.mcp 


• ...\dsp56803evm\nos\applications\3ph_PMSM_VectorControl\configextram\appconfig.c, 


• ...\dsp56803evm\nos\applications\3ph_PMSM_VectorControl\configflash\appconfig.c, 


• ...\dsp56803evm\nos\applications\3ph_PMSM_VectorControl\configextram\appconfig.h, 

application configuration header file for external RAM 

• ...\dsp56803evm\nos\applications\3ph_PMSM_VectorControl\configflash\appconfig.h, 

application configuration header file for Flash 

• ...\dsp56803evm\nos\applications\3ph_PMSM_VectorControl\configextram\linker.cmd, 


• ...\dsp56803evm\nos\applications\3ph_PMSM_VectorControl\configflash\linker.cmd, linker 


• ...\dsp56803evm\nos\applications\3ph_PMSM_VectorControl\configflash\flash.cfg, 




The 3-Phase PM Synchronous Motor Vector Control Application demonstrates the Permanent 

Magnet Synchronous Motor Control application using field-oriented theory on the DSP56F803 

processor. 


The application has the following specifications: 


• Vector control technique used for Permanent Magnet (PM) synchronous motor control 

• Speed control loop 




10-45 








• Running on 3-phase Permanent Magnet (PM) synchronous motor control development 

platform at variable line voltage 115V AC and 230V AC (range -15% to +10%) 









• Manual interface (RUN/STOP switch, UP/DOWN push buttons control, LED indication) 

• PC master software remote control interface (START MOTOR/STOP MOTOR push 

buttons, speed set-up) 


— PC master software monitor interface (required speed; actual motor speed; PC master software 

mode; START MOTOR/STOP MOTOR controls; drive fault status; DCBus voltage level; 

identified power stage boards; drive status; mains detection) 

— PC master software speed scope (observes actual and desired speed) 



The vector control algorithm is calculated on Motorola DSP56F803. The algorithm generates the 

3-phase PWM signals for the Permanent Magnet (PM) synchronous motor inverter according to 

the user-required inputs, measured and calculated signals. 

The concept of the PMSM drive incorporates the following hardware components: 

• BLDC motor-brake set 



• ECOPTINL - In-line optoisolation box, which is connected between the host computer and 

the DSP56F803EVM 

The BLDC motor-brake set incorporates a 3-phase BLDC motor and attached BLDC motor 

brake. The BLDC motor has six poles. The incremental position sensor (encoder) is coupled on 

the motor shaft and position Hall Sensors are mounted between the motor and the brake. They 

allow position sensing if required by the control algorithm. Detailed motor--brake specifications 


Table 10-12. Motor - Brake Specifications 

Motor Characteristics Motor Type 6 poles, 3-phase, star connected, 

BLDC motor 

Speed Range 2500 rpm (at 310V) 

Max. Electrical Power 150 W 

Phase Voltage 3*220V 

Phase Current 0.55A 




MOTOROLA 








Drive Characteristics Speed Range < 2500 rpm 






The drive can be controlled in two different operating modes: 

• Manual operating mode - the required speed is set by UP/DOWN push buttons; the drive is 

started and stopped by the RUN/STOP switch on the EVM board 

• PC master software operating mode - the required speed is set by the PC master software 

active bar graph; the drive is started and stopped by the START MOTOR and STOP 

MOTOR controls. 



• Phase currents (phase A, phase B, phase C) 





• Overvoltage (PC master software error message = Overvoltage fault) 

• Undervoltage (PC master software error message = Undervoltage fault) 

• Overcurrent (PC master software error message = Overcurrent fault) 

• Overheating (PC master software error message = Overheating fault) 

• Wrong-hardware (PC master software error message = Wrong HW used) 

States of the application state machine; see Table 10-13: 

Input Voltage 310V DC 

Max DCBus Voltage 380 V 

Control Algorithm Speed Closed Loop Control 

Optoisolation Required 


BLDC motor 



• INIT - application initialization; operating mode changing 

• STOP - PWM outputs disabled; operating mode changing 

• RUN - PWM outputs enabled; motor running 

FAULT - PWM outputs disabled; waiting for manual fault acknowledgement 




10-47 







Control Process 

After RESET, the drive enters the INIT state in MANUAL operation mode. When the 

RUN/STOP switch is detected in the STOP position and there are no faults pending, the STOP 

application state is entered. Otherwis, the drive waits in the INIT state or, if faults occur, goes to 

the FAULT state. In the INIT and STOP states, the operation mode can be changed from 

PCMaster. In the MANUAL operational mode, the application is operated by the RUN/STOP 

switch and UP/DOWN buttons; in the PCMaster remote mode, the application is operated 

remotely by the PCMaster. 

When the start command is accepted (using the RUN/STOP Switch or the PC master software 

command) the rotor position is aligned to a predefined position to begin at a known rotor position. 

The rotor alignment is done at the first start command only. The required speed is then calculated 

via the UP/DOWN push buttons in manual mode or PC master software commands in PC master 

software remote mode. The required speed goes through an acceleration/deceleration ramp. The 

comparison between the actual speed command and the measured speed generates a speed error. 

Based on the error, the speed controller generates a stator current Is_qReq which correspond to 

torque. A second part of the stator current Is_dReq, which correspond to flux, is given by the Field 

Weakening Controller. Simultaneously, the stator curents Is_a, Is_b and Is_c are measured and 

transformed from instantaneous values to the stationary reference frame α, β and consecutively to 

the rotary reference frame d-q (Clarke-Park transformation). Based on the errors between required 

and actual currents in the rotary reference frame, the current controllers generate output voltages 

Us_q and Us_d (in the rotary reference frame d-q). The voltages Us_q and Us_d are transformed 

back to the stationary reference frame α, β and, after DCBus ripple elimination, are recalculated 

to the 3-phase voltage system which is applied on the motor. 

Drive Protection 

The DCBus voltage, DCBus current and power stage temperature are measured during the control 

process. They protect the drive from Overvoltage, Undervoltage, Overcurrent and Overheating. 

The Undervoltage and Overheating protection is performed by software, while the Overcurrent 

and Overvoltage fault signal utilizes a fault input of the DSP. The power stage is identified using 

board identification. If the correct power stage is not identified, the fault "Wrong Power Stage" 

disables the drive operation. Line voltage is measured during application initializationand the 

application automatically adjusts itself to run at either 115V AC or 230V AC, depending on the 

measured value. 

If any of the above-mentioned faults occur, the motor control PWM outputs are disabled to 

protect the drive, and the application enters the FAULT state. The FAULT state can be left only 

when the fault conditions disappear and the RUN/STOP switch is moved to the STOP position in 

manual mode and by PC master software in PC master software remote mode. 




• 3-Phase AC/BLDC High-Voltage Power Stage powered by 115V AC or 230V AC 


The correct power stage and voltage level is identified automatically and the appropriate 

constants are set. 




MOTOROLA 








The 3-phase PM synchronous motor control application can operate in two modes: 


The drive is controlled by the RUN/STOP switch. The motor speed is set by the UP 

and DOWN push buttons (see Figure 10-39). The actual state of the application is 

indicated by the user LEDs (see Figure 10-40). If the application runs and motor 

spinning is disabled (i.e., the system is ready), the GREEN user LED will flash at a 

frequency of 2Hz. When motor spinning is enabled, the GREEN user LED will be 

On. If a fault occurs on the power stage, the GREEN user LED will flash at a 

frequency of 8Hz. The actual state of the PWM outputs are indicated by PWM output 

LEDs. 





10-49 









Table 10-13. Application States 


INIT Stopped Blinking at a frequency of 2Hz (slow) 

STOP Stopped Blinking at a frequency of 2Hz (slow) 

RUN Spinning On 

FAULT Stopped Blinking at a frequency of 8Hz (fast) 



of the DSP device via an RS-232 physical interface. The PC master software control 

can be taken over only if the RUN/STOP switch is in the STOP position; until then, 

the push buttons and RUN/STOP switch has no effect on the application control. 

The following PC master software control actions are supported: 

• Set PC master software Mode of the motor control system 

• Set Manual Mode of the motor control system 

• Start the motor 

• Stop the motor 





MOTOROLA 











• Application status - Init/Stop/Run/Fault 

• DCBus voltage level 

• Identified line voltage 

• Fault Status - No_Fault/Overvoltage/Overcurrent/Undervoltage/Overheating 

• Identified Power Stage 


...\nos\applications\3ph_PMSM_VectorControl\PC_Master\3ph_PMSM_VectorControl.pmp 

Start the PC master software window’s application, 3ph_PMSM_VectorControl.pmp. Figure 10-41 

shows the PC master software control window after this project has been launched. 





master software window under Project/Select Other Map File. 





10-51 







10.7.3 Set-up 


Figure 10-42 illustrates the hardware set-up for the 3-phase PM Synchronous Motor Control 

application. The EVM board, power stage and motor are mounted into a suitcase for 

demonstration purposes. 

WARNING: 

Danger, high-voltage--risk of electric shock! 

The application PCB modules and serial interface (connector, 

cable) are not electrically isolated from the mains voltage--they 

are live. 

Use the In-line Optoisolation Box (ECOPTINL) between the 

PC and DSP56803 EVM as protection from dangerous voltage 

on the PC-user side, and to prevent damage to the PC and other 

hardware. 

Do not touch any part of the EVM or the serial cable between 

the EVM and the In-line Optoisolation Box unless you are 

using an insulation transformer. The application is designed to 

be fully controllable only from PC master software. 

To avoid inadvertently touching live parts, use plastic cover. 

In the rest of this application, the description supposes the use of an insulation transformer. 




MOTOROLA 







Figure 10-42. Set-up of the 3-phase PM Synchronous Motor Control Application 

The correct order of phases (phase A, phase B, phase C) for the PM Synchronous motor is: 








Manual. The serial cable is needed for the PC master software debugging/control. 




10-53 








The application software is targeted for a PM synchronous motor with sine-wave Back-EMF 

shape. In this particular demo application, a BLDC motor is used instead, due to the availability of 

the BLDC motor - Brake SM40V+SG40N, supplied as ECMTRHIVBLDC. Although the 


software. The drive parameters will be improved when a PMSM motor with exact sine-wave 




To execute the 3-Phase PM Synchronous Motor Control application, the DSP56F803 board 


1 2 3 

JG6 

7 8 9 

JG1 

1 2 

7 8 

JG5 

9 8 7 

3 2 1 

1 2 3 

JG6 

7 8 9 

USER LED 

JG7 

3 2 1 

LED3 

7 8 9 

PWM LEDs 

JG7 

JG5 

JG4 

JG10 

JG1 

1 

P4 IRQA 

DSP56F803EVM 




S2 


JG2 Enable on-board parallel JTAG Command Converter Interface 1-2 






MOTOROLA 

J3 

J2 

JG10 1 3 JG9 

JG3 

J10 

1 

U15 

S3 

S/N 

RUN/STOP 

S4 

Y1 

U1 

P2 

J9 

1 

JG4 

JTAG 

JG4 S1 

JG2 JG8 J1 

IRQB 

1 

JG3 

RESET 

J8 

JG2 

JG9 

J4 

U6 U7 

JG8 

P3 

















port interface. For this application, this is permanently set as short-connected. 

10.7.4 .Build 



External RAM. To select the type of application to build, open the 

3ph_PMSM_VectorControl.mcp project and select the target build type; see Figure 10-44. 

Selecting Build All will build all application build types. A definition of the projects associated 

with these target build types may be viewed under the Targets tab of the project window. 





10-55 







To make this application, open the 3ph_PMSM_VectorControl.mcp project file and execute the 

Make command, shown in Figure 10-45. This will build and link the 3-phase PM Synchronous 

Motor Control application and all needed Metrowerks and SDK libraries 




To execute the 3-phase PM Synchronous Motor Control application, choose the Program/Debug 

command in the CodeWarrior IDE, followed by the Run command. For more help with these 

commands, refer to the CodeWarrior tutorial documentation in the following file located in the 







stand-alone mode from Flash. When loading is finished, the JG4 jumper must be connected to 

boot from internal Flash and the RESET button pushed. 

Once the application is executing, the motor can be started. When the switch is moved from the 

STOP position to the RUN position, the motor will start. The speed can be changed by the 

UP/DOWN buttons. Pressing the UP/DOWN buttons should incrementally increase the motor 

speed until it reaches maximum speed. 





You should also see blinking or lighted LEDs which indicate the application’s status. 




MOTOROLA 







10.7.6 PC Master Software 

To run the application from Flash or ExtRAM, perform the following steps to set the PC master 

software control: 

• The RUN/STOP switch must be in the STOP position 

• Check the PC master software mode on the PC master software control page 

• The motor can be started by pressing the Start PC master software push button and stopped 

by pushing the Stop PC master software push button 

• The speed can be set by the bar graph 

When the RUN/STOP switch on the EVM is in the STOP position, the manual mode can be set 

again by unchecking the PC master software mode on the PC master software control page. 

The application can be monitored in PC master software during both the PC master software 

mode and the manual mode. 


• Operation mode 

• Application state 

• RUN/STOP switch state 

• Change operation mode request 

• PC master software Start/Stop 

• Mains 

• Fault status 

• Actual speed 

• Required speed 

• PC master software required speed 

• Power stage temperature 

• Identified power stage 

The following windows are available: 

Speed Scope monitors: 



• Desired Id Current 

• Desired Iq Current 

Speed Recorder monitors: 






The recorder can be used only when the application is running from External RAM due to the 

limited on-chip memory. The length of the recorded window may be set in “Recorder Properties” 

=> bookmark “Main” => “Recorded Samples”. It is limited by the dedicated memory space in the 

appconfig.h file. The recorder samples are taken every 125µsec. 




10-57 







10.8 3-Phase SR Motor Control Application 

This application exercises a principal control of the 3-Phase Switched Reluctance (SR) motor 

with Hall Sensors on the DSP56F803EVM board, Optoisolation board, and 3-phase SR 

High-Voltage power stage. 

10.8.1 Files 

The 3-Phase SR Motor Control application is composed of the following files: 

• ...\dsp56803evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\3ph_SRM_Hall_Sensor_Type1.c, 

main program 

• ...\dsp56803evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\3ph_SRM_Hall_Sensor_Type1.mcp, 


• ...\dsp56803evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\configextram\appconfig.c, 


• ...\dsp56803evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\configflash\appconfig.c, 


• ...\dsp56803evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\configextram\appcon-fig.h, 


• ...\dsp56803evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\configflash\appconfig.h, 


• ...\dsp56803evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\configextram\linker.cmd, linker 


• ...\dsp56803evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\configflash\linker.cmd, linker 


• ...\dsp56803evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\configflash\flash.cfg, configuration 




This application performs a principal control of the 3-phase SR motor with Hall Sensors on the 

DSP56F803 processor. The control technique sets the motor speed ([rpm]) to the required value 

using the speed closed loop with Hall position Sensors to derive the proper commutation 

action/moment. Protection is provided against Overcurrent, Overvoltage, Undervoltage, and 

Overheating drive faults. 




• 3-Phase SR High-Voltage Power Stage powered by 115 or 230V AC 

• 3-Phase SR Low-Voltage Power Stage powered by 12V DC 







MOTOROLA 








This 3-phase SR motor control application can operate in two modes: 


The drive is controlled by the RUN/STOP switch. The motor speed is set by UP and 

DOWN push buttons; see Figure 10-46. The actual state of the application is indicated 

by the USER LED. If the application runs and motor spinning is disabled, (i.e., the 

system is ready), the green USER LED will be flashing at a frequency of 4Hz. When 

motor spinning is enabled, the GREEN user LED will be ON. In the case of a fault 

on the power stage the green USER LED will blink at a frequency of 8Hz. If the 

wrong power board is identified, the green USER LED will blink at a frequency of 

1Hz. The actual state of the PWM outputs are indicated by PWM output LEDs; see 

Figure 10-47. 





10-59 











RUN/STOP switch, which can be used to stop the application safely at any time. 











• Fault Status 



...nos\applications\3ph_srm_hall_sensor_type1\PC_Master\3ph_sr_drive.pmp 

Start the PC master software windows application, 3ph_SR_Drive.pmp. Figure 10-48 shows the 

PC master software control window after this project has been launched. 




MOTOROLA 











master software window under Project/Select Other Map FileReload. 

10.8.3 Set-up 



Figure 10-49 and Figure 10-50 illustrate the hardware set-up for 3-phase SR Motor Control 

applications. The Hall Sensors’ connector on the motor must be attached to connector J2 on the 

EVM Board. 




10-61 








Figure 10-49. Set-up of the 3-phase HV SR Motor Control Application 




MOTOROLA 







Figure 10-50. Set-up of the 3-phase LV SR Motor Control Application 

The correct order of phases (phase A, phase B, phase C) for the SR motor is: 

• Phase A = white wire 

• Phase B = red wire 

• Phase C = black wire 

When facing a motor shaft, the motor shaft should rotate clockwise (i.e., positive direction, 

positive speed). 





To execute the 3-Phase SR Motor Control application, the DSP56F803 board requires the strap 

settings shown in Figure 10-51 and Table 10-15. 




10-63 








1 2 3 

JG6 

7 8 9 

JG1 

1 2 

7 8 

JG5 

9 8 7 

3 2 1 

1 2 3 

JG6 

7 8 9 

USER LED 

LED3 

7 8 9 

JG7 

3 2 1 

PWM LEDs 

JG7 

JG5 

JG4 

JG10 

JG1 

1 

P4 IRQA 

DSP56F803EVM 














S2 




MOTOROLA 

J3 

J2 

JG10 1 3 JG9 

JG3 

J10 

1 

U15 

S3 

S/N 

RUN/STOP 

S4 

Y1 

U1 

P2 

J9 

1 

JG4 

JTAG 

JG4 S1 

JG2 JG8 J1 

IRQB 

1 

JG3 

RESET 

J8 

JG2 

JG9 

J4 

U6 U7 

JG8 

P3 









port interface 

10.8.4 .Build 




3ph_SRM_Hall_Sensor_Type1.mcp project and select the target build type; see Figure 10-52. 




To make this application, open the 3ph_SRM_Hall_Sensor_Type1.mcp project file and execute 

the Make command, shown in Figure 10-53. This will build and link the 3-phase SR Motor 

Control application and all needed Metrowerks and SDK libraries 




10-65 










To execute the 3-phase SR Motor Control application, choose the Program/Debug command in 

the CodeWarrior IDE, followed by the Run command.For more help with these commands, refer 

to the CodeWarrior tutorial documentation in the following file, which is located in the 










STOP position to the RUN position, the motor will start. The speed can be changed with 







You should also see blinking or lighted LEDs, which indicates the application’s status. The 

application can be observed in PC master software during the manual mode. 




MOTOROLA 





PC Master Software Mode Control 



To set the PC master software control, perform the following steps: 



• Enabled the application by setting the RUN/STOP switch in the RUN position 

• Start the motor by pressing the Start PC master software Push Button, and stop it by Stop 

pressing the Stop PC master software Push Button 

• Set the speed with the bar graph 

• The motor can be stopped any time with the RUN/STOP switch on the EVM. When the 

RUN/STOP switch on the EVM is in the STOP position, the manual mode can be set again 

by unchecking the PC master software mode on the PC master software control page. 

10.9 3-Phase SR Sensorless Motor Control 

Application 

This application exercises sensorless control of the 3-Phase Switched Reluctance (SR) motor on 

the DSP56F803EVM board, Optoisolation board, and 3-phase SR High-Voltage power stage. 

10.9.1 Files 



• ...\dsp56803evm\nos\applications\3ph_srm_sensorless\3ph_srm_sensorless.c, main 

program 

• ...\dsp56803evm\nos\applications\3ph_srm_sensorless\3ph_srm_sensorless.h, main 

header file of the program used for storing application references and defined constants that 

are required by the 3ph_srm_sensorless.c file 

• ...\dsp56803evm\nos\applications\3ph_srm_sensorless\appconst.c, application 


• ...\dsp56803evm\nos\applications\3ph_srm_sensorless\appconst.h, header file to store 

the external references and defined constants related to the appconst.c file 

• ...\dsp56803evm\nos\applications\3ph_srm_sensorless\3ph_srm_sensorless.mcp, 


• ...\dsp56803evm\nos\applications\3ph_srm_sensorless\configextram\appconfig.c, 


• ...\dsp56803evm\nos\applications\3ph_srm_sensorless\configflash\appconfig.c, 


• ...\dsp56803evm\nos\applications\3ph_srm_sensorless\configextram\appconfig.h, 


• ...\dsp56803evm\nos\applications\3ph_srm_sensorless\configflash\appconfig.h, 


• ...\dsp56803evm\nos\applications\3ph_srm_sensorless\configextram\linker.cmd, 





10-67 







• ...\dsp56803evm\nos\applications\3ph_srm_sensorless\configflash\linker.cmd, linker 


• ...\dsp56803evm\nos\applications\3ph_srm_sensorless\configflash\flash.cfg, 




The 3-Phase SR Sensorless Motor Control Application demonstrates the sensorless Switched 

Reluctance Motor Control application using flux linkage position estimation on the DSP56F803 

processor. An estimation of the phase resistance for low speed range is included. 



After RESET, the drives enters the INIT state in MANUAL mode.When the RUN/STOP switch is 

detected (using RUN/STOP Switch or PC master software command) in the STOP position and 

there are no faults pending, the STOP application state is entered. When the start command is 

detected (using the RUN/STOP switch or the PC master software Start button), the drive enters 

the RUN application state; the motor is started. The following start-up sequence with rotor 

alignment is provided: 

• MOTOR_STOPPED Motor stopped 

• ALIGNMENT_COMMAND Alignment command accepted 

• ALIGNMENT_STAGE_ONE Alignment in progress; phases B and C switched on 

• ALIGNMENT_STAGE_TWO Alignment in progress; phase B switched on 

• START_UP_COMMAND Alignment finalized; start the motor 

• START_UP_FINISHED Motor running; start-up finalized 

The rotor position is evaluated using the sensorless flux linkage estimation algorithm. The actual 

flux linkage is calculated using the PWM frequency rate and compared with the reference flux 

linkage for the given commutation angle. The commutation angle is calculated according to the 

desired speed, current and actual DCBus voltage. When the actual flux linkage exceeds the 

reference flux linkage, the commutation of the phases in the desired rotation direction is done. 

The flux linkage error is used for the phase resistance estimation in low speeds (US Patent 

Pending). The commutation instances are used for actual motor speed calculation. According to 

the control signals (RUN/STOP switch, UP/DOWN push buttons) and PC master software 

commands (during PC master software control) the reference speed command is calculated using 

an acceleration/deceleration ramp. The comparison between the actual speed command and the 

measured speed generates a speed error. Based on the error, the speed controller generates the 

desired phase current. When the phase is commutated, it is turned on with duty cycle 100 percent 

(or Output_duty_cycle_startup during motor start-up). Then during each PWM cycle, the actual 

phase current is compared with the desired current. As soon as the actual current exceeds the 

command current, the current controller is turned on. The procedure is repeated for each 

commutation cycle of the motor. The current controller generates the desired duty cycle. Finally, 

the 3-ph PWM SR Motor Control signals are generated. 




MOTOROLA 













disables the drive operation. Line voltage is measured during application initialization and the 


measured value. If the line voltage is detected to be out of the -15% to +10% of nominal voltage, 

the fault "Out of the Mains Limit" disables the drive operation. 

If any of the above-mentioned faults occur, the motor control PWM outputs are disabled in order 

to protect the drive and the application enters the FAULT state. The FAULT state can be left only 

when the fault conditions disappear and the RUN/STOP switch is moved to the STOP position 




• 3-Phase SR High-Voltage Power Stage powered by 115V AC or 230V AC 




The 3-phase SR motor control application can operate in two modes: 









LEDs. 




10-69 













MOTOROLA 











can be taken over only if the RUN/STOP switch is in STOP position; until then, the 

push buttons and RUN/STOP switch have no effect on the application control. 
















...\nos\applications\3ph_srm_sensorless\PC_Master\3ph_srm_sensorless.pmp 

Start the PC master software window’s application, 3ph_srm_sensorless.pmp. Figure 10-56 shows 

the PC master software control window after this project has been launched. 









10-71 












MOTOROLA 





10.9.3 Set-up 



Figure 10-57 illustrates the hardware set-up for the 3-phase SR Motor Control applications. The 

motor’s Encoder connector, attached to connector J2 on the EVM Board, is not required for 

motor operation. It serves only as a PC master software position reference. 












To execute the 3-Phase SR Sensorless Motor Control application, the DSP56F803 board requires 

the strap settings shown in Figure 10-51 and Table 10-15. 




10-73 








1 2 3 

JG6 

7 8 9 

JG1 

1 2 

7 8 

JG5 

9 8 7 

3 2 1 

1 2 3 

JG6 

7 8 9 

USER LED 

LED3 

7 8 9 

JG7 

3 2 1 

PWM LEDs 

JG7 

JG5 

JG4 

JG10 

JG1 

1 

P4 IRQA 

DSP56F803EVM 














S2 







MOTOROLA 

J3 

J2 

JG10 1 3 JG9 

JG3 

J10 

1 

U15 

S3 

S/N 

RUN/STOP 

S4 

Y1 

U1 

P2 

J9 

1 

JG4 

JTAG 

JG4 S1 

JG2 JG8 J1 

IRQB 

1 

JG3 

RESET 

J8 

JG2 

JG9 

J4 

U6 U7 

JG8 

P3 





10.9.4 Build 





External RAM. To select the type of application to build, open the 3ph_sr_sensorless.mcp project 

and select the target build type; see Figure 10-59. Selecting Build All will build all application 




To make this application, open the 3ph_sr_sensorless.mcp project file and execute the Make 

command, shown in Figure 10-60. This will build and link the 3-phase SR sensorless Motor 





10-75 











the CodeWarrior IDE, followed by the Run command. For more help with these commands, refer 

to the CodeWarrior tutorial documentation in the following file, located in the CodeWarrior 





















MOTOROLA 








Perform the following steps to set the PC master software control: 



• The motor can be started by pushing the Start PC master software Push Button and stopped 

by pushing the Stop PC master software Push Button 



again by unchecking the PC master software mode on the PC master software control page. 

The application can be monitored in PC master software during the PC master software mode and 

in manual mode. 





• Desired Phase Current 

Start-up Recorder captures: 


• Active Phase Current 

• Reference Flux Linkage 

• Active Flux Linkage 

• Output Duty Cycle 

• Encoder Position Reference 

Start-up Recorder is initiated with the motor start only. 

Flux Linkage Recorder captures: 


• Discharge Phase Current 


• Discharge Flux Linkage 



Flux Linkage Recorder may be initiated any time during the motor run. 

Current Controller Recorder captures: 






Current Controller Recorder may be initiated any time during the motor run. 




10-77 







The Recorder can be used only when the application is running from External RAM due to the 



appconfig.h file. The recorder samples are taken every 64.5 µsec. 

10.10 3-Phase SR Motor Control with Encoder 

Application 

This application exercises control of the 3-Phase Switched Reluctance (SR) motor with encoder 

position sensor on the DSP56F803EVM board, Optoisolation board, and 3-phase SR 


10.10.1 Files 



• ...\dsp56803evm\nos\applications\3ph_srm_Encoder\3ph_srm_Encoder.c, main 

program 

• ...\dsp56803evm\nos\applications\3ph_srm_Encoder\3ph_srm_Encoder.h, main 


are required by the 3ph_srm_Encoder.c file. 

• ...\dsp56803evm\nos\applications\3ph_srm_Encoder\appconst.c, application constants 

for Data flash 

• ...\dsp56803evm\nos\applications\3ph_srm_Encoder\appconst.h, header file to store 


• ...\dsp56803evm\nos\applications\3ph_srm_Encoder\3ph_srm_Encoder..mcp, 


• ...\dsp56803evm\nos\applications\3ph_srm_Encoder\configextram\appconfig.c, 


• ...\dsp56803evm\nos\applications\3ph_srm_Encoder\configflash\appconfig.c, 


• ...\dsp56803evm\nos\applications\3ph_srm_Encoder\configextram\appconfig.h, 


• ...\dsp56803evm\nos\applications\3ph_srm_Encoder\configflash\appconfig.h, 


• ...\dsp56803evm\nos\applications\3ph_srm_Encoder\configextram\linker.cmd, linker 


• ...\dsp56803evm\nos\applications\3ph_srm_Encoder\configflash\linker.cmd, linker 


• ...\dsp56803evm\nos\applications\3ph_srm_Encoder\configflash\flash.cfg, 






MOTOROLA 








The 3-Phase SR Motor Control with Encoder Application demonstrates the Switched Reluctance 

Motor Control application using position sensor on the DSP56F803 processor. 


After RESET the drives enters the INIT state in MANUAL mode.When the start/stop switch is 

detected (using Start/Stop Switch or PC master software command) in STOP position and there 

are no faults pending the STOP application state is entered. When the start command is detected 

(using Start/Stop switch or PC master software Start button), the drive enters RUN application 

state - motor is started. The following start-up sequence with the rotor alignment is provided: 

• MOTOR_STOPPED, Motor stopped 

• ALIGNMENT_COMMAND, Alignment command accepted 

• ALIGNMENT_STAGE_ONE, Alignment in progress - phases B&C switched on 

• ALIGNMENT_STAGE_TWO, Alignment in progress - phase B switched on 

• START_UP_FINISHED Alignment finalized, motor running, start-up finalized 

The rotor position is evaluated with encoder position sensor through timer module A of channel 0, 

which is set into quadrature mode.Channel 1 of the same module performs commutation call 

under successful comapring of CMP2. Every commutation occurrence the CMP2 is anew loaded 

with recently calculated value, which is adjusted by advance angle routine considering actual 

speed, desired current and applied voltage across corresponding phase. The individual phase is 

supposed to be switched on before overlapping rotor and stator teeth. 

According to the control signals (Start/Stop switch, Up/Down push buttons) and PC master 

software commands (in case of PC master software control) the reference speed command is 

calculated using an acceleration/deceleration ramp. The comparison between the actual speed 

command and the measured speed generates a speed error. Base on the error the speed controller 

generates desired phase current. When the phase is commutated, it is turned-on with duty cycle 

100% (or Output_duty_cycle_startup during motor start-up). Then during each PWM cycle the 

actual phase current is compared with the desired current. As soon as the actual current exceeds 

the command one, the current controller is turned-on. The procedure is repeated for each 

commutation cycle of the motor. The current controller generates the desired duty cycle Finally 

the 3-phase PWM SR Motor Control signals are generated. 




process. They are used for overvoltage, undervoltage, overcurrent and overtemperature protection 

of the drive. The undervoltage and overtemperature protection is performed by software while the 

overcurrent and overvoltage fault signal utilizes a Fault inputs of the DSP. The power stage is 

identified using board identification. If the correct power stage is not identified, the fault "Wrong 

Power Stage" disables the drive operation. The line voltage is measured during application 

initialization. According the detected level the 115VAC or 230VAC mains is set. If the line 

voltage out of the -15% .. +10% of nominal voltage is detected, the fault "Out of the Mains Limit" 

disables the drive operation. 

If any of the above mentioned fault occurs, the motor control PWM outputs are disabled in order 


when the fault conditions disappear and the start/stop switch is moved to the STOP position 




10-79 























LEDs. 





MOTOROLA 












can be taken over only if the RUN/STOP switch is in STOP position. Then the push 

buttons and start/stop switch has no effect to the application control. 















...\nos\applications\3ph_srm_Encoder\pc_master\3ph_srm_Encoder.pmp 




10-81 







Start the PC master software window’s application, 3ph_srm_Encoder.pmp. Figure 10-56 shows 







10.10.3 Set-up 



Figure 10-57 illustrates the hardware set-ups for the 3-phase SR Motor Control applications. The 

motor’s Encoder connector attached to connector J2 on the EVM Board is not required for the 

motor operation. It serves only for PC master software position reference. 




MOTOROLA 








The correct phase order (phase A, phase B, phase C) for SR motor is as follows: 

• Phase A - white wire 

• Phase B - red wire 

• Phase C - black wire 

If you look at a motor shaft (face to shaft) the motor shaft should rotate in clockwise direction (i.e. 

positive direction, positive speed). 





To execute the 3-Phase SR Motor Control with Encoder application, the DSP56F803 board 





10-83 








1 2 3 

JG6 

7 8 9 

JG1 

1 2 

7 8 

JG5 

9 8 7 

3 2 1 

1 2 3 

JG6 

7 8 9 

USER LED 

LED3 

7 8 9 

JG7 

3 2 1 

PWM LEDs 

JG7 

JG5 

JG4 

JG10 

JG1 

1 

P4 IRQA 

DSP56F803EVM 










JG7 Encoder Input Selected 2-3, 5-6, 8-9 




S2 







MOTOROLA 

J3 

J2 

JG10 1 3 JG9 

JG3 

J10 

1 

U15 

S3 

S/N 

RUN/STOP 

S4 

Y1 

U1 

P2 

J9 

1 

JG4 

JTAG 

JG4 S1 

JG2 JG8 J1 

IRQB 

1 

JG3 

RESET 

J8 

JG2 

JG9 

J4 

U6 U7 

JG8 

P3 





10.10.4 .Build 





External RAM. To select the type of application to build, open the 3ph_srm_Encoder.mcp project 

and select the target build type; see Figure 10-59. Selecting Build All will build all application 




To make this application, open the 3ph_srm_Encoder.mcp project file and execute the Make 

command, shown in Figure 10-60. This will build and link the 3-phase SR sensorless Motor 





10-85 












to the CodeWarrior tutorial documentation in the following file located in the CodeWarrior 











UP/DOWN buttons. Pressing the Up/Down buttons should cause to incrementally increase the 

speed of the motor until it reaches a maximum speed. 









MOTOROLA 















again by unchecking the PC master software mode on the PC master software control page 

The application can be monitored in PC master software during the PC master software mode as 

well as manual mode. 










The Recorder can be used ONLY when the application is running from External RAM due to the 


=> bookmark “Main” => “Recorded Samples”. It is limited by the dedicated memory space in 

appconfig.h file. The recorder samples are taken each 100µsec. 



This application demonstrates a principal of the V/Hz control of the 3-Phase AC induction motor 

using the DSP56F803EVM board, Optoisolation board and 3-phase AC BLDC High-Voltage 

power stage. 

10.11.1 Files 



..\src\dsp56803evm\nos\applications\3ph_AC_VHz_OpenLoop\ 




10-87 











• ConfigExtRam\appconfig.c, application configuration file for External RAM 

• ConfigExtRam\appconfig.h, application configuration file for External RAM 

• ConfigExtRam\linker.cmd, linker command file used for RAM 

• ConfigFlash\appconfig.c, application configuration file for Flash 

• ConfigFlash\appconfig.h, application configuration file for Flash 

• ConfigFlash\linker.cmd, linker command file used for Flash 





This application performs a principal control of the 3-phase AC Induction motor using the 



application and reflects the AC Induction motor parameters (Base Voltage/frequency; Boost 

Voltage/frequency; and DC Boost Voltage). The incremental encoder is used to derive the actual 

rotor speed. Protection is provided against Overcurrent, Overvoltage, Undervoltage, and 

Overheating drive faults. If the wrong system board is identified, the green USER LED will blink 

at a frequency of 8Hz and the PC master software signals a connection to the wrong hardware. 




















— PC master software monitor interface (required speed; actual motor speed; drive fault status; 

DCBus voltage level; identified power stage boards) 




MOTOROLA 








The Volt per Hertz control algorithm is calculated on Motorola DSP56F803. The algorithm 

generates the 3-phase PWM signals for AC induction motor inverter according to the 



• AC induction motor--brake set 



• Optoisolation box which is connected between the power stage board and the 

DSP56F803EVM 




Table 10-18. 








Motor Specification eMotor Type AM40V 


Brake Specification 

Position Sensor (Encoder) 


Pole-Number 4 




Brake Type 

SG40N 


Pole-Number 6 

Nominal Speed 1500rpm 


Nominal Current: 2.6 A 

Type 

Baumer Electric 

BHK 16.05A 1024-12-5 





10-89 

















• Wrong-hardware (PC master software error message = Wrong HW 

This 3-phase AC Induction motor V/Hz application can operate in two modes: 



UP (S2-IRQA) and DOWN (S3-IRQB) push buttons; see Figure 10-68. If the 

application runs and motor spinning is disabled (i.e., the system is ready), the green 

USER LED (LED8, shown in Figure 10-69) will blink. When motor spinning is 

enabled, the green USER LED will be On and the actual state of the PWM outputs 

are indicated by PWM output LEDs. If Overcurrent, Overvoltage or Overheating 

occur or if the wrong system board is identified, the green USER LED starts to flash 

quickly and the PC master software signals the identified type of fault. This state can 

be exited only by an application RESET. It is strongly recommended that you inspect 

the entire application to locate the source of the fault before starting it again. Refer to 

Table 10-19 for application states. 





MOTOROLA 







The green LED (highlighted in Figure 10-69) indicates the Stand-by State (LED flashing) or the 

Run State (LED On). 












Running Running On 




• Phase voltage amplitude (related to the given DCBus voltage) 





10-91 








• DCBus voltage and temperature of power stage module 


• Identified hardware 

If Overcurrent, Overvoltage, Undervoltage, or Overheating occur, the internal fault logic is 

asserted and the application enters a fault state (the USER LED will start to flash quickly). This 

state can be exited only by an application RESET. It is strongly recommended that you inspect the 



..\nos\applications\3ph_AC_VHz_OpenLoop\PC_Master\3ph_AC_VHz_Flash.pmp, which 

uses Map file for running in Flash 

..\nos\applications\3ph_AC_VHz_OpenLoop\PC_Master\3ph_AC_VHz_ExtRam.pmp, 

which uses Map file for running in External Memory 

Start the PC master software window’s application and choose the correct PC master software 

project for the desired PC master software Operating Mode. Figure 10-70 shows the PC master 

software control window for 3ph_AC_VHz_ExtRam.pmp. 





MOTOROLA 





10.11.3 Set-up 



Figure 10-71 illustrates the hardware set-up for the 3-phase AC Motor Control application - Open 

Loop. 

Figure 10-71. Set-up of the 3-phase AC Induction Motor Control Application - Open Loop 


Figure 10-71 is: 






The serial cable is needed for the PC master software debugging tool only. For detailed 

information, see the DSP56F803 Evaluation Module Hardware Reference Manual. 



To execute the 3-Phase SR Motor Control application, the DSP56F803 board requires the strap 





10-93 







. 

1 2 3 

JG6 


7 8 9 

JG1 

1 2 

7 8 

JG5 

9 8 7 

3 2 1 

1 2 3 

JG6 

7 8 9 

USER LED 

LED3 

7 8 9 

JG7 

3 2 1 

PWM LEDs 

JG7 

JG5 

JG4 

JG10 

JG1 

1 

S2 

P4 IRQA 

DSP56F803EVM 










JG7 Encoder Input Selected for Incremental Encoder signals 2-3, 5-6, 8-9 




J3 

J2 

JG10 1 3 JG9 

JG3 







MOTOROLA 

J10 

1 

U15 

S3 

S/N 

RUN/STOP 

S4 

Y1 

U1 

P2 

J9 

1 

JG4 

JTAG 

JG4 S1 

JG2 JG8 J1 

IRQB 

1 

JG3 

RESET 

J8 

JG2 

JG9 

J4 

U6 U7 

JG8 

P3 





10.11.4 Build 




command, as shown in Figure 10-73. This will build and link the 3-phase AC V/Hz Motor Control 







commands, refer to the CodeWarrior tutorial documentation in the following file, which is located 

in the CodeWarrior installation directory: 





disable the JTAG port and jumper JG4 to enable boot from internal flash, then push the RESET 

button. 




3-phase AC induction motor will be spinning. 






10-95 












Application - Closed Loop 


in closed loop using the DSP56F803EVM board, Optoisolation board, and 3-phase AC BLDC 


10.12.1 Files 

The 3-Phase AC Induction Motor Control V/Hz Application - Closed Loop is found in directory: 

..\src\dsp56803evm\nos\applications\3ph_AC_VHz_CloseLoop\ 


• 3ph_AC_VHz_CL.c, Closed Loop main application program 

• 3ph_AC_VHz_CL.h, Closed Loop application header file 

• 3ph_AC_VHz_CL.mcp, Closed Loop project file 












This application performs a principal control of the 3-phase AC induction motor using the 





rotor speed. 

The closed loop system is characterized by a feedback signal (Actual Speed), derived from a 

quadrature decoder in the controlled system. This signal monitors the actual behavior of the 

system, and is compared with the reference signal (Required Speed). The magnitude and polarity 




MOTOROLA 







of the resulting error signal are directly related to the difference between the required and actual 

values of the controlled variable, which may be the speed of a motor. The error signal is amplified 

by the controller, and the controller output makes a correction to the controlled system, reducing 

the error signal. 

Protection is provided against Overcurrent, Overvoltage, Undervoltage, and Overheating drive 

faults. 





• Close loop control 



















The Volt per Hertz control algorithm is calculated on Motorola DSP56F803. The algorithm 







• Optoisolation box which is connected between the power stage board and the 

DSP56F803EVM 




Table 10-21. 




10-97 











• SDK 2.4 













Pole-Number 4 




Brake Type 






This 3-phase AC Induction motor V/Hz application can operate in two modes: 

SG40N 




Pole-Number 6 


Type 


BHK 16.05A 1024-12-5 




UP (S2-IRQA) and DOWN (S3-IRQB) push buttons; see Figure 10-74. If the 





MOTOROLA 








USER LED (LED8, shown in Figure 10-75) will blink. When motor spinning is 

enabled, the green USER LED will be On and the actual state of the PWM outputs is 

indicated by PWM output LEDs. If Overcurrent, Overvoltage or Overheating occur 

or if the wrong system board is identified, the green USER LED starts to flash 

quickly and the PC master software signals the identified type of fault. This state can 

be exited only by an application RESET. It is strongly recommended that you inspect 

the entire application to locate the source of the fault before starting it again. Refer to 






10-99 




















• Set Close/Open loop by checking/unchecking the Close Loop check box; see Figure 10-76 




MOTOROLA 










• Phase voltage amplitude (related to given the DCBus voltage) 


• DCBus voltage and temperature of power stage module 



If Overcurrent, Overvoltage, Undervoltage or over-heating occur, the internal fault logic is 

asserted and the application enters a fault state (the USER LED starts to flash quickly). This state 

can be exited only by an application RESET. It is strongly recommended that you inspect the 

entire application to locate the source of a fault before starting it again. 


..\nos\applications\3ph_AC_VHz_CloseLoop\PC_Master\3ph_AC_VHz_Flash.pmp, which 


..\nos\applications\3ph_AC_VHz_CloseLoop\PC_Master\3ph_AC_VHz_ExtRam.pmp, 




software control window for 3ph_AC_VHz_Flash.pmp. 




10-101 












MOTOROLA 





10.12.3 Set-up 



Figure 10-77 illustrates the hardware set-up for the 3-phase AC Motor Control Application - 

Closed Loop. 

Figure 10-77. Set-up of the 3-phase AC Induction Motor Control Application - Closed Loop 














10-103 








To execute the 3-Phase AC Induction Motor Control V/Hz Application - Closed Loop, the 

DSP56F803EVM board requires the strap settings shown in Figure 10-78 and Table 10-23. 

1 2 3 

JG6 


7 8 9 

JG1 

1 2 

7 8 

JG5 

9 8 7 

3 2 1 

1 2 3 

JG6 

7 8 9 

USER LED 

LED3 

7 8 9 

JG7 

3 2 1 

PWM LEDs 

JG7 

JG5 

JG4 

JG10 

JG1 

1 

S2 

P4 IRQA 

DSP56F803EVM 

















MOTOROLA 

J3 

J2 

JG10 1 3 JG9 

JG3 

J10 

1 

U15 

S3 

S/N 

RUN/STOP 

S4 

Y1 

U1 

P2 

J9 

1 

JG4 

JTAG 

JG4 S1 

JG2 JG8 J1 

IRQB 

1 

JG3 

RESET 

J8 

JG2 

JG9 

J4 

U6 U7 

JG8 

P3 










10.12.4 Build 

To build this application, open the 3ph_AC_VHz_CL.mcp project file and execute the Make 

command as shown in Figure 10-79. This will build and link the 3-phase AC V/Hz Motor Control 





To execute the 3-phase AC V/Hz Motor Control application, the choose Program/Debug 


commands, refer to the CodeWarrior tutorial documentation in the following file, which is located 






disable the JTAG port and jumper JG4 to enable boot from internal flash, then press the RESET 

button. 






10-105 








3-phase AC Induction motor will be spinning. 







10.13 3-Phase ACIM Vector ControlApplication 

This application demonstrates a principle of the vector control of the 3-phase AC induction motor 

(ACIM) using the DSP56F803EVM board, the In-line optoisolation box, and the 3-phase AC 

BLDC high voltage power stage. 

10.13.1 Files 

The 3-phase ACIM vector control application can be found in the SDK installation directory: 

..\src\dsp56803evm\nos\applications\3ph_ACIM_VectorControl\ 


• 3ph_ACIM_VectorControl.c, main application program 

• 3ph_ACIM_VectorControl.h, application header file 

• 3ph_ACIM_VectorControl.mcp, application project file 





• ConfigFlash\appconfig.h, application configuration header file for Flash 


• ConfigFlash\flash.cfg, configuration file for Flash 








• Vector control technique used for ACIM control 






MOTOROLA 





















— PC master software monitor interface (required speed; actual motor speed; PC master 

software mode; START MOTOR/STOP MOTOR controls; drive fault status; DCBus voltage 

level; identified power stage boards; drive status; mains detection) 




The vector control algorithm is calculated on the Motorola DSP56F803. The algorithm generates 

the 3-phase PWM signals for AC induction motor inverter according to the user-required inputs, 

measured and calculated signals. 





• ECOPTINL--In-line optoisolation box, which is connected between the host computer and 




(encoder) is coupled on the motor shaft and position Hall Sensors are mounted between the motor 

and the brake. They allow position sensing if is required by the control algorithm. The detailed 

motor--brake specifications are listed in Table 10-24. 





Pole-Number 4 



Nominal Current 0.88A 




10-107 
















• Manual operating mode - the required speed is set by the UP/DOWN push buttons and the 

drive is started and stopped by the RUN/STOP switch on the EVM board 


active bar graph and the drive is started and stopped by the START MOTOR and STOP 

MOTOR controls 








Brake Type 





• Wrong-mains (PC master software error message = Mains out of range) 


• Overload (PC master software error message = Overload) An informative message; the 

actual application state is not changed to FAULT state 


SG40N 


Pole-Number 6 




Type 


BHK 16.05A 1024-12-5 


• INIT - application initialization; operating mode changing. 

• STOP - PWM outputs disabled; operating mode changing. 


• FAULT - PWM outputs disabled; waiting for manual fault acknowledgement or application 

reset 




MOTOROLA 








After reset, the drive is in the INIT state and in the Manual operating mode.When the RUN/STOP 

switch is detected in the STOP position and there are no faults pending, the INIT state is changed 

to the STOP state. Otherwise, the drive waits in the INIT state. If a fault occurs, the drive goes to 

the FAULT state. In INIT and STOP states, the operation mode can be changed from PC master 

software. In the Manual operating mode, the application is controlled by the RUN/STOP switch 

and UP/DOWN buttons; in the PC master software remote control mode, the application is 

controlled by the PC master software environment. 

When the start command is accepted (using the RUN/STOP switch or PC master software 

command), the STOP state is changed to the RUN state. Then required speed is calculated from 

the UP/DOWN push buttons in manual mode or from PC master software commands when in PC 

master software remote control mode. The required speed is the input into the 

acceleration/deceleration ramp. The difference between the actual speed and the required speed 

generates a speed error. Based on the error, the speed controller generates an Is_q_Req current 

which corresponds to the torque component. The second Is_d_Req component of the stator 

current, which corresponds to rotor flux, is given by the flux controller. The field-weakening 

algorithm generates the required rotor flux, which is compared with calculated rotor flux from the 

AC induction flux model calculation algorithm. The difference between required rotor flux and 

calculated rotor flux generates a flux error. Based on the flux error, the flux controller generates 

the required Is_d_Req stator current. Simultaneously, the stator currents Is_a, Is_b and Is_c 

(3-phase system) are measured and transformed to the stationary reference frame α, β (2-phase 

system) and to the d-q rotating reference frame consecutively. The decoupling algorithm 

generates Us_q and Us_d voltages (d-q rotating reference frame). The Us_q and Us_d voltages 

are transformed back to the stationary reference frame α, β and then the space vector modulation 

generates the three-phase voltage system which is applied on the motor. 




process. They protect the drive from Overvoltage, Undervoltage, Overcurrent, Overheating and 

Wrong-mains. The Undervoltage, Overheating, Wrong-hardware and Wrong-mains protection are 

performed by software. The Overcurrent and the Overvoltage fault signals utilize fault inputs of 

the DSP controlled by hardware. The power stage is identified using board identification. If the 

correct boards are not identified, the Wrong-hardware fault disables the drive operation. The line 

voltage is measured during application initialization. According to the detected voltage level, the 

115VAC or 230VAC mains is recognized. If the mains is out of range, the Wrong-mains fault is 

set and the drive operation is disabled. 

If any of the mentioned faults occur, the motor control PWM outputs are disabled in order to 

protect the drive and the application enters the FAULT state. The FAULT state can be left only 


manual mode, or by the PC master software in PC master software remote mode. If 

Wrong-hardware or Wrong-mains occur, the FAULT state can be left only by application reset. 

The 3-phase ACIM vector control application can operate in two modes: 



UP (S2-IRQB) and DOWN (S1-IRQA) push buttons (see Figure 10-80). The actual 

state of the application is indicated by the user LEDs (see Figure 10-81). If the 




10-109 









user LED will blink at a frequency of 2Hz. When motor spinning is enabled, the 

green user LED will be turned on and the actual state of the PWM outputs are 

indicated by PWM output LEDs. If any fault occurs (Overcurrent, Overvoltage, 

Undervoltage, Wrong-mains, Overheating or Wrong-hardware), the green user LED 

will blink at a frequency of 8Hz. The PC master software control page shows the 

identified fault. The faults can be handled by switching the RUN/STOP switch to 

STOP, which acknowledges the fault state. Meanwhile, the Wrong-mains and the 

Wrong-hardware faults can be quit only with the application reset. It is strongly 

recommended that the user inspect the entire application to locate the source of the 

fault before starting it again. Refer to Table 10-25 for application states. 





MOTOROLA 















2. PC master software Operating Mode 


of the DSP device via an RS-232 physical interface. The whole application is fully 

controllable from the PC master software environment regardless of the 

RUN/STOP switch position on the EVM board. 


• Set PC master software mode of the motor control system 

• Set Manual mode of the motor control system 





10-111 








• Set the required speed of the motor 



• Actual and required speed of the motor 

• Application status - INIT/STOP/RUN/FAULT 


• Identified mains voltage 


• Temperature of power module 

• START MOTOR and STOP MOTOR controls (active only in PC master software mode) 

• PC master software check-box (defines full PC master software control or full Manual 

control) 


If any fault occurs (Overcurrent, Overvoltage, Wrong-mains, Overheating or Wrong-hardware), 

the green user LED will blink at a frequency of 8Hz. The PC master software control page shows 

the identified fault. The faults can be handled by switching the START MOTOR/STOP MOTOR 

icon to STOP MOTOR, which acknowledges the fault state. Meanwhile, the Wrong-mains and 

the Wrong-hardware faults can be quit only with the application reset. It is strongly recommended 

that the user inspect the entire application to locate the source of the fault before starting it again. 

Project files for the PC master software are located in : 

..\nos\applications\3ph_ACIM_VectorControl\PC_Master\3ph_ACIM_VectorControl.pmp 

Start the PC master software 3ph_ACIM_VectorControl.pmp application. Figure 10-82 shows the 

PC master software control window. 


possible that wrong load map (.elf file) has been selected. PC master software uses the 

load map to determine addresses for global variables that are monitored. Once the PC 

master software project has been launched, this option may be selected in the PC 

master software menu under Project/Select Other Map File. 




MOTOROLA 





10.13.3 Set-up 





Figure 10-83 illustrates the hardware set-up for the 3-phase ACIM vector control application. 

WARNING: 




are live. 




hardware. 







10-113 









To avoid inadvertently touching live parts, use plastic covers. 

In the rest of this application, the description supposes the use of an insulation transformer. 

Figure 10-83. Set-up of the 3-phase ACIM Vector Control Application 









Manual. The serial cable to PC is needed for the PC master software debugging tool only. 




MOTOROLA 








To execute the 3-phase ACIM vector control application, the DSP56F803 board requires the strap 


1 2 3 

JG6 


7 8 9 

JG1 

1 2 

7 8 

JG5 

9 8 7 

3 2 1 

1 2 3 

JG6 

7 8 9 

USER LED 

LED3 

7 8 9 

JG7 

3 2 1 

PWM LEDs 

JG7 

JG5 

JG4 

JG10 

JG1 

1 

S2 

P4 IRQA 

J3 

J2 

JG10 1 3 JG9 

JG3 

DSP56F803EVM 

















10-115 

J10 

1 

U15 

S3 

S/N 

RUN/STOP 

S4 

Y1 

U1 

P2 

J9 

1 

JG4 

JTAG 

JG4 S1 

JG2 JG8 J1 

IRQB 

1 

JG3 

RESET 

J8 

JG2 

JG9 

J4 

U6 U7 

JG8 

P3 









port interface. For this application, this is permanently set as short-connected. 

10.13.4 Build 



External RAM, which can be selected from the File menu in the project window. To choose the 

desired type, open the 3ph_ACIM_VectorControl.mcp project and select the target build type; see 

Figure 10-85. Selecting Build All will create all application build types. Definition of the projects 

associated with these target build types may be viewed under the Targets tab of the project 

window. 

When the 3ph_ACIM_VectorControl.mcp project file is opened, execute the Make command or 

press [F7]; see Figure 10-86. This will build and link the 3-phase ACIM vector control application 

and all needed libraries from Metrowerks CodeWarrior and the SDK. 





MOTOROLA 










To execute the 3-phase ACIM vector control application, choose the Program/Debug command in 

the CodeWarrior IDE, and follow with the Run command. 

To execute the 3-phase ACIM vector control application’s internal Flash version, choose the 

Program/Debug command in the CodeWarrior IDE. When loading is finished, JG4 must be 

connected to boot from internal Flash and the RESET button pushed. 

For more help with these commands, refer to the CodeWarrior tutorial documentation file, located 







3-phase ACIM will be spinning. 


this switch back and forth to enable motor spinning. This is a protection feature that 

prevents the motor from starting when the application is executed from the 

CodeWarrior. 

You should also see blinking or lighted LEDs, which indicate the application’s status. 




10-117 







10.13.6 PC Master Software Control 



• The application must be in the STOP or INIT state, indicated on the PC master software 

control page 


• The motor can be started by pushing the “START MOTOR” PC master software icon and 

stopped by pushing the “STOP MOTOR” PC master software icon 


When the application is in the STOP or INIT state, the Manual mode can be set again by 

unchecking the PC master software mode on the PC master software control page. 


during Manual mode. 

The following PC master software windows are available: 




Recorder: 

The recorder is prepared for fast events capture. 

Note: It is recomended to use the Recorder only when the application is running from 

External RAM due to limited on-chip memory. The length of the recorded window 

may be changed by left-clicking on the Recorder in the tree structure of the PC master 

software items; selecting Recorder Properties in the menu Item/Properties; and 

defining the value as Recorded Samples. It is limited by the dedicated memory space 

in the appconfig.h file. The recorder samples are taken every 1 ms. 

10.14 Digital Power Factor Correction 

This application demonstrates Power Factor Correction without motor control. A 

DSP56F803EVM board, an Optoisolation board, and a 3-phase AC/BLDC High-Voltage power 

stage board are used. 

10.14.1 Files 

The Digital Power Factor Correction Application is found in directory: 

..\src\dsp56803evm\nos\applications\Digital_PFC\ 



• Digital_PFC.mcp, application project file 




MOTOROLA 







• dpfc.h, application header file 

• dpfc.c, main application program 










The targeting for the DSP56F803EVM has some specific lines in the dpfc.c C-source file. The 

following lines indicate which pin will be used to provide the PFC inhibit output functionality: 

/* Uncomment one of the following lines */ 

// #define DSP56F805EVM 

#define DSP56F803EVM 

The DSP56F803EVM uses a GPIO output pin, the following timer channel configuration line, 

required for the DSP56F805EVM, must be removed from the appconfig.h file: 

// #define INCLUDE_USER_TIMER_C_0 0 


The Digital PFC application performs power factor correction for 3-phase AC/BLDC 

High-Voltage Power Stage hardware without motor drive. It is a demo that evaluates the basic 

algorithm of power factor correction for current hardware implementation. The PFC software was 

designed for use with motor control applications. The Digital PFC application allows target 

memory configurations of both RAM and Flash. The input power line must meet the following 

requirements: 

• Input voltage value of 115 or 220 volts 

• Input voltage frequency of 50 or 60 Hz 

The Digital PFC application can be used in the Manual Operating Mode. The remote control 

functionality of the PC master software application is not implemented. 

Manual Operating Mode 


The PFC conversion is controlled by the RUN/STOP switch (S1), shown in Figure 10-87. The 

USER LED (LED8, highlighted in Figure 10-88) indicates the application’s state. When the 

application is ready, the USER LED blinks at a 2Hz frequency. 




10-119 













MOTOROLA 







The PFC conversion can be enabled after the RUN/STOP switch is moved to the RUN position. 

The normal PFC conversion process is indicated when the USER LED lights continuously. To 

disable PFC conversion, the RUN/STOP switch must be moved to the STOP position. 

10.14.3 Set-up 

Figure 10-89 illustrates the hardware set-up for the Digital PFC application, which does not 

require the motor drive. The AC/BLDC High-Voltage Power Stage board contains the JP201 

jumper, which selects the power supply device. By default, a wire is soldered between the 2-3 

pins of the JP201 jumper to correspond to a simple rectifier-capacitor power stage. The PFC 

hardware set-up requires that the wire between the JP201’s pins be disconnected and a wire to be 

soldered across the pins 1-2 of the JP201 jumper, thereby selecting the PFC inductor. 



Figure 10-89. Set-up of the Digital PFC Application 

To execute the Digital PFC application, the DSP56F803 board requires the strap settings shown in 

Figure 10-90 and Table 10-27. 




10-121 







1 2 3 

JG6 

JG1 

1 2 

7 8 


7 8 9 

JG5 

9 8 7 

3 2 1 

1 2 3 

JG6 

7 8 9 

USER LED 

JG7 

3 2 1 

LED3 

DSP56F803EVM 











JG8 On-board Parallel JTAG command converter powered by Host 

system 

7 8 9 

PWM LEDs 

JG7 

JG5 

JG4 

JG10 

JG1 

1 

S2 

P4 IRQA 

J3 

J2 

JG10 1 3 JG9 

JG3 



J10 

1 

Note: When running the EVM target system in a stand alone-mode from Flash, the JG2 






MOTOROLA 

U15 

S3 

S/N 

RUN/STOP 

S4 

Y1 

U1 

P2 

J9 

1 

JG4 

JTAG 

JG4 S1 

JG2 JG8 J1 

IRQB 

1 

JG3 

RESET 

J8 

JG2 

JG9 

J4 

U6 U7 

JG8 

P3 

1-2 





10.14.4 Build 



To build this application, open the Digital_PFC.mcp project file and execute the Make command, 

as shown in Figure 10-91. This will build and link the Digital PFC application and all needed 

Metrowerks and SDK libraries. 




To execute the Digital PFC application, choose the Program/Debug command in the CodeWarrior 

IDE, followed by the Run command. For more help with these commands, refer to the 

CodeWarrior tutorial documentation in the following file, which is located in the CodeWarrior 




To execute the Digital PFC application’s internal Flash version, choose the Program/Debug 

command in the CodeWarrior IDE. When loading is finished, set jumper JG2 to disable the JTAG 

port and jumper JG4 to enable boot from internal flash, then press the RESET button. 

When the application is running, the USER LED will blink at a 2Hz frequency. To enable the PFC 

conversion, set the RUN/STOP switch to the RUN position. If this switch was in the RUN 

position before the application started, switch it to the STOP position, then back to the RUN 

position. 

The USER LED should light continuously when PFC conversion is enabled. To disable the PFC 

conversion, the RUN/STOP switch should be moved to the STOP position (the USER LED will 

blink again). 






10-123 







10.15 Digital Power Factor Correction for 3-phase 

AC Motor V/Hz Open Loop 

This application demonstrates how to integrate the Power Factor Correction with a Motor Control 

application. It is based on the 3-phase AC Motor V/Hz Open Loop application and performs the 

same functionality. Only the power supply was changed in the current implementation. The 

application uses the DSP56F803EVM board, Optoisolation board, and 3-phase AC/BLDC 

High-Voltage power stage board. 

10.15.1 Files 

The Digital Power Factor Correction for 3-Phase AC Motor V/Hz Open Loop Application is 

found in the directory: 

..\src\dsp56803evm\nos\applications\3ph_AC_VHz_OpenLoop_PFC\ 


• 3ph_AC_VHz_OpenLoop_PFC.mcp, application project file 











These files are located in the SDK installation directory. The targeting for DSP56F803EVM has 

some specific lines in the dpfc.c C-source file. The following lines indicate which pin will be used 

to provide the PFC inhibit output functionality: 




The DSP56F803EVM uses a GPIO pin to provide the PFC inhibit output, so the following timer 

channel configuration line, required for DSP56F805EVM, must be removed from the appconfig.h 

file: 

// #define INCLUDE_USER_TIMER_C_0 0 



The Digital PFC for 3-phase AC Motor V/Hz Open Loop application performs power factor 

correction for the 3-phase AC/BLDC High-Voltage Power Stage hardware with a 3-phase 

induction motor drive. It evaluates how to integrate the PFC control software with a Motor 

Control application for current hardware implementation. The application allows target memory 




MOTOROLA 







configurations of both RAM and Flash. The input power line must meet the following 

requirements: 


• Input voltage frequency of 50 or 60Hz 

The Digital PFC for the 3-phase AC Motor V/Hz Open Loop application allows execution in the 

manual and PC master software modes, described in Section 10.12. 

10.15.3 Set-up 


Figure 10-92 illustrates the hardware set-up for the Digital PFC for 3-phase AC Motor V/Hz Open 

Loop application. The configuration is basically the same as the 3-phase AC Motor V/Hz Open 

Loop application, with this difference: 

The AC/BLDC High-Voltage Power Stage board contains the JP201 jumper, which selects the 

power supply device. The 2-3 pins of the JP201 connection correspond to a simple 

rectifier-capacitor power stage. The PFC hardware set-up requires the 1-2 pins of JP201 

connection. 

Figure 10-92. Set-up of the Digital PFC for 3-phase AC Motor V/Hz Open Loop Application 




10-125 















To execute the Digital PFC 3-phase AC Motor V/Hz Open Loop application, the DSP56803 board 

requires the same strap settings as the 3-phase AC Motor V/Hz Open Loop application; see 

Section 10.12. 

10.15.4 Build 

To build this application, open the 3ph_AC_VHz_OpenLoop_PFC.mcp project file and follow the 

directions in Section 10.12. 


To execute the Digital PFC for the 3-phase AC Motor V/Hz Open Loop application, follow the 



The Serial Bootloader has been developed to load and run a proprietary user application presented 

as an S-Record file into the Program and Data memory. The Serial Bootloader is located in the 

dedicated Program Memory region, called Boot Flash. The Serial Bootloader supports the 

simplest serial protocol, so a standard serial terminal program can be used on the host PC. 

10.16.1 Files 










• ..\nos\applications\serial_bootloader\prog.c, flash programming module 




MOTOROLA 







• ..\nos\applications\serial_bootloader\prog.h, header for flash programming module 







Boot Flash 







The Serial Bootloader application reads the S-Record file of a user application (for example, 

generated by CodeWarrior) via serial interface, parses this S-Record file, and stores needed data 

in Program and Data flash memory. When the processing of the S-Record file is finished, the 

Bootloader launches the loaded application. If any error occurs while loading the S-Record file, 

the Bootloader outputs an error message with an error number via the serial line and resets the 

processor. 

10.16.3 Set-up 

To use the Bootloader, it must be programmed into boot flash; the EVM P3 socket must be 

connected by serial cable with the host PC’s COM serial port; and jumpers on the EVM must be 

set with usage of internal memory without debug interface. 


To load the Bootloader into the DSP56F803 board, the following jumper settings are required: 

• Set jumper JG4, “Select DSP’s Mode 0 operation upon exit from reset” 

• Remove jumper JG2, “Enable on-board Parallel JTAG Host Target Interface” 


are required: 



10.16.4 Build 


To build the Serial Bootloader, open the bootloader.mcp project file in the CodeWarrior IDE and 





10-127 








To download, build the Bootloader from Codewarrior and load it into board by choosing the 

Project/Debug command in the CodeWarrior IDE. Make sure that jumpers are set for loading as 

described in Section 10.16.3.1. 


A host terminal program is used to communicate with Bootloader. The terminal must be 


Baud rate 


configure Microsoft HyperTerminal to communicate with Bootloader, the PC user should start 

HyperTerminal and create a new connection. Select the COM port previously connected to EVM 

and set Baud rate at 115200 bps; Data bits equal to 8, Parity none, Stop bits 1; and Flow control as 

Xon/Xoff. The Hyperterminal can now display Bootloader messages. 



in Section 10.16.3.1. and push the RESET button. 

If the terminal program is properly set up and the EVM and the Host PC are properly connected, 

the terminal program will display a Bootloader startup message: 

"(c) 2000-2001 Motorola Inc. S-Record loader. Version 1.1" 

To load the S-Record file, select the Transfer/Send text file from the HyperTerminal menu and 

select a file. When the S-Record file is loaded and the application is started, the terminal windows 

displays a message similar to this: 




The download rate is about 7660 bytes of S-Record file per second loaded from the terminal or 


If an error is detected while loading the S-Record file, the Bootloader displays the error message 




Error # 0002 

Resetting the processor." 


115200 bps 


Flow control protocol Xon / Xoff 




MOTOROLA 









Error 

Code 





Error) 

2 Invalid Character •Received character is not "S" or 

any hexadecimal digit 


Format 


Checksum 


BSP_BOOTLOADER_DELAY, (see Section 10.16.6), the Bootloader waits for the S-Record file 

only until the required time-out expires, then launches the application. When this happens, the 

terminal window contains a message similar to this: 




type is 0,3,7 





with received one. 




•Verify that S-Record file does not contain any 

invalid characters 

•Check connections and send mode in the 






5 Buffer Overrun •Internal data buffer was full •Terminal program did not stop after receiving 

Xoff character 

•Confirm that the terminal program supports 

Xon / Xoff flow control protocol 

6 Flash 



•After programming word into 

Flash,the programmed word read 

back is not equal to expected 

value 

•The Bootloader tries to program Flash only 

once and perfroms a read back / verify of the 

value 

7 Internal Error •Bootloader data corrupte. •Try to reload Bootloader via CodeWarrior 

If the application is loaded via the Bootloader, it must meet the following requirements: 


be located at address 0x0080 in Program memory, i.e., immediately after the interrupt table. 




10-129 









memory. 



Bootloader without SDK support, see file config\vector.c in the SDK. 

• Restricted resources use - The application cannot occupy Reset and COP interrupt 

vectors, and cannot place code into Boot Flash memory area. There is no way to place any 

initialized variable from the application into internal data RAM while loading. This 

memory area is used by Bootloader. All data from the S-Record file that address to the 


application because the Bootloader is performed in DSP Mode 0A memory map. 


fixed address for application entry point; redirection for the application COP vector and has a 


the application’s start delay time-out. 

Possible values of BSP_BOOTLOADER_DELAY: 

0 Disable the Bootloader, start the application 

immediately. After loading the application with this 

setting, there are only two ways to re-enter Bootloader: 

0 - 254 

255 

If there is no BSP_BOOTLOADER_DELAY set in the appconfig.h file, the default value for 

time-out is 30 seconds. 

10.16.7 DSP Peripheral Usage 


• Reload the Bootloader from Metrowerks 

CodeWarrior into Boot Flash 

• Reprogram the value of the start delay variable 

located at address 0x0083 in the Program Flash to 

zero value (0x0000) in the loaded application 

Set waiting time for the start of the S-Record file for 

0-255 seconds before the start of a previously-loaded 

application 

Set waiting time to infinity. After reset, the Bootloader 

waits for the S-Record file without counting down any 

time-out 

The DSP is used in a single chip mode; the Bootloader uses only internal data RAM for data 

buffering. 

The Bootloader does not initialize any DSP peripheral except SCI 0, Port E and PLL unitization. 

The PLL multiplier is set to18, which equals the DSP’s operational frequency of 72MHz. Before 

starting the application, SCI 0 is disabled, but PLL does not reprogram to its initial state. 




MOTOROLA 





ADC Application 


The Bootloader uses a statically-calculated SCI baud rate value. This value was calculated with 

the assumption that the external Oscillator Frequency is 8MHz. 














10.22.1 Files 






file 




10-131 








file 














seconds. 

10.22.3 Set-up 




10.22.4 Build 








MOTOROLA 













10.23 CAN 



10.24 Flash Application 



For information on how to build and execute this application, see Section 5.2.6. 

CAN 




10-133 











MOTOROLA 







Chapter 11 





Settings for the DSP56F805 board’s required fault trimpots are shown in Figure 11-1, Table 11-1, 

Table 11-2, Table 11-3: 

GND - pin TP1 

Figure 11-1. Trimpot Pins (Top view) 


Trim Pot Comment Voltage POT - Pin 2 to GND 

R71 Overvoltage Fault Detection Primary UNI-3 3.3V 

R116 Overcurrent Fault Detection Primary UNI-3 3.3V 


Trim Pot Comment Voltage POT - Pin 2 to GND 






11-1 

2 

POT 

1 3 








When utilizing the PC master software debugging tool, a communication port on a PC requires the 

following settings: 


Sensors 

This application exercises simple control of the BLDC motor with Hall Sensors on the 


11.2.1 Files 

Table 11-3. Trim Pot Settings for High-Voltage BLDC Motor Control Application 

Trim Pot Comment Voltage POT -Pin 2 to GND 



Baud Rate 9600 

Data Bits 8 

Parity None 

Stop Bit: 1 

Flow Control None 


The BLDC Motor Control application is composed of the following files: 

• ...\dsp56805evm\nos\applications\bldc_sensor\bldc_sensor.c, main program 

• ...\dsp56805evm\nos\applications\bldc_sensor\bldc_sensor.mcp, application project file 

• ...\dsp56805evm\nos\applications\bldc_sensor\configextram\appconfig.c, application 


• ...\dsp56805evm\nos\applications\bldc_sensor\configflash\appconfig.c, application 


• ...\dsp56805evm\nos\applications\bldc_sensor\configextram\appconfig.h, application 


• ...\dsp56805evm\nos\applications\bldc_sensor\configflash\appconfig.h, application 


• ...\dsp56805evm\nos\applications\bldc_sensor\configextram\linker.cmd, linker 


• ...\dsp56805evm\nos\applications\bldc_sensor\configflash\linker.cmd, linker command 


11-2 Targeting Motorola DSP56F80X Platform 



MOTOROLA 





BLDC Motor Control Application with Hall Sensors 


• ...\dsp56805evm\nos\applications\bldc_sensor\configflash\flash.cfg, configuration file 

for Flash 

• ...\dsp56805evm\nos\applications\bldc_sensor\PCMaster\BLDC demo.pmp, 

PCMaster file 



This application performs simple control of a BLDC motor with Hall Sensors and close loop 



from the Input Monitor Register of the Quadrature Decoder. The masking and swapping of the 


derived from Hall Sensors signals. The commutation is done with each new edge of the Hall 



application is from 400 rpm to 1000 rpm in both directions. 




This BLDC Motor Control Application with Hall Sensors can operate in two modes: 




application runs and motor spinning is disabled (i.e., the system is ready) the USER 

LED (LED3, shown in Figure 11-3) will blink. When motor spinning is enabled, the 






11-3 





















MOTOROLA 












• Speed 




Projects files for the PC master software are located in: 


Start the PC master software window’s application, BLDC Demo.pmp. Figure 11-4 illustrates the 










11-5 












MOTOROLA 





11.2.3 Set-up 



Figure 11-5 illustrates the hardware set-up for the BLDC Motor Control Application with Hall 

Sensors. 

Figure 11-5. Set-up of the BLDC Motor Control Application 





To execute the BLCD Motor Control with Hall Sensors, the DSP56F805 board requires the strap 





11-7 







JG6 

3 1 

JG1 

JG2 

JG15 

1 

3 


1 

3 

1 

3 

9 7 

6 4 

3 1 

JG10 

JG14 

JG9 

JG15 JG1 JG2 

1 

JG9 

JG3 

1 

LED3 

P3 IRQA 

JG3 

1 2 

7 8 

S/N 

U1 

DSP56F805EVM 

3 

2 

1 

JG13 




JG1 PD0 input selected as a high 1-2 


JG3 Primary UNI-3 serial selected 1-2, 3-4, 5-6, 7-8 

JG4 Secondary UNI-3 serial selected 1-2, 3-4, 5-6, 7-8 




JG8 Enable on-board SRAM 1-2 

JG9 Enable RS-232 output 1-2 

JG10 Secondary UNI-3 Analog temperature input unused NC 

JG11 Use Host power for Host target interface 1-2 

JG12 Primary Encoder input selected for Hall Sensor signals 2-3, 5-6, 8-9 

JG13 Secondary Encoder input selected 2-3, 5-6, 8-9 




MOTOROLA 

JTAG 

U15 

S4 S5 S6 

JG7 

1 

JG5 

GP1 

S1 

GP2 

S2 

RUN/STOP 

S3 

JG11 

P1 

U9 U10 

IRQB 

3 

2 

1 

JG12 

USER 

9 7 

J23 J24 

6 4 

3 

JG10 

PWM 

1 

1 3 

JG14 2 

JG17 1 

JG6 JG12 

1 

Y1 

3 

2 

1 

JG13 

JG18 

RESET 

JG18 

1 

JG16 

JG17 

J29 

JG8 

1 

JG4 

P1 

3 1 

JG11 

8 

2 

JG4 

JG8 

7 

1 

3 1 

JG16 

JG5 

JG7 









JG14 Primary UNI-3 3-Phase Current Sense selected as Analog Inputs 2-3, 5-6, 8-9 

JG15 Secondary UNI-3 Phase A Overcurrent selected for FAULTA1 1-2 

JG16 Secondary UNI-3 Phase B Overcurrent selected for FAULTB1 1-2 

JG17 CAN termination unselected NC 





11.2.4 Build 


When building the BLDC Motor Control Application with Hall Sensors, the user can create an 

application that runs from internal Flash or External RAM. To select the type of application to 

build, open the bldc_sensor.mcp project and select the target build type, as shown in Figure 11-7. 

Selecting Build All will create all application build types. A definition of the projects associated 






11-9 








build and link the BLDC Motor Control Application with Hall Sensors and all needed 





To execute the BLDC Motor Control application, select Project\Debug in the CodeWarrior IDE, 


tutorial documentation in the following file located in the CodeWarrior installation directory: 


If the Flash target is selected, CodeWarrior will automatically program the internal Flash of the 

DSP with the executable generated during Build. If the External RAM target is selected, the 

executable will be loaded to off-chip RAM. 



the parallel port, and press the RESET button. 


required speed using the UP/DOWN push buttons. Pressing the UP/DOWN buttons should 













MOTOROLA 





BLDC Motor Control Application with Quadrature Encoder 






11.3.1 Files 

The BLDC Motor Control Application with Quadrature Encoder is composed of the following 

files: 



file 

• ...\dsp56805evm\nos\applications\bldc_encoder\configextram\appconfig.c, application 


• ...\dsp56805evm\nos\applications\bldc_encoder\configflash\appconfig.c, application 


• ...\dsp56805evm\nos\applications\bldc_encoder\configextram\appconfig.h, 


• ...\dsp56805evm\nos\applications\bldc_encoder\configflash\appconfig.h, application 


• ...\dsp56805evm\nos\applications\bldc_encoder\configextram\linker.cmd, linker 


• ...\dsp56805evm\nos\applications\bldc_encoder\configflash\linker.cmd, linker 


• ...\dsp56805evm\nos\applications\bldc_encoder\configflash\flash.cfg, configuration 


• ...\dsp56805evm\nos\applications\bldc_encoder\PCMaster\BLDC_Encoder_demo.pmp, 

PCMaster file 




close loop speed control on the DSP56F805 processor. In the application, the PWM module is set 

to complementary mode with a 16kHz switching frequency. The masking and swapping of PWM 

channels is controlled by the PWM Channel Control Register. The content of this register is 


commutation by the speed PI controller. The speed is measured by the quad timer. The 

RUN/STOP switch enables/disables motor spinning. The allowable range of speed is from 50 rpm 

to 1000 rpm in both directions. 







11-11 








The BLDC Motor Control Application with Hall Sensors can operate in two modes: 



UP (S2-IRQB) and DOWN (S1-IRQA) push buttons; Figure 11-9. If the application 

runs and motor spinning is disabled (i.e., the system is ready) the USER LED (LED3, 

shown in Figure 11-10) will blink. When motor spinning is enabled, the USER LED 

is On. Refer to Table 11-6 below for application states. 





MOTOROLA 

















11-13 
























illustrates the PC master software control window after this project has been launched. 





MOTOROLA 





11.3.3 Set-up 



Figure 11-12 illustrates the hardware set-up for the BLDC Motor Control Application with 


Figure 11-12. Set-up of the BLDC Motor Control Application 





To Execute the BLDC Motor Control Application with Quadrature Encoder, the DSP56F805 





11-15 







JG6 

3 1 

JG1 

JG2 

JG15 

1 

3 


1 

3 

1 

3 

9 7 

6 4 

3 1 

JG10 

JG14 

JG9 

JG15 JG1 JG2 

1 

JG9 

JG3 

1 

LED3 

U1 

DSP56F805EVM 

3 

2 

1 

JG13 


Table 11-7. DSP56F805EVM Jumper settings 













JG12 Primary Encoder input selected for Quadrature Encoder signals 2-3, 5-6, 8-9 





MOTOROLA 

JTAG 

JG8 

S/N 

U15 

S4 S5 S6 

JG7 

1 

JG5 

GP1 GP2 RUN/STOP 

U9 U10 

JG11 

S1 S2 S3 

P1 

P3 IRQA IRQB RESET 

JG3 

1 2 

7 8 

3 

2 

1 

JG12 

USER 

9 7 

J23 J24 

6 4 

3 

JG10 

PWM 

1 

1 3 

JG14 2 

JG17 1 

JG6 JG12 

1 

Y1 

3 

2 

1 

JG13 

JG18 

JG18 

1 

JG16 

JG17 

J29 

1 

JG4 

P1 

3 1 

JG11 

8 

2 

JG4 

JG8 

7 

1 

3 1 

JG16 

JG5 

JG7 







Table 11-7. DSP56F805EVM Jumper settings (Continued) 










11.3.4 Build 


When building the BLDC Motor Control Application with Quadrature Encoder, the user can 


application to build, open the bldc_encoder.mcp project and choose the target build type; see 

Figure 11-14. Selecting Build All will build all application build types. A definition of the projects 


window. 





11-17 







The project may now be built by executing the Make command, as shown in Figure 11-15. This 

will build and link the BLDC Motor Control Application with Quadrature Encoder and all needed 





To execute the BLDC Motor Control Application with Quadrature Encoder, select the 

Project\Debug command in the CodeWarrior IDE, followed by the Run command. For more help 

with these commands, refer to the CodeWarrior tutorial documentation in the following file 

located in the CodeWarrior installation directory: 


If the Flash target is selected, CodeWarrior will automatically program the internal Flash of the 

DSP with the executable generated during Build. If the External RAM target is selected, the 

executable will be loaded to off-chip RAM. 




Once the application is running, move the RUN/STOP switch to the RUN position, and set the 









application is stopped, the green LED will blink with a 2Hz frequency. If an Undervoltage fault 





MOTOROLA 





Synchro PM Motor Control Application with Quadrature Encoder 




This application exercises simple control of the Synchro PM Motor with the Quadrature Encoder 


11.4.1 Files 

Synchro PM Motor Control application is composed of the following files: 



project file 















• ...\dsp56805evm\nos\applications\bldc_synchro1\PCMaster\BLDC Synchro 

demo.pmp, PCMaster file 



This application performs simple control of the Synchro PM motor with the Quadrature Encoder 

and speed close loop on the DSP56F805 processor. In the application, the PWM module is set to 

complementary mode with a 16kHz switching frequency. The masking and swapping of PWM 

channels is controlled by the PWM Channel Control Register. The content of this register is 



range of speed is from 50 rpm to 1000 rpm in both directions. 







11-19 








The Synchro PM Motor Control Application with Quadrature Encoder can operate in two 

modes: 





LED (LED3, shown in Figure 11-17) will blink. When motor spinning is enabled, the 






MOTOROLA 





















11-21 












• Amplitude 








illustrates the PC master software control window after this project has been launched. 









MOTOROLA 












11-23 







11.4.3 Set-up 

Figure 11-19 illustrates the hardware set-up for the Synchro PM Motor Control Application with 


Figure 11-19. Synchro PM Motor Control Application Set-up 



11.4.3.1 PM Synchronous Motor versus BLDC Motor 

The application SW is targeted for PM Synchronous motor with sine-wave Back-EMF shape. In 

this particular demo application the BLDC motor is used instead. This is due to the availability of 

the BLDC motor supplied as ECMTREVAL. Although the Back-EMF shape of this motor is not 

ideally sine-wave, it can be controlled by the application SW. The drive parameters will be even 

better when PMSM motor with exactly sine-wave Back-EMF shape is used. 








MOTOROLA 





JG6 



3 1 

JG1 

JG2 

JG15 

1 

3 

1 

3 


1 

3 

9 7 

6 4 

3 1 

JG10 

JG14 

JG9 

JG15 JG1 JG2 

1 

JG9 

JG3 

1 

LED3 

U1 

DSP56F805EVM 

3 

2 

1 

JG13 















JG12 Primary Encoder input selected for Quadrature encoder signals 2-3, 5-6, 8-9 





11-25 

JTAG 

JG8 

S/N 

U15 

S4 S5 S6 

JG7 

1 

JG5 


U9 U10 

JG11 

S1 S2 S3 

P1 

P3 IRQA IRQB RESET 

JG3 

1 2 

7 8 

3 

2 

1 

JG12 

USER 

9 7 

J23 J24 

6 4 

3 

JG10 

PWM 

1 

1 3 

JG14 2 

JG17 1 

JG6 JG12 

1 

Y1 

3 

2 

1 

JG13 

JG18 

JG18 

1 

JG16 

JG17 

J29 

1 

JG4 

P1 

3 1 

JG11 

8 

2 

JG4 

JG8 

7 

1 

3 1 

JG16 

JG5 

JG7 









JG14 Primary UNI-3 3-Phase Current Sense selected as Analog Inputs. 2-3, 5-6, 8-9 








11.4.4 Build 


When building the Synchro PM Motor Control Application with Quadrature Encoder, the user can 


application to build, open the bldc_synchro1.mcp project and choose the target build type; see 

Figure 11-21. Selecting Build All will create all application build types. A definition of the projects 


window 





MOTOROLA 








will build and link the Synchro PM Motor Control Application with Quadrature Encoder and all 

needed Metrowerks and SDK libraries. 




To execute the Synchro PM Motor Control Application with Quadrature Encoder, select 

Project\Debug in the CodeWarrior IDE, followed by the Run command. For more help with these 













Synchro PM motor should be spinning. 








11-27 














11.5.1 Files 

The BLDC Sensorless with B-EMF Zero Crossing Application is composed of the following 

files: 



definitions 

• ...\dsp56805evm\nos\applications\bldc_zerocross\bldc_zerocross.mcp, application 

project file 















• ...\dsp56805evm\nos\applications\bldc_zerocross\PCMaster\BLDC demo.pmp, 

PCMaster file 





with close loop speed control. In the application, the PWM module is set to independent mode 


Monitor Register of the Quadrature Encoder. The masking of PWM channels is controlled by the 




MOTOROLA 





BLDC Sensorless with Back-EMF Zero Crossing Application 


PWM Channel Control Register. The content of this register is derived from Back-EMF zero 





• EVM Motor Board: 3-Phase AC/BLDC High-Voltage Power Stage or 3-Phase AC/BLDC 



• 115 or 230V AC Supply 




The drive is controlled by the RUN/STOP switch and the required speed is set 

independently on the commutation by the UP/DOWN buttons; see Figure 11-23. The 

RUN/STOP switch enables/disables motor spinning. If the application runs and 

motor spinning is disabled, the green user LED will blink; see Figure 11-24. When 

motor spinning is enabled, the green user LED lights. If Overcurrent,or Overvoltage 

occur, or if the wrong pcb is identified, the internal fault logic is asserted and the 

application enters a fault state (indicated by a red LED).This state can be exited only 

by an application RESET. It is strongly recommended that you inspect the entire 






11-29 

























MOTOROLA 








• Temperature of the power stage 





conditions, or if the wrong pcb is used, the red LED lights and the motor is stopped. This state can 

be exited by application RESET. It is strongly recommended that you inspect the entire 



...\dsp56805evm\nos\applications\bldc_zerocross\PC_Master\bldc_demo.pmp 

Start the PC master software window’s application, bldc_demo.pmp. Figure 11-25 illustrates the 











11-31 







11.5.3 Set-up 



Application when using an EVM motor board. 

NOT NEEDED 

Figure 11-26. Set-up of the EVM Motor Board BLDC Motor Control Application 









MOTOROLA 







Figure 11-27. Set-up of the Low-Voltage BLDC Motor Control Application 











11-33 
















To execute the BLDC Sensorless with B-EMF Zero Crossing application, the DSP56F805 board 





MOTOROLA 





JG6 



3 1 

JG1 

JG2 

JG15 

1 

3 

1 

3 


1 

3 

9 7 

6 4 

3 1 

JG10 

JG14 

JG9 

JG15 JG1 JG2 

1 

JG9 

JG3 

1 

LED3 

P3 IRQA 

JG3 

1 2 

7 8 

S/N 

U1 

DSP56F805EVM 

3 

2 

1 

JG13 















JG12 Primary Encoder input selected Zero Crossing signals 1-2, 4-5, 7-8 




11-35 

JTAG 

U15 

S4 S5 S6 

JG7 

1 

JG5 

GP1 

S1 

GP2 

S2 

RUN/STOP 

S3 

JG11 

P1 

U9 U10 

IRQB 

3 

2 

1 

JG12 

USER 

9 7 

J23 J24 

6 4 

3 

JG10 

PWM 

1 

1 3 

JG14 2 

JG17 1 

JG6 JG12 

1 

Y1 

3 

2 

1 

JG13 

JG18 

RESET 

JG18 

1 

JG16 

JG17 

J29 

JG8 

1 

JG4 

P1 

3 1 

JG11 

8 

2 

JG4 

JG8 

7 

1 

3 1 

JG16 

JG5 

JG7 







Table 11-10. DSP56F805EVM Jumper Settings (Continued) 




JG15 Primary UNI-3 DCBus Overcurrent selected FAULTA1 2-3 

JG16 Secondary UNI-3 Phase A Overcurrent selected for FAULTB1 1-2 






11.5.4 Build 

To build the BLDC Sensorless with B-EMF Zero Crossing Application, open the 

bldc_zerocross.mcp project file and execute the Make command, as shown in Figure 11-30. This 

will build and link the application and all needed Metrowerks and SDK libraries. 




To execute the BLDC Sensorless with B-EMF Zero Crossing application, choose the 

Program/Debug command in the CodeWarrior IDE, followed by the Run command. For more 

help with these commands, refer to the CodeWarrior tutorial documentation in the following file 






MOTOROLA 





BLDC Sensorless with Back-EMF Zero Crossing Using AD Converter Application 













and the EVM Motor Kit using the ADC module to check for phase zero crossing. 

11.6.1 Files 


The BLDC Sensorless with B-EMF Zero Crossing Using AD Converter Application is composed 

of the following files: 


program 





• ...\dsp56805evm\nos\applications\bldc_adc_zerocross\configextram\appconfig.c, 




• ...\dsp56805evm\nos\applications\bldc_adc_zerocross\configextram\appconfig.h, 




• ...\dsp56805evm\nos\applications\bldc_adc_zerocross\configextram\linker.cmd, 


• ...\dsp56805evm\nos\applications\bldc_adc_zerocross\configflash\linker.cmd, linker 




• ...\dsp56805evm\nos\applications\bldc_adc_zerocross\PCMaster\BLDC demo.pmp, 

PCMaster file 





11-37 








This application performs sensorless control of the BLDC motor on the DSP56F805 processor 

with close loop speed control. In the application, the PWM module is set to independent mode 



PWM Channel Control Register. The content of this register is derived from the Back-EMF zero 







• Manual or PC Mster Operating Mode 



The BLDC sensorless with B-EMF Zero Crossing using ADC Application can operate in two 

modes: 




UP/DOWN buttons; see Figure 11-31. If the application runs and motor spinning is 

disabled, the green user LED (see Figure 11-32) will blink. When motor spinning is 

enabled, the green user LED lights. If Overcurrent or Overvoltage occur, or if the 

wrong pcb is identified, internal fault logic is asserted and the application enters a 

fault state (indicated by the red LED). This state can be exited only by an application 

RESET. It is strongly recommended that you inspect the entire application to locate 

the source of the fault before starting it again. 





MOTOROLA 
























11-39 













If the Fault Status is different from the No Fault of Overcurrent, Overvoltage or Undervoltage 

conditions, or if the wrong pcb is used, the red LED lights and the motor is stopped.This state can 

be exited by an application RESET. It is strongly recommended that you inspect the entire 



...nos\applications\bldc_adc_zerocross\PC_Master\bldc_demo.pmp 


master software control window after this project has been launched. 










MOTOROLA 





11.6.3 Set-up 





Using ADC Application when using an EVM motor board. 

NOT NEEDED 

Figure 11-34. EVM Motor Board BLDC Motor Control Application Set-up 

For detailed information see the DSP56F805 Evaluation Module Hardware Reference 




• 3-Phase AC/BLDC High-Voltage Power Stage; See Figure 11-36 




11-41 







Figure 11-35. Low-Voltage BLDC Motor Control Application Set-up 

The correct orderof phases (phase A, phase B, phase C) for the BLDC motor is : 










MOTOROLA 







Figure 11-36. High-Voltage BLDC Motor Control Application Set-up 









To execute the BLDC Sensorless with B-EMF Zero Crossing using ADC application, the 





11-43 







JG6 

3 1 

JG1 

JG2 

JG15 

1 

3 

1 

3 


1 

3 

9 7 

6 4 

3 1 

JG10 

JG14 

JG9 

JG15 JG1 JG2 

1 

JG9 

JG3 

1 

LED3 

P3 IRQA 

JG3 

1 2 

7 8 

S/N 

U1 

DSP56F805EVM 

3 

2 

1 

JG13 




















MOTOROLA 

JTAG 

U15 

S4 S5 S6 

JG7 

1 

JG5 

GP1 

S1 

GP2 

S2 

RUN/STOP 

S3 

JG11 

P1 

U9 U10 

IRQB 

3 

2 

1 

JG12 

USER 

9 7 

J23 J24 

6 4 

3 

JG10 

PWM 

1 

1 3 

JG14 2 

JG17 1 

JG6 JG12 

1 

Y1 

3 

2 

1 

JG13 

JG18 

RESET 

JG18 

1 

JG16 

JG17 

J29 

JG8 

1 

JG4 

P1 

3 1 

JG11 

8 

2 

JG4 

JG8 

7 

1 

3 1 

JG16 

JG5 

JG7 









JG14 Primary UNI-3 3-Phase B-EMF Voltage selected as Analog Inputs 1-2, 4-5, 7-8 

JG15 Primary UNI-3 DCBus Overcurrent selected for FAULTA1 2-3 







11.6.4 Build 

To build the BLDC Sensorless with B-EMF Zero Crossing using ADC Application, open the 

bldc_adc_zerocross.mcp project file and execute the Make command, as shown in Figure 11-38. 

This will build and link the BLDC Motor Control application and all needed Metrowerks and 

SDK libraries. 




To execute the BLDC Sensorless with B-EMF Zero Crossing using ADC Application, choose the 

Program/Debug command in the CodeWarrior IDE, followed by the Run command. For more 

help with these commands, refer to the CodeWarrior tutorial documentation in the following file 






11-45 


















11.7.1 Files 




main program 








• ...\dsp56805evm\nos\applications\3ph_PMSM_VectorControl\3ph_PMSM_VectorControl.mcp 




















MOTOROLA 






3-Phase PM Synchronous Motor Vector Control 



Magnet Synchronous Motor Control application using field-oriented theory on the DSP56F805 

processor. 




















• PC master software monitor interface (required speed; actual motor speed; PC master 

software mode; START MOTOR/STOP MOTOR controls; drive fault status; DCBus 

voltage level; identified power stage boards; drive status; mains detection) 

• PC master software speed scope (observes actual and desired speed) 




the 3-phase PWM signals for Permanent Magnet (PM) synchronous motor inverter according to 



• BLDC motor--brake set 





The BLDC motor--brake set incorporates a 3-phase BLDC motor and attached BLDC motor 


the motor shaft and position Hall Sensors are mounted between the motor and the brake. They 

allow to position sensing if required by the control algorithm. The detailed motor--brake 

specifications are listed in Table 11-12. 




11-47 













• Manual operating mode - the required speed is set by UP/DOWN push buttons and the 

drive is started and stopped by the RUN/STOP switch on the EVM board. 



MOTOR controls. 










BLDC motor 










Motor Characteristics Motor Type 6 poles,3-phase, star connected, 

BLDC motor 











MOTOROLA 











• FAULT - PWM outputs disabled; waiting for manual fault acknowledgement 


After RESET, the drive enters the INIT state in manual operation mode.When the RUN/STOP 

switch is detected in the STOP position and there are no faults pending, the STOP application 

state is entered. Otherwise, the drive waits in the INIT state or if faults are detected, the drive goes 

to the FAULT state. In the INIT and STOP states, the operation mode can be changed from PC 

master software. In the manual operational mode, the application is operated by the RUN/STOP 

switch and UP/DOWN buttons; in the PCMaster remote mode, the application is operated 

remotely by PCMaster. 

When the Start command is accepted (using the RUN/STOP Switch or PC master software 

command), the rotor position is aligned to a predefined position to obtain a known rotor position. 

The rotor alignment is done at the first start command only. Required speed is then calculated 

according to UP/DOWN push buttons or PC master software commands (if in PC master software 

remote mode). The required speed goes through an acceleration/deceleration ramp. The 


Based on the error, the speed controller generates a stator current Is_qReq, which corresponds to 

torque. A second part of the stator current Is_dReq, which corresponds to flux, is given by the 

Field Weakening Controller. Simultaneously, the stator currents Is_a, Is_b and Is_c are measured 

and transformed from instantaneous values to the stationary reference frame α, β and 

consecutively to the rotary reference frame d-q (Clarke-Park transformation). Based on the errors 

between required and actual currents in the rotary reference frame, the current controllers 

generate output voltages Us_q and Us_d (in the rotary reference frame d-q). The voltages Us_q 

and Us_d are transformed back to the stationary reference frame α, β and, after DCBus ripple 

elimination, are recalculated to the 3-phase voltage system which is applied on the motor. 




process. They protect the drive from Overvoltage, Undervoltage, Overcurrent and overheating. 

The Undervoltage and overheating protection is performed by software, while the Overcurrent 





measured value. 

If any of the above-mentioned faults occur, the motor control PWM outputs are disabled to 

protect the drive, and the application enters the FAULT state. The FAULT state can be left only 

when the fault conditions disappear and the RUN/STOP switch is moved to the STOP positionin 

manual mode and by the PC master software in the PC master software remote mode. 




11-49 























LEDs. 





MOTOROLA 


















11-51 











can be taken over only if the RUN/STOP switch is in the STOP position; until then, 

the push buttons and RUN/STOP switch have no effect on the application control. 
















...\nos\applications\3ph_PMSM_VectorControl\PC_Master\3ph_PMSM_VectorControl.pmp 











MOTOROLA 





11.7.3 Set-up 








WARNING: 




are live. 




hardware. 




11-53 













In the rest of this application, the description supposes use of the insulation transformer. 









MOTOROLA 












The application software is targeted for PM Synchronous motor with sine-wave Back-EMF 

shape. In this particular demo application, the BLDC motor is used instead, due to the availability 

of the BLDC motor--Brake SM40V+SG40N, supplied as ECMTRHIVBLDC. Although the 


software. The drive parameters will be improved when a PMSM motor with an exact sine-wave 



To execute 3-Phase PM Synchronous Motor Vector Control application, the DSP56F805 board 


JG6 

3 1 

JG1 

JG2 

JG15 

1 

3 

1 

3 


1 

3 

9 7 

6 4 

3 1 

JG10 

JG14 

JG9 

JG15 JG1 JG2 

1 

JG9 

JG3 

1 

LED3 

P3 IRQA 

JG3 

1 2 

7 8 

S/N 

U1 

DSP56F805EVM 





11-55 

JTAG 

U15 

S4 S5 S6 

JG7 

1 

JG5 

GP1 

S1 

GP2 

S2 

RUN/STOP 

S3 

JG11 

P1 

U9 U10 

IRQB 

3 

2 

1 

JG12 

USER 

9 7 

J23 J24 

6 4 

3 

JG10 

PWM 

1 

1 3 

JG14 2 

JG17 1 

JG6 JG12 

1 

Y1 

3 

2 

1 

JG13 

JG18 

RESET 

JG18 

1 

JG16 

JG17 

3 

2 

1 

JG13 

J29 

JG8 

1 

JG4 

P1 

3 1 

JG11 

8 

2 

JG4 

JG8 

7 

1 

3 1 

JG16 

JG5 

JG7 









port interface. For this application this is set as short-connected permanently. 

11.7.4 Build 

















JG14 Primary UNI-3 3-Phase B-EMF Voltage selected as Analog Inputs 2-3, 5-6, 8-9 













MOTOROLA 



















11-57 



















speed until it reaches aximum speed. 










• Check the PC master software mode on the PC master software Control page 





again by unchecking the PC master software mode on the PC master software Control page 


during manual mode. 




• Start/Stop switch state 



• Mains 









MOTOROLA 


















3-Phase SR Motor Control Application 


The recorder can be used only when the application is running from External RAM due to the 



appconfig.h file. The recorder samples are taken every 125 µsec. 


This application exercises principal control of the 3-Phase Switched Reluctance (SR) motor with 

the Hall Sensors on the DSP56F805EVM board, Optoisolation board, and 3-phase SR 


11.8.1 Files 



• ...\dsp56805evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\3ph_SRM_Hall_Sen-sor_Type1.c, 

main program 

• ...\dsp56805evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\3ph_SRM_Hall_Sen-sor_Type1.mcp, a 

pplication project file 

• ...\dsp56805evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\configextram\appcon-fig.c, 


• ...\dsp56805evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\configflash\appconfig.c, 


• ...\dsp56805evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\configextram\appconfig.h, 


• ...\dsp56805evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\configflash\appconfig.h, 


• ...\dsp56805evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\configextram\linker.cmd, linker 


• ...\dsp56805evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\configflash\linker.cmd, linker 





11-59 







• ...\dsp56805evm\nos\applications\3ph_SRM_Hall_Sensor_Type1\configflash\flash.cfg, configuration 




The 3-Phase SR Motor Control Application performs principal control of the 3-phase SR motor 

with Hall Sensors on the DSP56F805 processor. The control technique sets the motor speed 

([rpm]) to the required value using the speed closed loop with Hall Position Sensors to derive the 

proper commutation action/moment. Protection against drive faults Overcurrent, Overvoltage, 

Undervoltage, and overheating is provided. 













indicated by the user LEDs, shown in Figure 10-41. If the application runs and motor 



On. If a fault occurs on the power stage, the GREEN user LED will blink at a 

frequency of 8Hz. If the wrong power board is identified, the GREEN user LED will 

blink at a frequency of 1Hz. The actual state of the PWM outputs are indicated by 

PWM output LEDs (see Figure 11-47). 




MOTOROLA 













11-61 
























...\nos\applications\3ph_srn_hall_sensor_type1\PC_Master\3ph_sr_drive.pmp 

Start the PC master software window’s application, 3ph_SR_sensor.pmp. Figure 11-48 shows the 










MOTOROLA 





11.8.3 Set-up 





Figure 11-49 and Figure 11-50 illustrate the hardware set-ups for the 3-phase SR Motor Control 

applications. The motor’s Hall Sensors connector must be attached to connector J23 on the EVM 

Board. 




11-63 








Figure 11-49. Setup of the 3-phase HV SR Motor Control Application Set-up 




MOTOROLA 







Figure 11-50. Set-up of the 3-phase LV SR Motor Control Application 





When facing a motor shaft, the motor shaft should rotate clockwise (i.e,. positive direction, 






To execute the 3-phase SR Motor Control Application, the DSP56F805 board requires the strap 





11-65 







JG6 

3 1 

JG1 

JG2 

JG15 

1 

3 

1 

3 


1 

3 

9 7 

6 4 

3 1 

JG10 

JG14 

JG9 

JG15 JG1 JG2 

1 

JG9 

JG3 

1 

LED3 

P3 IRQA 

JG3 

1 2 

7 8 

S/N 

U1 

DSP56F805EVM 

3 

2 

1 

JG13 



















MOTOROLA 

JTAG 

U15 

S4 S5 S6 

JG7 

1 

JG5 

GP1 

S1 

GP2 

S2 

RUN/STOP 

S3 

JG11 

P1 

U9 U10 

IRQB 

3 

2 

1 

JG12 

USER 

9 7 

J23 J24 

6 4 

3 

JG10 

PWM 

1 

1 3 

JG14 2 

JG17 1 

JG6 JG12 

1 

Y1 

3 

2 

1 

JG13 

JG18 

RESET 

JG18 

1 

JG16 

JG17 

J29 

JG8 

1 

JG4 

P1 

3 1 

JG11 

8 

2 

JG4 

JG8 

7 

1 

3 1 

JG16 

JG5 

JG7 


















11.8.4 Build 




3ph_SRM_Hall_Sensor_Type1.mcp project and select the target build type as shown in 

Figure 11-52. Selecting Build All will create all application build types. A definition of the projects 


window. 





11-67 







To make this application, open the 3ph_SRM_Hall_Sensor_Type1.mcp project file and execute 

the Make command, as shown in Figure 11-53. This will build and link the 3-phase SR Motor 

Control application and all needed Metrowerks and SDK libraries. 



























MOTOROLA 





3-Phase SR Sensorless Motor Control Application 


The application can be monitored in PC master software during the manual mode. 

PC Master Software Mode Control 




• The application can be enabled by setting the RUN/STOP switch to the RUN position 


by pressing the Stop PC master software Push Button 


• The motor can be stopped any time by the RUN/STOP switch on the EVM 

• When the RUN/STOP switch on the EVM is in the STOP position, the manual mode can 

be set again by unchecking the PC master software mode on the PC master software control 

page 


Application 



11.9.1 Files 




program 



are required by the 3ph_srm_sensorless.c file. 






















11-69 












Reluctance Motor Control application using the flux linkage position estimation on the 

DSP56F805 processor. An estimation of the phase resistance for low speed range is included. 


After RESET, the drive enters the INIT state in manual mode.When the RUN/STOP switch is 

detected in the STOP position (using the RUN/STOP Switch or the PC master software 

command) and there are no faults pending, the STOP application state is entered. When the start 

command is detected (using the RUN/STOP switch or the PC master software Start button), the 

drive enters the RUN application state; the motor is started. The following start-up sequence with 

the rotor alignment is provided: 






• START_UP_FINISHED Motor running; start-up finalised 








the control signals (RUN/STOP switch, UP/DOWN push buttons) and PC master software 

commands (during PC master software control), the reference speed command is calculated using 

an acceleration/deceleration ramp. The comparison between the actual speed command and the 

measured speed generates a speed error. Based on the error, the speed controller generates the 

desired phase current. When the phase is commutated, it is turned on with duty cycle 100 percent 

(or Output_duty_cycle_startup during motor start-up). Then during each PWM cycle, the actual 

phase current is compared with the desired current. As soon as the actual current exceeds the 

command current, the current controller is turned on. The procedure is repeated for each 

commutation cycle of the motor. The current controller generates the desired duty cycle. Finally, 











MOTOROLA 










measured value. If the line voltage is detected to be out of the -15% to +10% of nominal voltage, 

the fault "Out of the Mains Limit" disables the drive operation. 




















LEDs. 





11-71 













buttons and RUN/STOP switch have no effect on the application control. 










MOTOROLA 





























11-73 







11.9.3 Set-up 




Figure 11-57. Setup of the 3-phase HV SR Sensorless Motor Control Application Set-up 











To execute the 3-phase SR Sensorless Motor Control Application, the DSP56F805 board requires 





MOTOROLA 





JG6 



3 1 

JG1 

JG2 

JG15 

1 

3 

1 

3 


1 

3 

9 7 

6 4 

3 1 

JG10 

JG14 

JG9 

JG15 JG1 JG2 

1 

JG9 

JG3 

1 

LED3 

P3 IRQA 

JG3 

1 2 

7 8 

S/N 

U1 

DSP56F805EVM 

3 

2 

1 

JG13 



















11-75 

JTAG 

U15 

S4 S5 S6 

JG7 

1 

JG5 

GP1 

S1 

GP2 

S2 

RUN/STOP 

S3 

JG11 

P1 

U9 U10 

IRQB 

3 

2 

1 

JG12 

USER 

9 7 

J23 J24 

6 4 

3 

JG10 

PWM 

1 

1 3 

JG14 2 

JG17 1 

JG6 JG12 

1 

Y1 

3 

2 

1 

JG13 

JG18 

RESET 

JG18 

1 

JG16 

JG17 

J29 

JG8 

1 

JG4 

P1 

3 1 

JG11 

8 

2 

JG4 

JG8 

7 

1 

3 1 

JG16 

JG5 

JG7 


















11.9.4 Build 



External RAM. To select the type of application to build, open the 3ph_srm_sensorless.mcp 

project and select the target build type as shown in Figure 11-59. Selecting Build All will create all 

application build types. A definition of the projects associated with these target build types may 

be viewed under the Targets tab of the project window. 





MOTOROLA 







To make this application, open the 3ph_srm_sensorless.mcp project file and execute the Make 

command, as shown in Figure 11-60. This will build and link the 3-phase SR Sensorless Motor 




























11-77 

















during manual mode. 













Start-up Recorder is initiated with motor start only. 
















Note: The recorder can be used only when the application is running from External RAM 

due to limited on-chip memory. The length of the recorded window may be set in 




MOTOROLA 





3-Phase SR Motor Control with Encoder Application 


“Recorder Properties” => bookmark “Main” => “Recorded Samples”. It is limited by 

the dedicated memory space in the appconfig.h file. The recorder samples are taken 

every 64.5 µsec. 


Application 




11.10.1 Files 

he 3-Phase SR Motor Control application is composed of the following files: 


program 
































11-79 












































If any of the above mentioned faults occur, the motor control PWM outputs are disabled in order 











MOTOROLA 



















LEDs. 





11-81 























MOTOROLA 

















...\nos\applications\3ph_srm_Encoder\PC_Master\3ph_srm_Encoder.pmp 












11-83 







11.10.3 Set-up 




Figure 11-64. Setup of the 3-phase HV SR Sensorless Motor Control Application Set-up 











To execute the 3-phase SR Motor Control Application, the DSP56F805 board requires the strap 





MOTOROLA 





JG6 



3 1 

JG1 

JG2 

JG15 

1 

3 

1 

3 


1 

3 

9 7 

6 4 

3 1 

JG10 

JG14 

JG9 

JG15 JG1 JG2 

1 

JG9 

JG3 

1 

LED3 

P3 IRQA 

JG3 

1 2 

7 8 

S/N 

U1 

DSP56F805EVM 

3 

2 

1 

JG13 















JG12 Primary Encoder input selected 2-3, 5-6, 8-9 





11-85 

JTAG 

U15 

S4 S5 S6 

JG7 

1 

JG5 

GP1 

S1 

GP2 

S2 

RUN/STOP 

S3 

JG11 

P1 

U9 U10 

IRQB 

3 

2 

1 

JG12 

USER 

9 7 

J23 J24 

6 4 

3 

JG10 

PWM 

1 

1 3 

JG14 2 

JG17 1 

JG6 JG12 

1 

Y1 

3 

2 

1 

JG13 

JG18 

RESET 

JG18 

1 

JG16 

JG17 

J29 

JG8 

1 

JG4 

P1 

3 1 

JG11 

8 

2 

JG4 

JG8 

7 

1 

3 1 

JG16 

JG5 

JG7 










JG15 Primary UNI-3 DCBus Over-Current selected for FAULTA1 2-3 

JG16 Secondary UNI-3 Phase B Over-Current selected for FAULTB1 1-2 






11.10.4 Build 




and select the target build type as shown in Figure 11-59. Selecting Build All will create all 







MOTOROLA 







To make this application, open the 3ph_srm_Encoder.mcp project file and execute the Make 

command, as shown in Figure 11-60. This will build and link the 3-phase SR Sensorless Motor 




























11-87 



























Note: The Recorder can be used ONLY when the application is running from External 

RAM due to the limited on-chip memory. The length of the recorded window may be 

set in “Recorder Properties” => bookmark “Main” => “Recorded Samples”. It is 

limited by the dedicated memory space in appconfig.h file. The recorder samples are 

taken each 100 µsec. 




using the DSP56F805EVM board, Optoisolation board, and 3-phase AC BLDC High Voltage 

power stage. 

11.11.1 Files 



..\src\dsp56805evm\nos\applications\3ph_AC_VHz_OpenLoop\ 




MOTOROLA 






3-Phase AC Induction Motor Control V/Hz Application - Open Loop 




















rotor speed. Protection against drive faults Overcurrent, Overvoltage, Undervoltage, and 

Overheating is provided. 

























11-89 















• Optoisolation box which is connected between the Power stage board and the 

DSP56F805EVM 




Table 11-18. 

The software tools needed for compiling, debugging, loading to the EVM, remote control and 

monitoring: 











Pole-Number 4 




Brake Type 

SG40N 


Pole-Number 6 




Type 


BHK 16.05A 1024-12-5 





MOTOROLA 













• Overvoltage (PC master software error message - Overvoltage fault) 

• Undervoltage (PC master software error message - Undervoltage fault) 

• Overcurrent (PC master software error message - Overcurrent fault) 

• Overheating (PC master software error message - Overheating fault) 

• Wrong-hardware (PC master software error message - Wrong HW used) 

The 3-phase AC Induction Motor Control V/Hz Application can operate in two modes: 



UP (S2-IRQB) and DOWN (S1-IRQA) push buttons (refer to Figure 11-68). If the 


user LED (LED3; see Figure 11-69) will blink. When motor spinning is enabled, the 

green user LED will be On and the actual state of the PWM outputs are indicated by 

PWM output LEDs. If Overcurrent, Overvoltage or Overheating occur, or if the 

wrong system board is identified, the green user LED starts to flash quickly and the 

PC master software signals the identified fault. This state can be exited only by an 


application to locate the source of the fault before starting it again. Refer to 






11-91 





















MOTOROLA 














• DCBus voltage, temperature of power module 



If Overcurrent, Overvoltage, Undervoltage, or Overheating occur , the internal fault logic is 

asserted and the application enters a fault state (the user LED will start to flash quickly). This state 

can be exited only by an application RESET. It is strongly recommended that you inspect the 



..\nos\applications\3ph_AC_VHz_OpenLoop\PC_Master\3ph_AC_VHz_Flash.pmp, which 


..\nos\applications\3ph_AC_VHz_OpenLoop\PC_Master\3ph_AC_VHz_ExtRam.pmp, 



the desired PC master software Operating Mode. Figure 11-70 shows the PC master software 

control window for 3ph_AC_vHz/ExtRam.pmp. 




11-93 







11.11.3 Set-up 



Figure 11-71 illustrates the hardware set-up for the 3-phase AC Motor Control Application - Open 

Loop. 




MOTOROLA 







Figure 11-71. Set-up of the 3-phase AC Ind. Motor Control Application Open Loop 









Manual. The serial cable is needed only for the PC master software debugging tool. 



To execute the 3-Phase AC Induction Motorl Control V/Hz Application - Open Loop, the 





11-95 







JG6 

3 1 

JG1 

JG2 

JG15 

1 

3 

1 

3 


1 

3 

9 7 

6 4 

3 1 

JG10 

JG14 

JG9 

JG15 JG1 JG2 

1 

JG9 

JG3 

1 

LED3 

P3 IRQA 

JG3 

1 2 

7 8 

S/N 

U1 

DSP56F805EVM 

3 

2 

1 

JG13 















JG12 Primary Encoder input selected for incremental encoder signals 2-3, 5-6, 8-9 




MOTOROLA 

JTAG 

U15 

S4 S5 S6 

JG7 

1 

JG5 

GP1 

S1 

GP2 

S2 

RUN/STOP 

S3 

JG11 

P1 

U9 U10 

IRQB 

3 

2 

1 

JG12 

USER 

9 7 

J23 J24 

6 4 

3 

JG10 

PWM 

1 

1 3 

JG14 2 

JG17 1 

JG6 JG12 

1 

Y1 

3 

2 

1 

JG13 

JG18 

RESET 

JG18 

1 

JG16 

JG17 

J29 

JG8 

1 

JG4 

P1 

3 1 

JG11 

8 

2 

JG4 

JG8 

7 

1 

3 1 

JG16 

JG5 

JG7 











JG15 Secondary UNI-3 Bus Overcurrent selected for FAULTA1 2-3 







11.11.4 Build 



command; see Figure 11-73. This will build and link 3-phase AC V/Hz Motor Control application 

and all needed Metrowerks and SDK libraries. 





11-97 












disable the JTAG port; JG7 to enable boot from internal Flash; and push the RESET button. 


following file located in the CodeWarrior installation directory: 





incrementally increase the motor speed until it reaches maximum speed. If successful, the 3-phase 

AC Induction motor will be spinning. 












11.12.1 Files 

The 3-Phase AC Induction Motor Control V/Hz Application - Closed Loop is found in directory: 

..\src\dsp56805evm\nos\applications\3ph_AC_VHz_CloseLoop\ 



• 3ph_AC_VHz_CL.c, Closed Loop main application program 

• 3ph_AC_VHz_CL.h, Closed Loop application header file 

• 3ph_AC_VHz_CL.mcp, Closed Loop project file 







MOTOROLA 





3-Phase AC Induction Motor Control V/Hz Application - Closed Loop 









This application performs a principal control of the 3-phase AC Induction motor using the 



application and reflects AC induction motor parameters (Base Voltage/frequency; Boost 

Voltage/frequency; DC Boost Voltage).The incremental encoder is used to derive the actual rotor 

speed. 

The closed loop system is characterized by a feedback signal (Actual speed), derived from a 



of the resulting error signal are directly related to the difference between required and actual 




Protection against drive faults Overcurrent, Overvoltage, Undervoltage, and Overheating is 

provided. 


























11-99 
















DSP56F805EVM 



(encoder) is coupled on the motor shaft. The detailed motor - brake specifications are listed in 

Table 11-21. 








Motor Specification eMotor Type AM40V 





Pole-Number 4 




Brake Type 

SG40N 


Pole-Number 6 




Type 


BHK 16.05A 1024-12-5 





MOTOROLA 





Measured quantities include: 













The 3-phase AC Induction Motor V/Hz application can operate in two modes: 



UP (S2-IRQB) and DOWN (S1-IRQA) push buttons (Figure 11-74). If the 


user LED (LED3; see Figure 11-75) will blink. When motor spinning is enabled, the 

green user LED will be On and the actual state of the PWM outputs are indicated by 

PWM output LEDs. If Overcurrent, Overvoltage or Overheating occur, or if the 

wrong system board is identified, the green user LED starts to flash quickly and the 

PC master software signals the identified type of fault. This state can be exited only 

by an application RESET. It is strongly recommended that you inspect the entire 

application to locate the source of the fault before starting it again. Refer to 






11-101 











Stopped Stopped Blinking with a frequency of 2 Hz 


Fault Stopped Blinking with a frequency of 8 Hz 








MOTOROLA 










• Set Close/Open loop by checking/unchecking the “Close Loop” checkbox; see 

Figure 11-76. 





• DCBus voltage and temperature of power module 



If Overcurrent, Overvoltage, Undervoltage or Overheating occur, the internal fault logic is 

asserted and the application enters a fault state (the user LED will flash quickly). This state can be 

exited only by an application RESET. It is strongly recommended that you inspect the entire 



..\nos\applications\3ph_AC_VHz_CloseLoop\PC_Master\3ph_AC_VHz_Flash.pmp, uses 

Map file for running in Flash 

..\nos\applications\3ph_AC_VHz_CloseLoop\PC_Master\3ph_AC_VHz_ExtRam.pmp, uses 

Map file for running in External Memory 


the desired PC master software Operating Mode. Figure 11-76 shows the PC master software 

control window for 3ph_AC_VHz_Flash.pmp. 




11-103 







11.12.3 Set-up 



Figure 11-77 illustrates the hardware set-up for the 3-phase AC Induction Motor Control V/Hz A 

Application - Closed Loop. 




MOTOROLA 







Figure 11-77. Set-up of the 3-phase AC Induction Motor Control Application - Closed Loop 






When facing a motor shaft, the phase order is: phase A, phase B, phase C, the motor shaft should 

rotate clockwise (i.e., positive direction, positive speed). 





To execute the 3-phase AC Induction Motor Control V/Hz Application - Closed Loop, the 





11-105 







JG6 

3 1 

JG1 

JG2 

JG15 

1 

3 

1 

3 


1 

3 

9 7 

6 4 

3 1 

JG10 

JG14 

JG9 

JG15 JG1 JG2 

1 

JG9 

JG3 

1 

LED3 

P3 IRQA 

JG3 

1 2 

7 8 

S/N 

U1 

DSP56F805EVM 

3 

2 

1 

JG13 



















MOTOROLA 

JTAG 

U15 

S4 S5 S6 

JG7 

1 

JG5 

GP1 

S1 

GP2 

S2 

RUN/STOP 

S3 

JG11 

P1 

U9 U10 

IRQB 

3 

2 

1 

JG12 

USER 

9 7 

J23 J24 

6 4 

3 

JG10 

PWM 

1 

1 3 

JG14 2 

JG17 1 

JG6 JG12 

1 

Y1 

3 

2 

1 

JG13 

JG18 

RESET 

JG18 

1 

JG16 

JG17 

J29 

JG8 

1 

JG4 

P1 

3 1 

JG11 

8 

2 

JG4 

JG8 

7 

1 

3 1 

JG16 

JG5 

JG7 


















11.12.4 Build 

To build this application, open the 3ph_AC_VHz_CL.mcp project file and execute the Make 

command, as shown in Figure 11-79. This will build and link the 3-phase AC V/Hz Motor Control 










11-107 









disable the JTAG port and JG7 to enable boot from internal Flash, then push the RESET button. 




For jumper settings, see DSP56F805 Evaluation Module Hardware User’s Manual. 




AC Induction motor will be spinning. 






application stops, the green LED blinks at a frequency of 2Hz. 


This application demonstrates a principle of the vector control of the 3-phase AC Induction Motor 



11.13.1 Files 




















MOTOROLA 







3-Phase ACIM Vector Control Application 



















buttons; speed set-up) 









the 3-phase PWM signals for AC induction motor inverter according to the user-required inputs, 








The AC induction motor-brake set incorporates a 3-phase AC induction motor and attached 


(encoder) is coupled on the motor shaft and position Hall sensors are mounted between motor and 

brake. They allow to sense the position if it is required by the control algorithm. The detailed 

motor - brake specifications are listed in Table 11-24. 




11-109 













• Manual operating mode - the required speed is set by the UP/DOWN push buttons and the 




MOTOR controls 














Pole-Number 4 




Brake Type 

SG40N 


Pole-Number 6 




Type 


BHK 16.05A 1024-12-5 









MOTOROLA 









• Overload (PC master software error message - Overload) An informative message; actual 

application state is not changed to FAULT state 

States of the application state machine see Table 11-25: 






After reset, the drive is in the INIT state and in the Manual operating mode.When the RUN/STOP 


to the STOP state. Otherwise, the drive waits in the INIT state. If faults occur, the drive goes to 

the FAULT state. In INIT and STOP states, the operation mode can be changed from PC master 

software. In the Manual operating mode, the application is controlled by the RUN/STOP switch 

and UP/DOWN buttons; in the PC master software remote control , the application is controlled 

by the PC master software environment. 

When the start command is accepted (using the RUN/STOP switch or the PC master software 

command), the STOP state is changed to the RUN state. Required speed is then calculated from 

the UP/DOWN push buttons or PC master software commands (if in PC master software remote 

control mode). The required speed is the input into the acceleration/deceleration ramp. The 

difference between the actual speed and the required speed generates a speed error. Based on the 

error, the speed controller generates an Is_q_Req current, which corresponds to the torque 

component. The second Is_d_Req component of the stator current, which corresponds to rotor 

flux, is given by the flux controller. The field-weakening algorithm generates the required rotor 

flux which is compared with calculated rotor flux from the AC induction flux model calculation 

algorithm. The difference between required rotor flux and calculated rotor flux generates a flux 

error. Based on the flux error, the flux controller generates the required Is_d_Req stator current. 

Simultaneously, the stator currents Is_a, Is_b and Is_c (3-phase system) are measured and 

transformed to the stationary reference frame α, β (2-phase system) and to the d-q rotating 

reference frame consecutively. The decoupling algorithm generates Us_q and Us_d voltages (d-q 

rotating reference frame). The Us_q and Us_d voltages are transformed back to the stationary 

reference frame α, β and the space vector modulation generates the 3-phase voltage system which 

is applied on the motor. 



The DCBus voltage, DCbus current and power stage temperature are measured during the control 


Wrong-mains. The Undervoltage, Overheating, Wrong-hardware and Wrong-mains protection is 

performed by software. The Overcurrent and Overvoltage fault signals utilize fault inputs of the 

DSP controlled by hardware. The power stage is identified using board identification. If the 

correct boards are not identified, the Wrong-hardware fault disables the drive operation. Line 

voltage is measured during application initialization and the application automatically adjusts 




11-111 








itself to run at either 115V AC or 230V AC, depending on the measured value. If the mains is out 

of range, the Wrong-mains fault is set and the drive operation is disabled. 

If any of the mentioned faults occur, the motor control PWM outputs are disabled to protect the 

drive and the application enters the FAULT state. The FAULT state can be left only when the fault 

conditions disappear and the RUN/STOP switch is moved to the STOP position (in PC master 

software remote mode, by PC master software). If the Wrong-hardware and Wrong-mains occur, 

the FAULT state can be left only by application reset. 




UP (S2-IRQB) and DOWN (S1-IRQA) push buttons (see Figure 11-80). The actual 

state of the application is indicated by the user LEDs (see Figure 11-81). If the 


user LED will blink at a frequency of 2Hz. When motor spinning is enabled, the 

green user LED will be turned on and the actual state of the PWM outputs are 

indicated by PWM output LEDs. If any fault occurs (Overcurrent, Overvoltage, 

Undervoltage, Wrong-mains, Overheating or Wrong-hardware) the green user LED 

will blink at a frequency of 8Hz. The PC master software control page shows the 

identified fault. The faults can be handled by switching the RUN/STOP switch to 

STOP, which acknowledges the fault state. Meanwhile, the Wrong-mains and the 

Wrong-hardware faults can be quit only with the application reset. It is strongly 

recommended that the user inspect the entire application to locate the source of the 

fault before starting it again. Refer to Table 11-25 for application states. 





MOTOROLA 


















controllable from the PC master software environment, regardless of the 





11-113 























control) 


If any fault occurs (Overcurrent, Overvoltage, Wrong-mains, Overheating or Wrong-hardware), 

the green user LED will blink at a frequency of 8Hz. The PC master software control page shows 


icon to STOP MOTOR, which acknowledges the fault state. Meanwhile, the Wrong-mains and 

the Wrong-hardware faults can be quit only with the application reset. It is strongly recommended 

that the user inspect the entire application to locate the source of the fault before starting it again. 



Start the PC master software 3ph_ACIM_VectorControl.pmp application. Figure 11-82 shows the 

PC master software control window. 









MOTOROLA 





11.13.3 Set-up 






WARNING: 




are live. 




hardware. 






11-115 











In the rest of this application, the description supposes the use of an insulation transformer 

Figure 11-83. Set-up of the 3-phase ACIM Vector Control Application 













MOTOROLA 










JG6 

3 1 

JG1 

JG2 

JG15 

1 

3 

1 

3 


1 

3 

9 7 

6 4 

3 1 

JG10 

JG14 

JG9 

JG15 JG1 JG2 

1 

JG9 

JG3 

1 

LED3 

P3 IRQA 

JG3 

1 2 

7 8 

S/N 

U1 

DSP56F805EVM 

















11-117 

JTAG 

U15 

S4 S5 S6 

JG7 

1 

JG5 

GP1 

S1 

GP2 

S2 

RUN/STOP 

S3 

JG11 

P1 

U9 U10 

IRQB 

3 

2 

1 

JG12 

USER 

9 7 

J23 J24 

6 4 

3 

JG10 

PWM 

1 

1 3 

JG14 2 

JG17 1 

JG6 JG12 

1 

Y1 

3 

2 

1 

JG13 

JG18 

RESET 

JG18 

1 

JG16 

JG17 

3 

2 

1 

JG13 

J29 

JG8 

1 

JG4 

P1 

3 1 

JG11 

8 

2 

JG4 

JG8 

7 

1 

3 1 

JG16 

JG5 

JG7 




















11.13.4 Build 



External RAM, which can be selected under the File menu in the project window. To choose the 

desired type, open the 3ph_ACIM_VectorControl.mcp project and select the target build type; see 

Figure 11-85. Selecting Build All will create all application build types. Definition of the projects 


window. 


press [F7]; see Figure 11-86. This will build and link the 3-phase ACIM vector control application 

and all needed libraries from the Metrowerks CodeWarrior and the SDK. 




MOTOROLA 














Program/Debug command in the CodeWarrior IDE. When loading is finished, the JG7 jumper 

must be connected to boot from internal Flash and the RESET button pushed. 

For more help with these commands, refer to the CodeWarrior tutorial documentation file, located 






11-119 











ACIM will be spinning. 




CodeWarrior. 





• The application must be in the STOP or INIT state, indicated on the PC master software 

control page 





When the application is in the STOP or INIT state, the Manual mode can be set again by 



during Manual mode. 





Recorder: 



Note: The Recorder should be used only when the application is running from External 

RAM due to limited on-chip memory. The length of the recorded window may be 

changed by left-clicking on the Recorder in the tree structure of the PC master 

software items; selecting Recorder Properties in the menu Item/Propertes; and 

defining the value as Recorded Samples. It is limited by the dedicated memory space 

in the appconfig.h file. The recorder samples are taken every 1ms. 




MOTOROLA 





Digital Power Factor Correction 


11.14 Digital Power Factor Correction 

This application demonstrates outlines of the Power Factor Correction without motor control. A 

DSP56F805EVM board, Optoisolation board, and 3-phase AC/BLDC High-Voltage power stage 

board are used. 

11.14.1 Files 

The Digital Power Factor Correction application is found in the directory: 

..\src\dsp56805evm\nos\applications\Digital_PFC\ 



















The DSP56F805EVM uses the timer C channel 0 output pin, so the timer channel should be 

defined in the appconfig.h file: 

#define INCLUDE_USER_TIMER_C_0 0 


The Digital PFC application performs power factor correction for 3-phase AC/BLDC 

High-Voltage Power Stage hardware without motor drive. It is a demo that can evaluate the basic 

algorithm of power factor correction for the current hardware implementation. The PFC software 

was designed for use with motor control applications. The Digital PFC application allows target 

memory configuration of RAM and Flash. The input power line must meet the following 

requirements: 

• Input voltage value 115 or 220 volts 

• Input voltage frequency 50 or 60 Hz 


The Digital PFC application may be used in the Manual Operating Mode. The remote control 





11-121 









The PFC conversion is controlled by the RUN/STOP switch (S6) (see Figure 11-87). The USER 

LED (LED3; see Figure 11-88) indicates the application states. When the application is ready, the 

USER LED blinks at a 2Hz frequency. 





MOTOROLA 









The normal PFC conversion process is indicated by the USER LED which will light continuously. 

To disable PFC conversion, the RUN/STOP switch must be moved to the STOP position. 

11.14.3 Set-up 


Figure 11-89 illustrates the hardware set-up for the Digital PFC application, which requires a 

motor drive. The AC/BLDC High-Voltage Power Stage board contains the JP201 jumper that 

selects the power supply device. The 2-3 pins of the JP201 connection correspond to a simple 

rectifier-capacitor power stage. The PFC hardware set-up requires closing pins 1-2 of the JP201 

connection. 




11-123 









Figure 11-89. Digital PFC Application Set-up 

To execute the Digital PFC application, the DSP56F805EVM board requires the strap settings 

shown in Figure 11-90 and Table 11-27. 




MOTOROLA 





JG6 



3 1 

JG1 

JG2 

JG15 

1 

3 

1 

3 


1 

3 

9 7 

6 4 

3 1 

JG10 

JG14 

JG9 

JG15 JG1 JG2 

1 

JG9 

JG3 

1 

LED3 

P3 IRQA 

JG3 

1 2 

7 8 

S/N 

U1 

DSP56F805EVM 

3 

2 

1 

JG13 



















11-125 

JTAG 

U15 

S4 S5 S6 

JG7 

1 

JG5 

GP1 

S1 

GP2 

S2 

RUN/STOP 

S3 

JG11 

P1 

U9 U10 

IRQB 

3 

2 

1 

JG12 

USER 

9 7 

J23 J24 

6 4 

3 

JG10 

PWM 

1 

1 3 

JG14 2 

JG17 1 

JG6 JG12 

1 

Y1 

3 

2 

1 

JG13 

JG18 

RESET 

JG18 

1 

JG16 

JG17 

J29 

JG8 

1 

JG4 

P1 

3 1 

JG11 

8 

2 

JG4 

JG8 

7 

1 

3 1 

JG16 

JG5 

JG7 












Build 







To build this application, open the Digital_PFC.mcp project file and execute the Make command, 

as shown in Figure 11-91. This will build and link the Digital PFC application and all needed 





To execute the Digital PFC application, choose the Program/Debug command in the CodeWarrior 

IDE, followed by the Run command. 

To execute the Digital PFC application’s internal Flash version, choose the Program/Debug 

command in the CodeWarrior IDE. When loading is finished, set jumper JG5 to disable the JTAG 

port, set jumper JG7 to enable a boot from internal Flash and push the RESET button. 




MOTOROLA 





Digital Power Factor Correction for 3-phase AC Motor V/Hz Open Loop 


For more help with these commands, refer to CodeWarrior tutorial documentation in the 




When the application is running, the USER LED will blink at a 2Hz frequency. To enable the PFC 

conversion, set the RUN/STOP switch to the RUN position. If this switch was in the RUN 

position before the application started, move it to the STOP position first, then back to the RUN 

position. The USER LED should light continuously when the PFC conversion is enabled. To 

disable the PFC conversion, move the RUN/STOP switch to the STOP position, causing the 

USER LED to blink again. 




AC Motor V/Hz Open Loop 

This application demonstrates how to integrate the Power Factor Correction with a motor control 


same functionality. Only the power supply was changed in this implementation. The application 

uses the DSP56F805EVM board, Optoisolation board, and 3-phase AC/BLDC High-Voltage 

power stage board. 

11.15.1 Files 

The Digital Power Factor Correction for 3-Phase AC Motor V/Hz Open Loop Application is 

found in the directory: 

..\src\dsp56805evm\nos\applications\3ph_AC_VHz_OpenLoop_PFC\ 

















11-127 













The DSP56F805 EVM uses timer C channel 0 output pin to provide PFC inhibit output. The timer 

channel needs to be defined in the appconfig.h file: 



The Digital PFC for the 3-phase AC Motor V/Hz Open Loop application performs power factor 

correction for the 3-phase AC/BLDC High-Voltage Power Stage hardware with 3-phase induction 

motor drive. It is a demo that evaluates how to integrate the PFC control software with a motor 

control application for current hardware implementation. The application allows both target’s 

memory configurations of RAM and Flash. The input power line must meet the following 

requirements: 



The Digital PFC for the 3-phase AC Motor V/Hz Open Loop application can execute in manual 

and PC master software modes, which were described in Section 11.11. 

11.15.3 Set-up 


Figure 11-92 illustrates the hardware set-up for Digital PFC for the 3-phase AC Motor V/Hz Open 

Loop application. 




MOTOROLA 





Digital Power Factor Correction for 3-phase AC Motor V/Hz Open Loop 


Figure 11-92. Digital PFC for 3-phase AC Motor V/Hz Open Loop Application Set-up 








The configuration for the Digital PFC is basically the same as for the 3-phase AC Motor V/Hz 

Open Loop application, with the following difference: 

The AC/BLDC High-Voltage Power Stage board contains a JP201 jumper, which selects the 


rectifier-capacitor power stage. The PFC hardware set-up requires the 1-2 pins of the JP201 

connection. 



To execute the Digital PFC application, the DSP56F805 board requires the same strap settings as 

the 3-phase AC Motor V/Hz Open Loop application; see Section 11.11. 




11-129 







11.15.3.2 Build 


directions given in Section 11.11. 


To execute the Digital PFC for 3-phase AC Motor V/Hz Open Loop application, follow the 



The Serial Bootloader is developed to load and run a proprietary user application, presented as an 

S-record file, into the Program and Data memory. The Serial Bootloader is located in the 

dedicated Program Memory region, called Boot Flash. The Serial Bootloader supports the easiest 

serial protocol, so a standard serial terminal program can be used on the host PC. 

11.16.1 Files 










• ..\nos\applications\serial_bootloader\bootloader.h, Flash programming module 

• ..\nos\applications\serial_bootloader\prog.h, header for Flash programming module 







Boot Flash 









MOTOROLA 








The Serial Bootloader application reads the S-Record file of the user application (for example, 

generated by CodeWarrior) via serial interface, parses this S-Record file and stores needed data in 

Program and Data Flash memory. When the processing of the S-Record file is finished, the 

Bootloader launches the loaded application. If any error occurs during the loading of the S-Record 

file, the Bootloader outputs an error message with an error number via the serial line resets the 

processor. 

11.16.3 Set-up 

Before use, the Bootloader must be programmed into Boot Flash, the EVM P3 socket must be 

connected with the host PC COM serial port by serial cable, and the jumpers on the EVM must be 

set to use internal memory without debug interface. 


To load the Bootloader into the DSP56F805 board, the following jumper settings are needed: 


• Set jumper JG9, “Enable RS-232 output” 



are needed: 


• Set jumper JG9, “Enable RS-232 output” 


11.16.4 Build 


To build this application, open the bootloader.mcp project file in the CodeWarrior IDE and 



To download into Boot Flash, build the Bootloader from Codewarrior and load it into the board by 

choosing the Project/Debug command in the CodeWarrior IDE. Make sure that jumpers were set 

as described for loading in Section 11.16.3.1. 




11-131 








A host terminal program is used to communicate with the Bootloader. The terminal must be 



configure Microsoft HyperTerminal to communicate with the Bootloader, the PC user should start 

HyperTerminal and create a new connection. Select the COM port previously connected to the 

EVM, set up Baud rate at 115200 bps; Data bits equal to 8, Parity none, Stop bits 1; and Flow 

control as Xon/Xoff. The HyperTerminal can now display the Bootloader’s messages. 



Baud rate 115200 bps 




for starting the Bootloader in Section 11.16.3.1., and push the RESET button. 

If the terminal program and the connection between EVM and Host PC are properly set, the 

terminal program will display Bootloader startup message: 

“(c) 2000-2001 Motorola Inc. S-Record loader. Version 1.1” 

To load the S-Record file, select Transfer/Send text file in the HyperTerminal menu and select a 

file. When the S-Record file is loaded and the application is started the terminal window looks 

similar to: 

“(c) 2000-2001 Motorola Inc. S-Record loader. Version 1.1 


Application started.” 

The download rate is about 7660 bytes of S-Record file per second loaded from terminal, or about 

1740 words of program or data memory stored into Flash per second. 

If an error is detected while loading the S-Record file, the Bootloader displays an error message 




Error # 0002 

Resetting the processor.” 






MOTOROLA 





Error 

Code 





1 Data Receive 

Error 

2 Invalid 

Character 

3 Invalid 

S-Record 

Format 

4 Wrong 

S-Record 

Checksum 


BSP_BOOTLOADER_DELAY (see Section 11.16.6), the Bootloader waits for the S-Record file 

only until the required time-out has not expired and launches the application. The terminal 

window then displays this message: 



•Any SCI error except Noise Error 

(Overrun, Frame Error, Parity Error) 

•Received character is not ‘S’ or any 

hexadecimal digit 

•Invalid record type. Permitted type 

is 0,3,7 





with received one 




•Verify that S-Record file does not 

contain inaccurate characters 







5 Buffer Overrun •Internal data buffer was full •Terminal program did not stop after 

receiving Xoff character 

•Confirm that terminal program supports 


6 Flash 

Programming 

Error 


•After programming a word into 

Flash, the programmed word read 

back is not equal to the expected 

value 

•The Bootloader tries to program Flash 

only once and performa a read back / 

verify of the value 

7 Internal Error •Bootloader data corrupted. •Reload Bootloader via CodeWarrior 

If the application is loaded via the Bootloader, it must meet these requirements: 

• Particular start address for the application - The entry point for a loaded application 

must be located at address 0x0080 in Program memory; i.e., immediately after the interrupt 

table. 

• Application COP vector - To use the COP interrupt vector in an application loaded via 


memory. 




11-133 








SDK provides a configuration variable for this purpose. For details on management of the 

Bootloader without SDK support, see the config\vector.c file in the SDK. 

• Restricted resource use - The application cannot occupy Reset and COP interrupt vectors, 

and cannot place code into the Boot Flash memory area. There is no way to place any 

initialized variable from the application into internal data RAM while loading, as this 

memory area is used by the Bootloader. All data from the S-Record file that addresses the 


application because Bootloader is performed in the DSP’s Mode 0A memory map. 


fixed address for an application entry point, a redirect for an application COP vector and has the 


the start delay time-out of the application. 

The possible values of BSP_BOOTLOADER_DELAY: 

0 Disable the Bootloader, start application immediately without waiting. 

After loading the application with this setting, there are only two ways 

to re-enter Bootloader: 

If BSP_BOOTLOADER_DELAY is not set in the appconfig.h file, the default value for time-out 

is 30 seconds. 



• Reload the Bootloader from Metrowerks CodeWarrior into Flash 

• Reprogram the value of the start delay variable located on 

address 0x0083 in the Program Flash to zero value (0x0000) in 

the loaded application 

0 - 254 Set the waiting time for the S-Record file’s start for 0-255 seconds 

before the start of the previously-loaded application 

255 Set waiting time to infinity. After reset, the Bootloader waits for the 

S-Record file without counting down any time-out 

The DSP is used in a single chip mode, while the Bootloader uses only internal data RAM for data 

buffering. 

The Bootloader does not initialize any DSP peripheral except SCI 0, Port E and PLL unitization. 

The PLL multiplier is set to 18, which equals the DSP’s 72MHz operational frequency. Before the 

application starts, SCI 0 is disabled but PLL does not reprogram to its initial state. 

The Bootloader uses a statically-calculated SCI baud rate value. This value is calculated assuming 

an external Oscillator Frequency of 8MHz. 




MOTOROLA 




















11.22.1 Files 






file 


file 






11-135 


















seconds. 

11.22.3 Set-up 




11.22.4 Build 









MOTOROLA 












11.23 CAN 





11.25 DAC Application 

See Section 6.7.6 for a description of how to build and execute this application. 

11.26 SPI Application 




CAN 




11-137 











MOTOROLA 







Chapter 12 





Settings for the DSP56F807 board’s required fault trimpots are shown in Figure 12-1, Table 12-1, 

Table 12-2 and Table 12-3. 

GND - pin TP1 

Figure 12-1. Trimpot Pins (Top view) 

Table 12-1. Trimpot Settings for EVM Motor Board BLDC Motor Control Applications 

Trim pot Comment Voltage POT - Pin 2 to GND 



Table 12-2. Trimpot Settings for Low-Voltage BLDC Motor Control Applications 







12-1 

2 

POT 

1 3 







Table 12-3. Trimpot Settings for High-Voltage BLDC Motor Control Applications 





When utilizing the PC master software debugging tool, a communication port on a PC requires the 

following settings: 

Baud Rate 

Data Bits 

Parity 

Stop Bit 

Flow Control 


Sensors 

This application exercises simple control of the BLDC motor with Hall Sensors on the 


12.2.1 Files 


9600 

8 

None 

1 

None 

The BLDC Motor Control Application with Hall Sensors is composed of the following files: 

• ...\dsp56807evm\nos\applications\bldc_sensors\bldc_sensor.c, main program 

• ...\dsp56807evm\nos\applications\bldc_sensors\bldc_sensor.mcp, application project file 

• ...\dsp56807evm\nos\applications\bldc_sensors\configextram\appconfig.c, application 


• ...\dsp56807evm\nos\applications\bldc_sensors\configflash\appconfig.c, application 


• ...\dsp56807evm\nos\applications\bldc_sensors\configextram\appconfig.h, application 

configuration header file for external RAM 

• ...\dsp56807evm\nos\applications\bldc_sensors\configflash\appconfig.h, application 

configuration header file for Flash 

• ...\dsp56807evm\nos\applications\bldc_sensors\configextram\linker.cmd, linker 


• ...\dsp56807evm\nos\applications\bldc_sensors\configflash\linker.cmd, linker command 





MOTOROLA 







• ...\dsp56807evm\nos\applications\bldc_sensors\configflash\flash.cfg, configuration file 

for Flash 

• ...\dsp56807evm\nos\applications\bldc_sensors\pcmaster\bldc demo.pmp, PCMaster 

file 



This application performs simple control of a BLDC motor with Hall Sensors and closed loop 



from the Input Monitor Register of the Quadrature Decoder. The masking and swapping of PWM 

channels are controlled by the PWM Channel Control Register. The content of this register is 

derived from Hall Sensors’ signals. The commutation is done with each new edge of the Hall 



application is from 400 rpm to 1000 rpm in both directions. 




The BLDC Motor Control Application with Hall Sensors can operate in two modes: 


The drive is controlled by the RUN/STOP switch (S6). The motor speed is set by the UP 

(S3-IRQB) and DOWN (S2-IRQA) push buttons; refer to Figure 12-2. If the application 

runs and motor spinning is disabled (i.e., the system is ready), the USER LED (LED3, see 

Figure 12-3) will blink. When motor spinning is enabled, the USER LED is On. Refer to 





12-3 












MOTOROLA 























12-5 










• Speed 






Start the PC master software window’s application, bldc demo.pmp. Figure 12-4 shows the PC 


NOTE: If the PC master software project (.pmp file) is unable to control the application, it is 


the load map to determine addresses for global variables being monitored. Once the PC 

master software project has been launched, this option may be selected in the PC master 

software window under Project/Select Other Map FileReload. 





MOTOROLA 





12.2.3 Set-up 



Figure 12-5 illustrates the hardware set-up for the BLDC Motor Control Application with Hall 

Sensors. 

Figure 12-5. Set-up of the BLDC Motor Control Application with Hall Sensors 





To execute the BLDC Motor Control Application with Hall Sensors, the DSP56F807 board 





12-7 







JG15 

JG5 

2 

JG7 


JG3 

3 

1 

8 

3 

2 

1 

JG12 

1 

JG14 

7 

1 3 

4 

7 

6 

9 JG9 

USER 

PWM 

J1 

JG15 

JG14 

1 

4 

7 

JG9 

LED3 

Y1 

JG1 

JG17 

1 

J4 J5 

3 

3 

2 

2 

1 

1 

JG12 JG17JG16 

JG13 

JG3 JG7 

JG6 

JG5 

3 

JG1 

DSP56F807EVM 

S/N 

S4 S5 S6 


JG4 U9 

S1 S2 S3 

P1 

P3 RESET IRQA IRQB 

3 

1 

Figure 12-6. DSP56F807 Jumper Reference 

Table 12-5. BLDC Motor Control Application with Hall Sensors Jumper Settings 


JG1 Primary UNI-3 Phase A Overcurrent Selected for FAULTA1 1–2 

JG2 Secondary UNI-3 Phase A Overcurrent Selected for FAULTB1 1–2 


JG4 Enable on-board Parallel JTAG Host/Target Interface NC 

JG5 Use on-board EXTAL crystal input for DSP oscillator 2–3 

JG6 Use on-board XTAL crystal input for DSP oscillator 1–2 

JG7 Selects DSP’s Mode 0 operation upon exit from reset 1–2 

JG8 Enable on-board SRAM 1–2 


JG10 Secondary UNI-3 3-Phase Current Sense Selected as inputs to A/D 2–3, 5–6, 8–9 

JG11 Secondary UNI-3 serial selected 1–2, 3–4, 5–6, 7–8 

JG12 Primary Encoder Input Selected 2–3, 5–6, 8–9 

JG13 Secondary Encoder Input Selected 2–3, 5–6, 8–9 

JG14 Primary UNI-3 3-Phase Current Sense Selected as inputs to A/D 2–3, 5–6, 8–9 

JG15 Primary UNI-3 serial selected 1–2, 3–4, 5–6, 7–8 

JG16 PD0 input selected as a high input 1–2 


U1 

JG16 

1 

3 

2 

1 

JG13 

NOTE: When running the EVM target system in a stand-alone mode from Flash, the JG4 






MOTOROLA 

3 

JG6 

JG8 

U2 

JG10 

3 

2 

1 

JG11 

JTAG 

JG4 

JG2 

J3 

P2 

J2 

3 

2 

1 

JG10 

JG2 

JG11 

1 2 

7 8 

JG8 

3 

1 





12.2.4 Build 





External RAM. To select the type of application to build, open the bldc_sensor.mcp project and 

select the target build type, shown in Figure 12-7. Selecting Build All will create all application 





build and link the BLDC Motor Control Application with Hall Sensors and all needed 






12-9 








To execute the BLDC Motor Control Application with Hall Sensors, select Project\Debug in the 

CodeWarrior IDE, followed by the Project\Run command. For more help with these commands, 

refer to the CodeWarrior tutorial documentation in the following file located in the CodeWarrior 













NOTE: If the RUN/STOP switch is set to the RUN position when the application starts, toggle 




You should also see a lighted green USER LED, which indicates that the application is running. If 

the application stops, the green USER LED will blink at a 2Hz frequency. If an Undervoltage 

fault occurs, the USER LED will blink at a frequency of 8Hz. 





12.3.1 Files 


The BLDC Motor Control Application with Quadrature Encoder is composed of the following 

files: 



file 

• ...\dsp56807evm\nos\applications\bldc_encoder\ConfigExtRam\appconfig.c, 





MOTOROLA 







• ...\dsp56807evm\nos\applications\bldc_encoder\ConfigFlash\appconfig.c, application 


• ...\dsp56807evm\nos\applications\bldc_encoder\ConfigExtRam\appconfig.h, 


• ...\dsp56807evm\nos\applications\bldc_encoder\ConfigFlash\appconfig.h, application 


• ...\dsp56807evm\nos\applications\bldc_encoder\ConfigExtRam\linker.cmd, linker 


• ...\dsp56807evm\nos\applications\bldc_encoder\ConfigFlash\linker.cmd, linker 


• ...\dsp56807evm\nos\applications\bldc_encoder\ConfigFlash\flash.cfg, configuration 


• ...\dsp56807evm\nos\applications\bldc_encoder\pcmaster\BLDC Encoder 

Demo.pmp, PCMaster file 




closed loop speed control on the DSP56F807 processor. In the application, the PWM module is 

set to complementary mode with a 16kHz switching frequency. The masking and swapping of 

PWM channels are controlled by the PWM Channel Control Register. The content of this register 

is derived from Quadrature Encoder signals. The required voltage is set independently on the 

commutation by the speed PI controller. The speed is measured by the quad timer. The 

RUN/STOP switch enables/disables motor spinning. The allowable range of speed is from 50 rpm 

to 1000 rpm in both directions. 




The BLDC Motor Control Application with Quadrature Encoder can operate in two modes: 




runs and motor spinning is disabled (i.e., the system is ready), the green USER LED (LED3; 

see Figure 12-10) will blink. When motor spinning is enabled, the green USER LED is On. 

Refer to Table 12-6 for application states. 




12-11 













MOTOROLA 






































12-13 












MOTOROLA 





12.3.3 Set-up 



Figure 12-12 illustrates the hardware set-up for the BLDC Motor Control Application with 


Figure 12-12. Set-up of the BLDC Motor Control Application with Quadrature Encoder 





To execute the BLDC Motor Control Application with Quadrature Encoder, the DSP56F807 





12-15 







JG15 

JG5 

2 

JG7 


JG3 

3 

1 

8 

3 

2 

1 

JG12 

1 

JG14 

7 

1 3 

4 

7 

6 

9 JG9 

USER 

PWM 

J1 

JG15 

JG14 

1 

4 

7 

JG9 

LED3 

Y1 

JG1 

JG17 

1 

J4 J5 

3 

3 

2 

2 

1 

1 

JG12 JG17JG16 

JG13 

JG3 JG7 

JG6 

JG5 

3 

JG1 

DSP56F807EVM 

S/N 

S4 S5 S6 


JG4 U9 

S1 S2 S3 

P1 


3 

1 





















U1 

JG16 

1 

3 

2 

1 

JG13 







MOTOROLA 

3 

JG6 

JG8 

U2 

JG10 

3 

2 

1 

JG11 

JTAG 

JG4 

JG2 

J3 

P2 

J2 

3 

2 

1 

JG10 

JG2 

JG11 

1 2 

7 8 

JG8 

3 

1 





12.3.4 Build 





External RAM. To select the type of application to build, open the bldc_encoder.mcp project and 

select the target build type; see Figure 12-14. Selecting Build All will create all application build 

types. A definition of the projects associated with these target build types may be viewed under 

the Targets tab of the project window. 



will build and link the BLDC Motor Control Application with Quadrature Encoder and all needed 





12-17 










To execute the BLDC Motor Control Application with Quadrature Encoder, select Project\Debug 

in the CodeWarrior IDE, followed by the Project\Run command. For more help with these 


















You should also see a lighted green USER LED which indicates that the application is running. If 

the application is stopped, the green USER LED will blink at a 2Hz frequency. If an Undervoltage 





MOTOROLA 









This application exercises simple control of the Synchro PM motor with the Quadrature Encoder 


12.4.1 Files 

The Synchro PM Motor Control application is composed of the following files: 



project file 















• ...\dsp56807evm\nos\applications\bldc_synchro1\pcmaster\BLDC Synchro 

Demo.pmp, PCMaster file 



This application performs simple control of a synchro PM motor with the Quadrature Encoder 

and speed closed loop on the DSP56F807 processor. In the application, the PWM module is set to 

complementary mode with a 16kHz switching frequency. The masking and swapping of PWM 

channels are controlled by the PWM Channel Control Register. The content of this register is 



range of speed is from 50 rpm to 1000 rpm in both directions. 







12-19 








The Synchro PM Motor Control Application with Quadrature Encoder can operate in two 

modes: 




runs and motor spinning is disabled (i.e., the system is ready), the green USER LED (LED3; 

see Figure 12-17) will blink. When motor spinning is enabled, the green USER LED is On. 

Refer to Table 12-8 for application states. 





MOTOROLA 

















• Amplitude 













12-21 





















MOTOROLA 





12.4.3 Set-up 



Figure 12-19 illustrates the hardware set-up for the Synchro PM Motor Control Application with 


Figure 12-19. Set-up of the Synchro PM Motor Control Application with Quadrature Encoder 




The application SW is targeted for a PM Synchronous motor with sine-wave Back-EMF shape. In 

this particular demo application, the BLDC motor is used instead, due to the availability of the 

BLDC motor supplied as ECMTREVAL. Although the Back-EMF shape of this motor is not 

ideally sine-wave, it can be controlled by the application software. The drive parameters will be 

improved when a PMSM motor with a exact sine-wave Back-EMF shape is used. 








12-23 







JG15 

JG5 

2 

JG7 


JG3 

3 

1 

8 

3 

2 

1 

JG12 

1 

JG14 

7 

1 3 

4 

7 

6 

9 JG9 

USER 

PWM 

J1 

JG15 

JG14 

1 

4 

7 

JG9 

LED3 

Y1 

JG1 

JG17 

1 

J4 J5 

3 

3 

2 

2 

1 

1 

JG12 JG17JG16 

JG13 

JG3 JG7 

JG6 

JG5 

3 

JG1 

DSP56F807EVM 

S/N 

S4 S5 S6 


JG4 U9 

S1 S2 S3 

P1 


3 

1 





















U1 

JG16 

1 

3 

2 

1 

JG13 







MOTOROLA 

3 

JG6 

JG8 

U2 

JG10 

3 

2 

1 

JG11 

JTAG 

JG4 

JG2 

J3 

P2 

J2 

3 

2 

1 

JG10 

JG2 

JG11 

1 2 

7 8 

JG8 

3 

1 





12.4.4 Build 





External RAM. To select the type of application to build, open the bldc_synchro1.mcp project and 

select the target build type; refer to Figure 12-21. Selecting Build All will build all application 





will build and link the Synchro PM Motor Control Application with Quadrature Encoder and all 






12-25 








To execute the Synchro PM Motor Control Application with Quadrature Encoder, select 

Project\Debug in the CodeWarrior IDE, followed by the Project\Run command. For more help 










Once the application is running, switch the RUN/STOP switch to the RUN position, and set the 


incrementally increase the motor speed until it reaches maximum speed. If successful, the synchro 

PM motor will be spinning. 












12.5.1 Files 


The BLDC Sensorless with Back-EMF Zero Crossing Application is composed of the following 

files: 



definitions 

• ...\dsp56807evm\nos\applications\bldc_zerocross\bldc_zerocross.mcp,m application 

project file 




MOTOROLA 





















• ...\dsp56807evm\nos\applications\bldc_zerocross\pcmaster\bldc_demo.pmp, 

PCMaster file 







PWM Channel Control Register. The content of this register is derived from Back-EMF zero 





• EVM Motor Board, 3-Phase AC/BLDC High-Voltage Power Stage or 3-Phase AC/BLDC 


• Powered by 115 or 230V AC Power Supply 


The BLDC Sensorless with Back-EMF Zero Crossing Application can operate in two modes: 


The drive is controlled by the RUN/STOP switch (S6), which enables/disables motor 

spinning. The required speed is set independently on the commutation by the UP (S3-IRQB) 

and DOWN (S2-IRQA) push buttons (see Figure 12-23). If the application runs and motor 

spinning is disabled, the green USER LED (LED3; see Figure 12-24) will blink. When 

motor spinning is enabled, the green USER LED lights. If Overcurrent or Overvoltage occur, 

or if the wrong pcb is identified, the internal fault logic is asserted and the application enters 

a fault state (indicated by the red USER LED). This state can be exited only by an application 

RESET. It is strongly recommended that you inspect the entire application to locate the 

source of the fault before starting it again. 




12-27 













MOTOROLA 





















• Temperature of the power stage 





conditions, or if the wrong pcb is used, the red USER LED lights and the motor is stopped. This 

state can be exited by application RESET. It is strongly recommended that you inspect the entire 



...\nos\applications\bldc_zerocross\PC_Master\bldc_demo.pmp 











12-29 







12.5.3 Set-up 



Figure 12-26 illustrates the hardware set-up for the BLDC Sensorless with Back-EMF Zero 

Crossing Application when using an EVM Motor Board. 




MOTOROLA 








NOT NEEDED 

Figure 12-26. Set-up of the BLDC Sensorless with Back-EMF Zero Crossing Application EVM 

Motor Board 









12-31 







Figure 12-27. Set-up of BLDC Sensorless with Back-EMF Zero Crossing Application Low-Voltage 











MOTOROLA 







Figure 12-28. Set-up of BLDC Sensorless with Back-EMF Zero Crossing Application High-Voltage 









To execute the BLDC Sensorless with Back-EMF Zero Crossing Application, the DSP56F807 





12-33 







JG15 

JG5 

2 

1 

JG7 

JG3 

3 

1 

8 

7 

3 

2 

1 

JG12 

JG14 

1 3 

4 

7 

6 

9 JG9 


USER 

PWM 

J1 

JG15 

JG14 

1 

4 

7 

JG9 

LED3 

Y1 

J4 J5 

3 

3 

2 

2 

1 

1 

JG12 JG17JG16 JG13 

JG3 JG7 

JG6 

JG5 

JG1 

JG1 

JG17 

1 

3 

U1 

DSP56F807EVM 

S4 S5 S6 

GP1 

S1 

GP2 

S2 

RUN/STOP 

S3 

P1 

JG4 U9 


3 

1 

JG16 

1 





















MOTOROLA 

3 

S/N 

JG6 

U2 

3 

2 

1 

JG13 

JG8 

JG10 

3 

2 

1 

JG11 

JTAG 

JG4 

J3 

JG2 

P2 

J2 

3 

2 

1 

JG10 

JG2 

JG11 

1 2 

7 8 

JG8 

3 

1 















12.5.4 Build 



External RAM. To select the type of application to build, open the bldc_zerocross.mcp project and 






will build and link the BLDC Sensorless with Back-EMF Zero Crossing Application and all 





12-35 










To execute the BLDC Sensorless with Back-EMF Zero Crossing Application, select 




















the application is stopped, the green USER LED will blink at a frequency of 2Hz. If an 

Undervoltage fault occurs, the USER LED will blink at a frequency of 8Hz. 




MOTOROLA 










and the EVM Motor Kit using the ADC module to check for phase zero crossing. 

12.6.1 Files 

The BLDC Sensorless with Back-EMF Zero Crossing using AD Converter Application is 

composed of the following files: 


program 





• ...\dsp56807evm\nos\applications\bldc_adc_zerocross\ConfigExtRam\appconfig.c, 


• ...\dsp56807evm\nos\applications\bldc_adc_zerocross\ConfigFlash\appconfig.c, 


• ...\dsp56807evm\nos\applications\bldc_adc_zerocross\ConfigExtRam\appconfig.h, 


• ...\dsp56807evm\nos\applications\bldc_adc_zerocross\ConfigFlash\appconfig.h, 


• ...\dsp56807evm\nos\applications\bldc_adc_zerocross\ConfigExtRam\linker.cmd, 


• ...\dsp56807evm\nos\applications\bldc_adc_zerocross\ConfigFlash\linker.cmd, linker 


• ...\dsp56807evm\nos\applications\bldc_adc_zerocross\ConfigFlash\flash.cfg 


• ...\dsp56807evm\nos\applications\bldc_adc_zerocross\pcmaster\bldc_demo.pmp, 

PCMaster file 




This application performs sensorless control of the BLDC motor on the DSP56F807 processor 


with a 10kHz switching frequency. The state of the zero crossing signals is read from the Input 


PWM Channel Control Register. The content of this register is derived from the Back-EMF zero 





12-37 














The BLDC Sensorless with Back-EMF Zero Crossing using AD Converter Application can 

operate in two modes: 


The drive is controlled by the RUN/STOP switch (S6), which enables/disables motor 

spinning. The required speed is set independently on the commutation by the UP (S3-IRQB) 

and DOWN (S2-IRQA) push buttons (see Figure 12-32). If the application runs and motor 

spinning is disabled, the green USER LED (LED3; refer to Figure 12-33) will blink. When 

motor spinning is enabled, the green USER LED lights. If Overcurrent or Overvoltage occur, 

or if the wrong pcb is identified, the internal fault logic is asserted and the application enters 

a fault state (indicated by the red USER LED). This state can be exited only by an application 

RESET. It is strongly recommended that you inspect the entire application to locate the 

source of the fault before starting it again. 





MOTOROLA 


























If the Fault Status is different from the No Fault of Overcurrent, Overvoltage or Undervoltage 

conditions, or if the wrong pcb is used, the red USER LED lights and the motor is stopped. This 




12-39 







state can be exited by an application RESET. It is strongly recommended that you inspect the 



...\nos\applications\bldc_adc_zerocross\PC_Master\bldc_demo.pmp 








12.6.3 Set-up 



Figure 12-35 illustrates the hardware set-up for the BLDC Sensorless with Back-EMF Zero 

Crossing using AD Converter Application when using an EVM Motor Board. 




MOTOROLA 








NOT NEEDED 

Figure 12-35. Set-up of the BLDC Sensorless with Back-EMF Zero Crossing using AD Converter 

Application EVM Motor Board 









12-41 








Application Low-Voltage 











MOTOROLA 








Application High-Voltage 









To execute the BLDC Sensorless with Back-EMF Zero Crossing using AD Converter 

Application, the DSP56F807 board requires the strap settings shown in Figure 12-38 and 

Figure 12-11. 




12-43 







JG15 

JG5 

2 

1 

JG7 

JG3 

3 

1 

8 

7 

3 

2 

1 

JG12 

JG14 

1 3 

4 

7 

6 

9 JG9 


USER 

PWM 

J1 

JG15 

JG14 

1 

4 

7 

JG9 

LED3 

Y1 

JG1 

JG17 

1 

J4 J5 

3 

3 

2 

2 

1 

1 

JG12 JG17JG16 

JG13 

JG3 JG7 

JG6 

JG5 

3 

U1 

JG1 

DSP56F807EVM 

S/N 

S4 S5 S6 


JG4 U9 

S1 S2 S3 

P1 


3 

1 

JG16 

1 




JG1 Primary UNI-3 DCBus Overcurrent Selected for FAULTA1 2–3 











JG12 Primary Encoder Input SelectedZero Crossing signals 1–2, 4–5, 7–8 









MOTOROLA 

3 

JG6 

U2 

3 

2 

1 

JG13 

JG8 

JG10 

3 

2 

1 

JG11 

JTAG 

JG4 

JG2 

J3 

P2 

J2 

3 

2 

1 

JG10 

JG2 

JG11 

1 2 

7 8 

JG8 

3 

1 










12.6.4 Build 



External RAM. To select the type of application to build, open the bldc_adc_zerocross.mcp 

project and select the target build type; see Figure 12-39. Selecting Build All will create all 





will build and link the BLDC Sensorless with Back-EMF Zero Crossing using AD Converter 

Application and all needed Metrowerks and SDK libraries. 




12-45 










To execute the BLDC Sensorless with Back-EMF Zero Crossing using AD Converter 

Application, select Project\Debug in the CodeWarrior IDE, followed by the Project\Run 

command. For more help with these commands, refer to the CodeWarrior tutorial documentation 

in the following file located in the CodeWarrior installation directory: 






















MOTOROLA 










12.7.1 Files 



main program 








• ...\dsp56807evm\nos\applications\3ph_PMSM_VectorControl\3ph_PMSM_VectorControl.mcp, 



















Magnet Synchronous Motor Control application using field oriented theory on the DSP56F807 

processor. 









12-47 

















• Faults protection 





• PC master software monitor interface (required speed; actual motor speed; PC master 

software mode; START MOTOR/STOP MOTOR controls; drive fault status; DCBus 

voltage level; identified power stage boards; drive status; mains detection) 

• PC master software speed scope (observes actual and desired speed) 




the 3-phase PWM signals for a Permanent Magnet (PM) synchronous motor inverter according to 



• BLDC motor-brake set 





The BLDC motor-brake set incorporates a 3-phase BLDC motor and attached BLDC motor 


the motor shaft and position Hall Sensors are mounted between the motor and brake. They allow 

position sensing if required by the control algorithm. The detailed motor--brake specifications are 

listed in Table 12-12. 




MOTOROLA 













• In manual operating mode, the required speed is set by UP/DOWN push buttons and the 


• In PC master software operating mode, the required speed is set by the PC master 

software active bar graph and the drive is started and stopped by the START MOTOR and 

STOP MOTOR controls 










BLDC motor 











BLDC motor 











12-49 













After RESET, the drive enters the INIT state in manual operation mode.When the RUN/STOP 

switch is detected in the STOP position and there are no faults pending, the STOP application 

state is entered. Otherwise, the drive waits in the INIT state or if a fault occurs, the drive goes to 

the FAULT state. In the INIT and STOP states, the operation mode can be changed from PC 

master software. In the manual operational mode, the application is operated by the RUN/STOP 

switch and UP/DOWN buttons; in the PC master software remote mode, the application is 

operated remotely by the PC master software. 

When the Start command is accepted (using RUN/STOP Switch or the PC master software 

command), the rotor position is aligned to a predefined position in order to obtain a known rotor 

position. The rotor alignment is done at the first Start command only. The required speed is then 

calculated according to the UP/DOWN push buttons in manual mode or the PC master software 

commands in PC master software remote mode. The required speed goes through an 

acceleration/deceleration ramp and as reference command is put to speed controller. The 


Based on the error, the speed controller generates a current Is_qReq, which corresponds to torque. 

A second part of the stator current Is_dReq, which correspond to flux, is given by the Field 

Weakening Controller. Simultaneously, the stator curents Is_a, Is_b and Is_c are measured and 

transformed from instantaneous values to the stationary reference frame α, β and consecutively to 

the rotary reference frame d-q (Clarke-Park transformation). Based on the errors between required 

and actual currents in the rotary reference frame, the current controllers generate output voltages 

Us_q and Us_d (in the rotary reference frame d-q). The voltages Us_q and Us_d are transformed 

back to the stationary reference frame α, β and, after DCBus ripple elimination, are recalculated 

to the 3-phase voltage system which is applied on the motor. 








disables the drive operation. The line voltage is measured during application initialization. 

According to the detected level, the 115VAC or 230VAC mains is set. 


to protect the drive, and the application enters the FAULT state. The FAULT state can be left only 


manual mode; in PCMaster remote mode, by the PCMaster). 




MOTOROLA 
















The drive is controlled by the RUN/STOP switch. The motor speed is set by the UP and 

DOWN push buttons (see Figure 12-41). The actual state of the application is indicated by 

the user LEDs (see Figure 12-42). If the application runs and motor spinning is disabled (i.e., 

the system is ready), the GREEN user LED will flash at a frequency of 2Hz. When motor 

spinning is enabled, the GREEN user LED will be On. If a fault occurs on the power stage, 

the GREEN user LED will flash at a frequency of 8Hz. The actual state of the PWM outputs 

are indicated by PWM output LEDs. 





12-51 


















can be taken over only if the RUN/STOP switch is in STOP position, when the push 











MOTOROLA 

















...\nos\applications\3ph_PMSM_VectorControl\PC_Master\ 3ph_PMSM_VectorControl.pmp 


shows the PC master software Control Window after this project has been launched. 










12-53 







12.7.3 Set-up 





WARNING: 




are live. 




hardware. 










MOTOROLA 




















12-55 








The application software is targeted for a PM Synchronous motor with sine-wave Back-EMF 

shape. In this particular demo application, a BLDC motor is used instead, due to the availability of 

the BLDC motor--Brake SM40V+SG40N, supplied as ECMTRHIVBLDC. Although the 


software. The drive parameters will be improved when a PMSM motor with an exact sine-wave 



To execute the 3-Phase PM Synchronous Motor Vector Control application, the DSP56F807 


JG15 

JG5 

2 

1 

JG7 


JG3 

3 

1 

8 

7 

3 

2 

1 

JG12 

JG14 

1 3 

4 

7 

6 

9 JG9 

USER 

PWM 

J1 

JG15 

JG14 

1 

4 

7 

JG9 

LED3 

Y1 

JG1 

JG17 

1 

J4 J5 

3 

3 

2 

2 

1 

1 


JG3 JG7 

JG6 

JG5 

3 


JG4 U9 

S1 S2 S3 

P1 





U1 

DSP56F807EVM 

JG1 

S4 S5 S6 

3 

1 

JG16 

1 

JG1 Primary UNI-3 DCBus Overcurrent Selected for FAULTA1 2-3 



JG4 Enable on-board Parallel JTAG Host/Target Interface 1-2 








MOTOROLA 

3 

S/N 

JG6 

3 

2 

1 

JG13 

JG8 

U2 

JG10 

3 

2 

1 

JG11 

JTAG 

JG4 

JG2 

J3 

P2 

J2 

3 

2 

1 

JG10 

JG2 

JG11 

1 2 

7 8 

JG8 

3 

1 





















12.7.4 Build 











12-57 




































MOTOROLA 






















• RUN/STOP switch state 



• Mains 



















The Recorder can be used only when the application is running from External RAM due to 



appconfig.h file. The recorder samples are taken every 125 µsec. 




12-59 








This application exercises principal control of the 3-Phase Switched Reluctance (SR) motor with 

Hall Sensors on the DSP56F807EVM board, Optoisolation board, and 3-phase SR High-Voltage 

power stage. 

12.8.1 Files 

The 3-Phase SR Motor Control Application is composed of the following files: 

• ...\dsp56807evm\nos\applications\3ph_srm_hall_sensor_type1\3ph_srm_hall_sensor_type1.c, 

main program 

• ...\dsp56807evm\nos\applications\3ph_srm_hall_sensor_type1\3ph_srm_hall_sensor_type1.mcp 


• ...\dsp56807evm\nos\applications\3ph_srm_hall_sensor_type1\configextram\appconfig.c, 


• ...\dsp56807evm\nos\applications\3ph_srm_hall_sensor_type1\configflash\appconfig.c, 


• ...\dsp56807evm\nos\applications\3ph_srm_hall_sensor_type1\configextram\appconfig.h, 


• ...\dsp56807evm\nos\applications\3ph_srm_hall_sensor_type1\configflash\appconfig.h, 


• ...\dsp56807evm\nos\applications\3ph_srm_hall_sensor_type1\configextram\linker.cmd, 


• ...\dsp56807evm\nos\applications\3ph_srm_hall_sensor_type1\configflash\linker.cmd, 

linker command file for Flash 

• ...\dsp56807evm\nos\applications\3ph_srm_hall_sensor_type1\configflash\flash.cfg, 


• ...\dsp56807evm\nos\applications\3ph_srm_hall_sensor_type1\pc_master\3ph_sr_drive.pmp, 

PC master software file 



This application performs principal control of the 3-phase SR motor with Hall Sensors on the 

DSP56F807 processor. The control technique sets the motor speed (rpm) to the required value 

using the speed closed loop with Hall Position Sensors to derive the proper commutation 

action/moment. Protection is provided against drive faults Overcurrent, Overvoltage, 

Undervoltage, and Overheating. 











MOTOROLA 








This 3-phase SR motor control application can operate in two modes: 



(S3-IRQB) and DOWN (S2-IRQA) push buttons (see Figure 12-48). The actual state of the 

application is indicated by the USER LEDs, shown in Figure 12-49. If the application runs 

and motor spinning is disabled (i.e., the system is ready), the green USER LED will flash at 

a frequency of 4Hz. When motor spinning is enabled, the green USER LED will be On. If a 

fault occurs on the power stage, the green USER LED will blink at a frequency of 8Hz. If the 

wrong power board is identified, the red USER LED will blink at a frequency of 1Hz. The 

actual state of PWM outputs are indicated by PWM output LEDs. 





12-61 



























MOTOROLA 








...\nos\applications\3ph_srm_hall_sensor_type1\PC_Master\3ph_sr_drive.pmp 

Start the PC master software window’s application, 3ph_sr_drive.pmp. Figure 12-50 illustrates the 







12.8.3 Set-up 



Figure 12-51 and Figure 12-52 illustrate the hardware set-ups for the 3-Phase SR Motor Control 

Application. The Hall Sensor connector of the motor must be attached to connector J4 on the 

EVM Board. 




12-63 








Figure 12-51. Set-up of the 3-Phase SR Motor Control Application High-Voltage 




MOTOROLA 







Figure 12-52. Set-up of the 3-Phase SR Motor Control Application Low-Voltage 











To execute the 3-Phase SR Motor Control Application, the DSP56F807 board requires the strap 





12-65 







JG15 

JG5 

2 

1 

JG7 

JG3 

3 

1 

8 

7 

3 

2 

1 

JG12 

JG14 

1 3 

4 

7 

6 

9 JG9 


USER 

PWM 

J1 

JG15 

JG14 

1 

4 

7 

JG9 

LED3 

Y1 

JG5 

JG1 

JG17 

1 

J4 J5 

3 

3 

2 

2 

1 

1 


JG3 JG7 

JG6 

3 

U1 

JG1 

DSP56F807EVM 

S/N 

S4 S5 S6 


JG4 U9 

S1 S2 S3 

P1 


3 

1 

JG16 

1 



















MOTOROLA 

3 

JG6 

U2 

3 

2 

1 

JG13 

JG8 

JG10 

3 

2 

1 

JG11 

JTAG 

JG4 

J3 

JG2 

P2 

J2 

3 

2 

1 

JG10 

JG2 

JG11 

1 2 

7 8 

JG8 

3 

1 

















12.8.4 Build 




3ph_srm_hall_sensor_type1.mcp project and select the target build type as shown in Figure 12-54. 

Selecting Build All will create all application build types. A definition of the projects associated 






12-67 








and link the 3-phase SR Motor Control Application and all needed Metrowerks and SDK 

libraries. 




To execute the 3-phase SR Motor Control Application, select Project\Debug in the CodeWarrior 

IDE, followed by the Project\Run command. For more help with these commands, refer to the 

CodeWarrior tutorial documentation in the following file located in the CodeWarrior installation 

directory: 










incrementally increase the motor speed until it reaches maximum speed. If successful, the SR 












MOTOROLA 







The application can be observed in PC master software during the manual mode. 

To set the PC master software control, the following steps must be performed: 



• The application can be enabled by setting the RUN/STOP switch to the RUN position 


by pressing the Stop PC master software Push Button 


• The motor can be stopped any time by the RUN/STOP switch on the EVM 

• When the RUN/STOP switch on the EVM is in STOP position, the manual mode can be set 



Application 



12.9.1 Files 




program 



are required by the 3ph_srm_sensorless.c file. 




















12-69 














Reluctance Motor Control application using flux linkage position estimation on the DSP56F807 

processor. An estimation of the phase resistance for low speed range is included. 


After RESET, the drive enters the INIT state in manual mode.When the RUN/STOP switch is 

detected (using the RUN/STOP Switch or the PC master software command) in the STOP 

position and there are no faults pending, the STOP application state is entered. When the start 

command is detected (using the RUN/STOP switch or the PC master software Start button), the 

drive enters the RUN application state; the motor is started. The following start-up sequence with 

the rotor alignment is provided: 






• START_UP_FINISHED Motor running; start-up finalized 








the control signals (RUN/STOP switch, UP/DOWN push buttons) in manual mode or the PC 

master software commands in PC master software mode, the reference speed command is 


command and the measured speed generates a speed error. Based on the error the speed controller 

generates the desired phase current. When the phase is commutated, it is turned on with duty 

cycle 100 percent (or Output_duty_cycle_startup during motor start-up). During each PWM 

cycle, the actual phase current is compared with the desired current. As soon as the actual current 

exceeds the command current, the current controller is turned on. The procedure is repeated for 

each commutation cycle of the motor. The current controller generates the desired duty cycle. 

Finally, the 3-phase PWM SR Motor Control signals are generated. 








MOTOROLA 










disables the drive operation. Line voltage is measured during application initialization. According 

to the detected level, the 115VAC or 230VAC mains is set. If the line voltage is detected to be out 

of the -15% to +10% of nominal voltage, the fault "Out of the Mains Limit" disables the drive 

operation. 


to protect the drive, and the application enters the FAULT state. The FAULT state can be left only 





















12-71 












MOTOROLA 











can be taken over only if the RUN/STOP switch is in STOP position, when the push 


















12-73 


















12.9.3 Set-up 



Figure 12-59 illustrates the hardware set-up for the 3-phase SR Motor Control applications. The 

motor’s Encoder connector, attached to connector J4 on the EVM Board, is not required for the 





MOTOROLA 


















To execute the 3-Phase SR sensorless Motor Control Application, the DSP56F807 board requires 





12-75 







JG15 

JG5 

2 

1 

JG7 

JG3 

3 

1 

8 

7 

3 

2 

1 

JG12 

JG14 

1 3 

4 

7 

6 

9 JG9 


USER 

PWM 

J1 

JG15 

JG14 

1 

4 

7 

JG9 

LED3 

Y1 

JG5 

JG1 

JG17 

1 

J4 J5 

3 

3 

2 

2 

1 

1 


JG3 JG7 

JG6 

3 

U1 

JG1 

DSP56F807EVM 

S/N 

S4 S5 S6 


JG4 U9 

S1 S2 S3 

P1 


3 

1 

JG16 

1 



















MOTOROLA 

3 

JG6 

U2 

3 

2 

1 

JG13 

JG8 

JG10 

3 

2 

1 

JG11 

JTAG 

JG4 

J3 

JG2 

P2 

J2 

3 

2 

1 

JG10 

JG2 

JG11 

1 2 

7 8 

JG8 

3 

1 

















12.9.4 Build 



External RAM. To select the type of application to build, open the 3ph_srm_sensorless.mcp 

project and select the target build type as shown in Figure 12-61. Selecting Build All will create all 





and link the 3-phase SR Sensorless Motor Control Application and all needed Metrowerks and 





12-77 

































MOTOROLA 






























Start-up Recorder is initiated with the motor start only. 



















12-79 







Note: The Recorder can be used only when the application is running from External RAM 

due to limited on-chip memory. The length of the recorded window may be set in 

“Recorder Properties” => bookmark “Main” => “Recorded Samples”. It is limited by 

the dedicated memory space in appconfig.h file. The recorder samples are taken every 

64.5 µsec. 


Application 




12.10.1 Files 




program 




























MOTOROLA 
















































If any of the above mentioned fault occurs, the motor control PWM outputs are disabled in order 






12-81 



























MOTOROLA 




























12-83 












...\nos\applications\3ph_srm_Encoder\PC_Master\3ph_srm_Encoder.pmp 












MOTOROLA 





12.10.3 Set-up 

















To execute the 3-Phase SR sensorless Motor Control Application, the DSP56F807 board requires 





12-85 







JG15 

JG5 

2 

1 

JG7 

JG3 

3 

1 

8 

7 

3 

2 

1 

JG12 

JG14 

1 3 

4 

7 

6 

9 JG9 


USER 

PWM 

J1 

JG15 

JG14 

1 

4 

7 

JG9 

LED3 

Y1 

JG5 

JG1 

JG17 

1 

J4 J5 

3 

3 

2 

2 

1 

1 


JG3 JG7 

JG6 

3 

U1 

JG1 

DSP56F807EVM 

S/N 

S4 S5 S6 


JG4 U9 

S1 S2 S3 

P1 


3 

1 

JG16 

1 




JG1 Primary UNI-3 DCBus Over-Current Selected for FAULTA1 2–3 

JG2 Secondary UNI-3 Phase A Over-Current Selected for FAULTB1 1–2 















MOTOROLA 

3 

JG6 

U2 

3 

2 

1 

JG13 

JG8 

JG10 

3 

2 

1 

JG11 

JTAG 

JG4 

J3 

JG2 

P2 

J2 

3 

2 

1 

JG10 

JG2 

JG11 

1 2 

7 8 

JG8 

3 

1 
















12.10.4 Build 











12-87 








and link the 3-phase SR Sensorless Motor Control Application and all needed Metrowerks and 



























MOTOROLA 






























The Recorder can be used ONLY when the application is running from External RAM due to the 


=> bookmark “Main” => “Recorded Samples”. It is limited by the dedicated memory space in 

appconfig.h file. The recorder samples are taken each 100 µsec. 




using the DSP56F807EVM board, Optoisolation board, and 3-phase AC BLDC High-Voltage 

power stage. 




12-89 







12.11.1 Files 


..\dsp56807evm\nos\applications\3ph_AC_VHz_OpenLoop\ 


• 3ph_AC_VHz_OL.c, main program 

• 3ph_AC_VHz_OL.h, main program header file 

• 3ph_AC_VHz_OL.mcp, application project file 





• ConfigExtRam\linker.cmd, linker command file for External RAM 



• ConfigFlash\linker.cmd, linker command file for Flash 


• PC_Master\3ph_AC_VHz_ExtRam.pmp, PC master software file for External RAM 

• PC_Master\3ph_AC_VHz_Flash.pmp, PC master software file for Flash 






application and reflects the AC induction motor parameters (Base Voltage/frequency; Boost 

Voltage/frequency; and DC Boost Voltage). The incremental encoder is used to derive the actual 

rotor speed. Protection is provided against drive faults Overcurrent, Overvoltage, Undervoltage, 

and Overheating. 


















MOTOROLA 

















generates 3-phase PWM signals for an AC induction motor inverter according to the user-required 

inputs, measured and calculated signals. 






DSP56F807EVM 




Table 12-18. 

Table 12-18. Motor---Brake Specifications 




Pole-Number 4 







12-91 







Table 12-18. Motor---Brake Specifications 














Brake Type 

SG40N 


Pole-Number 6 









The 3-Phase AC Induction Motor Control V/Hz Application - Open Loop can operate in two 

modes: 

Type 


BHK 16.05A 1024-12-5 




(S3-IRQB) and DOWN (S2-IRQA) push buttons (see Figure 12-70). If the application runs 

and motor spinning is disabled (i.e., the system is ready) the green USER LED (LED3, see 

Figure 12-71) will blink. When motor spinning is enabled, the green USER LED will be On 

and the actual state of the PWM outputs are indicated by PWM output LEDs. If Overcurrent, 

Overvoltage or Overheating occur, or if the wrong system board is identified, the green 

USER LED flashes at an 8Hz frequency and the PC master software signals the identified 

type of fault. This state can be exited only by an application RESET. It is strongly 

recommended that you inspect the entire application to locate the source of the fault before 

starting it again. Refer to Table 12-19 for application states. 




MOTOROLA 












12-93 



























MOTOROLA 







• DCBus voltage and temperature of the power module 



If Cvercurrent, Overvoltage, Undervoltage or Overheating occur, the internal fault logic is 

asserted and the application enters a fault state (the green USER LED flashes at an 8Hz 

frequency). This state can be exited only by an application RESET. It is strongly recommended 

that you inspect the entire application to locate the source of the fault before starting it again. 

Project files for the PC master software are located in the directory: 

..\nos\applications\3ph_AC_VHz_OpenLoop\PC_Master 

and are composed of the following files: 


• 3ph_AC_VHz_Flash.pmp, which uses Map file for running in Flash 

• 3ph_AC_VHz_ExtRam.pmp, which uses Map file for running in External Memory 

Start the PC master software window’s application and choose the right PC master software 


software control window for 3ph_AC_VHz_ExtRAM.pmp. 





12-95 







12.11.3 Set-up 

Figure 12-73 illustrates the hardware set-up for the 3-phase AC Induction Motor Control V/Hz 

Application - Open Loop. 

Figure 12-73. Set-up of the 3-phase AC Induction Motor Control V/Hz Application - Open Loop 












To execute the 3-phase AC Induction Motor Control V/Hz Application - Open Loop, the 





MOTOROLA 





JG15 

JG5 

2 

1 

JG7 

JG3 

3 

1 

8 

7 



3 

2 

1 

JG12 

JG14 

1 3 

4 

7 

6 

9 JG9 


USER 

PWM 

J1 

JG15 

JG14 

1 

4 

7 

JG9 

LED3 

Y1 

JG5 

JG1 

JG17 

1 

J4 J5 

3 

3 

2 

2 

1 

1 


JG3 JG7 

JG6 

3 

U1 

JG1 

DSP56F807EVM 

S/N 

S4 S5 S6 

GP1 

S1 

GP2 

S2 

RUN/STOP 

S3 

P1 

JG4 U9 


3 

1 

JG16 

1 










JG7 Selects DSP’s Mode 0 operation upon exit from reset 1-2 










12-97 

3 

JG6 

U2 

3 

2 

1 

JG13 

JG8 

JG10 

3 

2 

1 

JG11 

JTAG 

JG4 

J3 

JG2 

P2 

J2 

3 

2 

1 

JG10 

JG2 

JG11 

1 2 

7 8 

JG8 

3 

1 
















12.11.4 Build 



External RAM. To select the type of application to build, open the 3ph_AC_VHz_OL.mcp project 






and link the 3-phase AC Induction Motor Control V/Hz Application - Open Loop and all needed 





MOTOROLA 










To execute the 3-phase AC Induction Motor Control V/Hz Application - Open Loop, select 













incrementally increase the motor speed until it reaches maximum speed. If successful, the AC 

induction motor will be spinning. 











12-99 









This application demonstrates a principal of the V/Hz control of the 3-Phase AC induction motor 



12.12.1 Files 

The 3-Phase AC Induction Motor Control V/Hz Application - Closed Loop is found in the 

directory: 

..\dsp56807evm\nos\applications\3ph_AC_VHz_CloseLoop\ 


• 3ph_AC_VHz_CL.c, main program 

• 3ph_AC_VHz_CL.h, main program header file 

• 3ph_AC_VHz_CL.mcp, application project file 










• PC_Master\3ph_AC_VHz_ExtRam.pmp, PC master software file for External RAM 

• PC_Master\3ph_AC_VHz_Flash.pmp, PC master software file for Flash 




This application performs a principal control of the 3-phase AC induction motor using the 



application and reflects the AC nduction motor parameters (Base Voltage/frequency; Boost 

Voltage/frequency; DC Boost Voltage). The incremental encoder is used to derive the actual rotor 

speed. Protection is provided against drive faults Overcurrent, Overvoltage, Undervoltage and 

Overheating. 

The closed loop system is characterized by a feedback signal (Actual Speed), derived from a 



of the resulting error signal are directly related to the difference between required and actual 





MOTOROLA 

































generates 3-phase PWM signals for an AC induction motor inverter according to the user-required 

inputs, measured and calculated signals. 






DSP56F807EVM 




Table 12-21. 




12-101 
























Pole-Number 4 




Brake Type 

SG40N 


Pole-Number 6 




Type 


BHK 16.05A 1024-12-5 







The 3-Phase AC Induction Motor Control V/Hz Application - Closed Loop can operate in two 

modes: 



(S3-IRQB) and DOWN (S2-IRQA) push buttons (see Figure 12-77). If the application runs 

and motor spinning is disabled (i.e., the system is ready) the green USER LED (LED3, shown 




MOTOROLA 








in Figure 12-78) will blink. When motor spinning is enabled, the green USER LED will be 

On and the actual state of the PWM outputs are indicated by PWM output LEDs. If 

Overcurrent, Overvoltage or Overheating occur or if the wrong system board is identified, 

the green USER LED flashes at an 8Hz frequency and the PC master software signals the 

identified type of fault. This state can be exited only by an application RESET. It is strongly 

recommended that you inspect the entire application to locate the source of the fault before 

starting it again. Refer to Table 12-22 for application states. 

Figure 12-77. RUN/STOPSwitch and UP/DOWN Buttons 




12-103 




















• Set Close/Open loop by checking/unchecking the Close Loop checkbox; see Figure 12-79 




MOTOROLA 











• DCBus voltage and temperature of the power module 



If Overcurrent, Overvoltage, Undervoltage or Overheating occur, the internal fault logic is 

asserted and the application enters a fault state (the green USER LED flashes at an 8Hz 

frequency). This state can be exited only by an application RESET. It is strongly recommended 

that you inspect the entire application to locate the source of the fault before starting it again. 

Project files for the PC master software are located in the directory: 

..\nos\applications\3ph_AC_VHz_CloseLoop\PC_Master 

and are composed of the following files: 


• 3ph_AC_VHz_Flash.pmp, which uses Map file for running in Flash 

• 3ph_AC_VHz_ExtRam.pmp, which uses Map file for running in External Memory 



software control window for 3ph_AZ_VHz_Flash.pmp. 




12-105 







12.12.3 Set-up 



Figure 12-80 illustrates the hardware set-up for the 3-phase AC Induction Motor Control V/Hz 

Application - Closed Loop. 




MOTOROLA 







Figure 12-80. Set-up of the 3-phase AC Induction Motor Control V/Hz Application - Closed Loop 












To execute the 3-phase AC Induction Motor Control V/Hz Application - Closed Loop, the 





12-107 







JG15 

JG5 

2 

1 

JG7 

JG3 

3 

1 

8 

7 

3 

2 

1 

JG12 

JG14 

1 3 

4 

7 

6 

9 JG9 


USER 

PWM 

J1 

JG15 

JG14 

1 

4 

7 

JG9 

LED3 

Y1 

J4 J5 

3 

3 

2 

2 

1 

1 


JG3 JG7 

JG6 

JG5 

JG1 

JG17 

1 

3 

U1 

JG1 

DSP56F807EVM 

S/N 

S4 S5 S6 

GP1 

S1 

GP2 

S2 

RUN/STOP 

S3 

P1 

JG4 U9 


3 

1 

JG16 

1 




















MOTOROLA 

3 

JG6 

U2 

3 

2 

1 

JG13 

JG8 

JG10 

3 

2 

1 

JG11 

JTAG 

JG4 

J3 

JG2 

P2 

J2 

3 

2 

1 

JG10 

JG2 

JG11 

1 2 

7 8 

JG8 

3 

1 
















12.12.4 Build 



External RAM. To select the type of application to build, open the 3ph_AC_VHz_CL.mcp project 

and select the target build type; see Figure 12-82. Selecting Build All will create all application 




The project may now be built by executing the Make command; see Figure 12-83.This will build 

and link the 3-phase AC Induction Motor Control V/Hz Application - Closed Loop and all needed 





12-109 










To execute the 3-phase AC Induction Motor Control V/Hz Application - Closed Loop, select 













incrementally increase the motor speed until it reaches maximum speed. If successful, the AC 

induction motor will be spinning. 








MOTOROLA 









occurs, the User LED will blink at a frequency of 8Hz. 


This application demonstrates a principle of the vector control of the 3-phase AC induction motor 



12.13.1 Files 

































12-111 






















3-phase PWM signals for an AC induction motor inverter according to the user-required inputs, 










(encoder) is coupled on the motor shaft and position Hall Sensors are mounted between the motor 

and brake. They allow position sensing if required by the control algorithm. The detailed 

motor--brake specifications are listed in Table 12-24. 





Pole-Number 4 







MOTOROLA 
















• In manual operating mode, the required speed is set by the UP/DOWN push buttons and 


• In PC master software operating mode, the required speed is set by the PC master 

software active bar graph and the drive is started and stopped by the START MOTOR and 

STOP MOTOR controls 








Brake Type 







• Overload (PC master software error message = Overload) An informative message; actual 

application state is not changed to FAULT state. 





SG40N 


Pole-Number 6 

Nominal Current: 1500rpm 


Nominal Speed 2.6 A 

Type 


BHK 16.05A 1024-12-5 





12-113 







• FAULT - PWM outputs disabled; waiting for manual fault acknowledgement or application 

reset 


After reset, the drive is in the INIT state and in the manual operating mode.When the RUN/STOP 


to the STOP state. Otherwise, the drive waits in the INIT state. If a fault occurs, the drive goes to 

the FAULT state. In the INIT and STOP states, the operation mode can be changed from PC 

master software. In the manual operating mode, the application is controlled by the RUN/STOP 

switch and UP/DOWN buttons; in the PC master software remote control mode, the application is 

controlled by the PC master software environment. 

When the start command is accepted (using the RUN/STOP switch or PC master software 

command), the STOP state is changed to the RUN state. The required speed is then calculated 

from the UP/DOWN push buttons in manual mode or the PC master software commands in PC 

master software remote control mode. The required speed is the input into the 

acceleration/deceleration ramp and the output is used as reference command into the speed 

controller. The difference between the actual speed and the required speed generates a speed error. 

Based on the error, the speed controller generates an Is_q_Req current, which corresponds to the 

torque component. The second Is_d_Req component of the stator current, which corresponds to 

rotor flux, is given by the flux controller. The field-weakening algorithm generates the required 

rotor flux, which is compared with the calculated rotor flux from the AC induction flux model 

calculation algorithm. The difference between the required rotor flux and the calculated rotor flux 

generates a flux error. Based on the flux error, the flux controller generates the required Is_d_Req 

stator current. Simultaneously, the stator currents Is_a, Is_b and Is_c (3-phase system) are 

measured and transformed to the stationary reference frame α, β (2-phase system) and to the d-q 

rotating reference frame consecutively. The decoupling algorithm generates Us_q and Us_d 

voltages (d, q rotating reference frame). The Us_q and Us_d voltages are transformed back to the 

stationary reference frame α, β and the space vector modulation then generates the 3-phase 

voltage system which is applied on the motor. 





Wrong-mains. The Undervoltage, Overheating, Wrong-hardware and Wrong-mains protection is 

performed by software. The Overcurrent and the Overvoltage fault signals utilize fault inputs of 

the DSP controlled by hardware. The power stage is identified using board identification. If the 

correct boards are not identified, the Wrong-hardware fault disables the drive operation. The line 

voltage is measured during application initialization. According to the detected voltage level, the 

115VAC or 230VAC mains is recognized. If the mains is out of range, the Wrong-mains fault is 

set and the drive operation is disabled. 

If any of the mentioned faults occur, the motor control PWM outputs are disabled in order to 

protect the drive and the application enters the FAULT state. The FAULT state can be left only 





MOTOROLA 








manual mode and by the PC master software in PC master software remote mode. If the 

Wrong-hardware and Wrong-mains occur, the FAULT state can be left only by application reset. 




(S2-IRQB) and DOWN (S1-IRQA) push buttons (see Figure 12-84). The actual state of the 

application is indicated by the user LEDs (see Figure 12-85). If the application runs and 

motor spinning is disabled (i.e., the system is ready), the green user LED will blink at the 2Hz 

frequency. When motor spinning is enabled, the green user LED will be turned on and the 

actual state of the PWM outputs are indicated by PWM output LEDs. If any fault occurs 

(Overcurrent, Overvoltage, Undervoltage, Wrong-mains, Overheating or Wrong-hardware) 

the green user LED will blink at the 8Hz frequency. The PC master software control page 

shows the identified fault. The faults can be handled by switching the RUN/STOP switch to 

STOP state that represents acknowledging of the fault state. Meanwhile, the Wrong-mains 

and the Wrong-hardware faults can be quit only with the application reset. It is strongly 

recommended that the user inspect the entire application to locate the source of the fault 

before starting it again. Refer to Table 12-25 for application states. 





12-115 











INIT Stopped Blinking at the 2Hz frequency (slow) 

STOP Stopped Blinking at the 2Hz frequency (slow) 


FAULT Stopped Blinking at the 8Hz frequency (fast) 




controllable from the PC master software environment regardless of the 





MOTOROLA 























control) 


If any fault occurs (Overcurrent, Overvoltage, Wrong-mains, Overheating or Wrong-hardware) 

the green user LED will blink at the 8Hz frequency. The PC master software control page shows 


icon to the STOP MOTOR state, which acknowledges the fault state. Meanwhile, the 

Wrong-mains and the Wrong-hardware faults can be quit only with the application reset. It is 

strongly recommended that the user inspect the entire application to locate the source of the fault 

before starting it again. 



Start the PC master software 3ph_ACIM_VectorControl application. Figure 12-86 shows the PC 

master software control window. 









12-117 







12.13.3 Set-up 




WARNING: 




are live. 




hardware. 






MOTOROLA 











Figure 12-87. Set-up of the 3-phase AC Ind. Vector Control Application 

















12-119 







JG15 

JG5 

2 

1 

JG7 

JG3 

3 

1 

8 

7 

3 

2 

1 

JG12 

JG14 

1 3 

4 

7 

6 

9 JG9 


USER 

PWM 

J1 

JG15 

JG14 

1 

4 

7 

JG9 

LED3 

Y1 

JG1 

JG17 

1 

J4 J5 

3 

3 

2 

2 

1 

1 


JG3 JG7 

JG6 

JG5 

3 

U1 

JG1 

DSP56F807EVM 

S/N 

S4 S5 S6 


JG4 U9 

S1 S2 S3 

P1 


3 

1 

JG16 

1 







JG4 Enable on-board Parallel JTAG Host/Target Interface 1-2 













MOTOROLA 

3 

JG6 

U2 

3 

2 

1 

JG13 

JG8 

JG10 

3 

2 

1 

JG11 

JG2 

JTAG 

JG4 

J3 

P2 

J2 

3 

2 

1 

JG10 

JG2 

JG11 

1 2 

7 8 

JG8 

3 

1 
















12.13.4 Build 



External RAM, selected under the File menu in the project window. To choose the desired type, 

open the 3ph_ACIM_VectorControl.mcp project and select the target build type; see Figure 12-89. 

Selecting Build All will create all application build types. Definition of the projects associated 



press [F7]; see Figure 12-90. This will build and link 3-phase ACIM vector control application and 

all needed libraries from the Metrowerks CodeWarrior and the SDK. 





12-121 













Program/Debug command in the CodeWarrior IDE. When loading is finished, the JG7 jumper 

must be connected to boot from internal Flash and the RESET button pushed. 

For more help with these commands, refer to the CodeWarrior tutorial documentation file located 







ACIM will be spinning. 




CodeWarrior. 





MOTOROLA 





Digital Power Factor Correction Application 





• The application must be in the STOP or INIT state, which is indicated on the PC master 

software control page 





When the application is in the STOP or INIT state, the manual mode can be set again by 








Recorder: 


Note: It is recomended to use the Recorder only when the application is running from 

External RAM due to the limited on-chip memory. The length of the recorded 

window may be changed by left-clicking on the Recorder in the tree structure of the 

PC master software items; selecting Recorder Properties in the menu Item/Properties, 

and defining the value as Recorded Samples. It is limited by the dedicated memory 

space in the appconfig.h file. The recorder samples are taken every 1ms. 

12.14 Digital Power Factor Correction Application 

This application provices an overview of the Power Factor Correction algorithm without motor 

control. A DSP56F807EVM board, Optoisolation board, and 3-phase AC/BLDC High-Voltage 

power stage board are used. 

12.14.1 Files 

The Digital Power Factor Correction Application is found in the directory: 

..\dsp56807evm\nos\applications\Digital_PFC\ 



• Digital_PFC.c, main program 





12-123 







• dpfc.c, digital PFC program module 

• dpfc.h, digital PFC header file 




• ConfigExtRam\appconfig.h, application configuration header file for External RAM 







The targeting for DSP56F807EVM has some specific lines in the dpfc.c C-source file. The 





The hardware design of the DSP56F807EVM is the same as the DSP56F805EVM, so it uses the 

timer C channel 0 output pin. The timer channel should be defined in the appconfig.h file: 



The Digital Power Factor Correction Application performs power factor correction for 3-phase 

AC/BLDC High-Voltage Power Stage hardware without motor drive. It is a demo that can 

evaluate the basic algorithm of power factor correction for the current hardware implementation. 

The PFC software was designed for use with motor control applications. The Digital PFC 

application allows target memory configuration of both RAM and Flash. The input power line 

must meet the following requirements: 



The Digital PFC application allows usage in the Manual Operating Mode. The remote control 




The PFC conversion is controlled by the RUN/STOP switch (S6); see Figure 12-91. The green 

USER LED (LED3) indicates the application states; see Figure 12-92. When the application is 

ready, the green USER LED blinks at a 2Hz frequency. 




MOTOROLA 












12-125 









The normal PFC conversion process is indicated by the green USER LED, lighted continuously. 

To disable PFC conversion, the RUN/STOP switch must be moved to the STOP position. 

12.14.3 Set-up 


Figure 12-93 illustrates the hardware set-up for the Digital Power Factor Correction Application, 

which requires a motor drive. The AC/BLDC High-Voltage Power Stage board contains the 

JP201 jumper that selects the power supply device. The 2-3 pins of the JP201 connection 

correspond to a simple rectifier-capacitor power stage. The PFC hardware set-up requires closing 

pins 1-2 of the JP201 connection. 




MOTOROLA 







Figure 12-93. Set-up of the Digital Power Factor Correction Application 



To execute the Digital Power Factor Correction Application, the DSP56F807 board requires the 

strap settings shown in Figure 12-94 and Table 12-27. 




12-127 







JG15 

JG5 

2 

1 

JG7 

JG3 

3 

1 

8 

7 

JG14 

1 3 

4 

7 

6 

9 JG9 


3 

2 

1 

JG12 

USER 

PWM 

J1 

JG15 

JG14 

1 

4 

7 

JG9 

LED3 

Y1 

JG5 

JG1 

JG17 

1 

J4 J5 

3 

3 

2 

2 

1 

1 


JG3 JG7 

JG6 

3 

U1 

JG1 

DSP56F807EVM 

S/N 

S4 S5 S6 


JG4 U9 

S1 S2 S3 

P1 


3 

1 

JG16 

1 



















MOTOROLA 

3 

JG6 

U2 

3 

2 

1 

JG13 

JG8 

JG10 

3 

2 

1 

JG11 

JTAG 

JG4 

J3 

JG2 

P2 

J2 

3 

2 

1 

JG10 

JG2 

JG11 

1 2 

7 8 

JG8 

3 

1 

















12.14.4 Build 



External RAM. To select the type of application to build, open the Digital_PFC.mcp project and 





The project may now be built by executing the Make command, shown in Figure 12-96. This will 

build and link the Digital Power Factor Correction Application and all needed MetroWerks and 





12-129 










To execute the Digital Power Factor Correction Application, select Project\Debug in the 

CodeWarrior IDE, followed by the Project\Run command. For more help with these commands, 

refer to the CodeWarrior tutorial documentation in the following file located in the CodeWarrior 









Once the application is running, the green USER LED blinks at a 2Hz frequency. To enable the 

PFC conversion, set the RUN/STOP switch to the RUN position. If this switch was in the RUN 

position before the application started, switch it to the STOP position, then to the RUN position. 

The green USER LED will light continuously when the PFC conversion is enabled. To disable the 

PFC conversion, the RUN/STOP switch should be moved to the STOP position (the green USER 

LED will blink again). 


the application is stopped, the green USER LED will blink at a 2Hz frequency. 




MOTOROLA 





Digital Power Factor Correction for 3-phase AC Motor V/Hz Open Loop Application 



AC Motor V/Hz Open Loop Application 

This application demonstrates integration of the Power Factor Correction with a motor control 


same functionality. Only the power supply was changed for the current implementation. The 

application uses the DSP56F807EVM board, Optoisolation board, and 3-phase AC/BLDC 

High-Voltage power stage board. 

12.15.1 Files 

The Digital Power Factor Correction for 3-Phase AC Motor V/Hz Open Loop application is found 

in the directory: 

..\dsp56807evm\nos\applications\3ph_AC_VHz_OpenLoop_PFC\ 



• 3ph_AC_VHz_OpenLoop_PFC.c, main program 


• dpfc.c, digital PFC program module 

• dpfc.h, digital PFC header file 




• ConfigExtRam\appconfig.h, application configuration header file for External RAM 






• PC_Master\3ph_AC_VHz_ExtRam.pmp, PCMaster file for External RAM 

• PC_Master\3ph_AC_VHz_Flash.pmp, PCMaster file for Flash 


The targeting for DSP56F807EVM has some specific lines in the dpfc.c C-source file. The 





The hardware design of the DSP56F807EVM is identical to the DSP56F805 EVM, and uses the 

timer C channel 0 output pin to provide PFC inhibit output. The timer channel must be defined in 

the appconfig.h file: 





12-131 








The Digital PFC for the 3-phase AC Motor V/Hz Open Loop application performs power factor 

correction for the 3-phase AC/BLDC High-Voltage Power Stage hardware with 3-phase induction 

motor drive. It is a demo that evaluates how to integrate the PFC control software with a motor 

control application for current hardware implementation. The application may be build to run 

from either External RAM or Flash. The input power line must meet the following requirements: 



The Digital PFC for the 3-phase AC Motor V/Hz Open Loop application allows execution in 

either manual or PC master software mode, which were described in Section 12.11. 

12.15.3 Set-up 


Figure 12-97 illustrates the hardware set-up for Digital PFC for the 3-phase AC Motor V/Hz Open 

Loop application. The configuration is basically the same as for the 3-phase AC Motor V/Hz 

Open Loop application, with the following difference: 

:The AC/BLDC High-Voltage Power Stage board contains a JP201 jumper which selects the 


rectifier-capacitor power stage. Set-up of the PFC hardware requires the 1-2 pins of JP201 

connection. 




MOTOROLA 





Digital Power Factor Correction for 3-phase AC Motor V/Hz Open Loop Application 


Figure 12-97. Set-up of the Digital PFC for 3-phase AC Motor V/Hz Open Loop Application 









To execute the Digital PFC for the 3-phase AC Motor V/Hz Open Loop Application, the 

DSP56F807 board requires the same strap settings as in the 3-phase AC Motor V/Hz Open Loop 

application; see Section 12.11. 

12.15.3.2 Build 



instructions in Section 12.11. 




12-133 








To execute the Digital PFC for 3-phase AC Motor V/Hz Open Loop application, follow the 

instructions in Section 12.11. 


The Serial Bootloader is developed to load and run a proprietary user application presented as 

S-record file into the Program and Data memory. The Serial Bootloader is located in the dedicated 

Program Memory region called Boot Flash. The Serial Bootloader supports the easiest serial 

protocol, so a standard serial terminal program can be used on a host PC. 

12.16.1 Files 



• ..\dsp56807evm\nos\applications\serial_bootloader\bootloader.mcp, project file 

• ..\dsp56807evm\nos\applications\serial_bootloader\bootloader.c, main program 

• ..\dsp56807evm\nos\applications\serial_bootloader\bootloader.h, header file with 

common parameters 

• ..\dsp56807evm\nos\applications\serial_bootloader\com.c, communication module 

• ..\dsp56807evm\nos\applications\serial_bootloader\com.h, header for communication 

module 

• ..\dsp56807evm\nos\applications\serial_bootloader\sparser.c, S-Record format parser 

module 

• ..\dsp56807evm\nos\applications\serial_bootloader\sparser.h, header for S-Record 

parser module 

• ..\dsp56807evm\nos\applications\serial_bootloader\prog.c, flash programming module 

• ..\dsp56807evm\nos\applications\serial_bootloader\prog.h, header for Flash 

programming module 

• ..\dsp56807evm\nos\applications\serial_bootloader\bootstart.c, startup module 

• ..\dsp56807evm\nos\applications\serial_bootloader\constdata.asm, description of 

strings data 

• ..\dsp56807evm\nos\applications\serial_bootloader\resetvector.asm, Reset and COP 

Reset interrupt vectors description 

• ..\dsp56807evm\nos\applications\serial_bootloader\TargetDirectives, Board name 

definition 

• ..\dsp56807evm\nos\applications\serial_bootloader\config\linker.cmd, linker 

command file used for Boot Flash 

• ..\dsp56807evm\nos\applications\serial_bootloader\config\flash.cfg, MetroWerks 

CodeWarrior configuration file to work with Flash 


The Bootloader application does not use other SDK files except port.h, arch.h and periph.h from 

the ..\nos\include directory. It can be compiled and used without other parts of the SDK. 




MOTOROLA 








The Serial Bootloader application reads an S-Record file of a user application (for example, 

generated by CodeWarrior) via a serial interface, parses the S-Record file and stores needed data 

in Program and Data Flash memory. When the processing of the S-Record file is finished, the 

Bootloader launches the loaded application. If any error occurs during the loading of the S-Record 

file, the Bootloader outputs an error message with an error number via the serial connection and 

performs a processor reset. 

12.16.3 Set-up 

To use the Bootloader, it must be programmed into boot Flash; the EVM P3 socket must be 

connected with the host PC COM serial port by a serial cable; and jumpers on the EVM must be 

set for use of internal memory without debug interface. 


To load the Bootloader into the DSP56F807 board, the following jumper settings are needed: 

• Set jumper JG7, “Select DSP‘s Mode 0 operation upon exit from reset” 

• Leave jumper JG9, “Enable RS-232 output”, in its default setting (NC) 



are needed: 

• Set jumper JG7, “Select DSP‘s Mode 0 operation upon exit from reset” 

• Leave jumper JG9, “Enable RS-232 output”, in its default setting (NC) 


12.16.4 Build 


To build this application, open the bootloader.mcp project file in the CodeWarrior IDE and 

execute the Project\Make command. This will build and link the Serial Bootloader application. 


To download, build the Bootloader from Codewarrior and load it into the board by choosing the 

Project\Debug command in the CodeWarrior IDE. Make sure that jumpers were set as described 

for loading the Bootloader in Section 12.16.3.1. 




12-135 








A host terminal program is used to communicate with the Bootloader. The terminal must be 

configured as follows: 

Baud rate 

8N1 


configure Microsoft HyperTerminal to communicate with the Bootloader, the PC user should start 

HyperTerminal and create a new connection. Select the COM port previously connected to the 

EVM; set baud rate to 115200 bps; data bits equal to 8, parity none, stop bits 1; and flow control 

as Xon/Xoff. The Hyperterminal can now display Bootloader messages. 



in Section 12.16.3.1. to start the Bootloader and push the RESET button. 

If the terminal program and the connections between the EVM and the Host PC are set properly, 

the terminal program will display the Bootloader’s start-up message: 

“(c) 2000-2001 Motorola Inc. S-Record loader. Version 1.1” 

To load the S-Record file, select the HyperTerminal menu item Transfer/Send text file and select a 

file. When the S-Record file is loaded and the application is started, the terminal window will 

display a message similar to this: 




The download rate is about 7660 bytes of S-Record file per second loaded from the terminal, or 


If any error is detected while loading the S-Record file, the Bootloader displays an error message 




Error # 0002 

Resetting the processor.” 


115200 bps 


8 data bits, no parity, 1 stop bit character format 

After delivering this message, the Bootloader resets the processor and waits for the S-Record file 

again. Other loading errors are described in Table 12-28. 




MOTOROLA 





Error 

Code 







Error) 

2 Invalid Character •Received character is not ‘S’ or 

any hexadecimal digit. 


Format 


Fhecksum 

If previously loaded via the Bootloader, an application uses the SDK variable 

BSP_BOOTLOADER_DELAY (see Section 12.16.6) to wait for a new S-Record file; it waits only 

until a required time-out expires and re-launches the application. In such cases, the terminal 

window displays a message similar to this: 




type is 0,3,7 





received one 




•Verify that S-Record file does not 

contain any inaccurate characters 







5 Buffer Overrun •Internal data buffer was full •Terminal program did not stop after 

receiving Xoff character 

•Confirm the terminal program supports 


6 Flash 



After programming a word into 

Flash, the programmed word read 

back is not equal to the expected 

value 

•The Bootloader tries to program Flash 

only once and performs a read back / 

verify of the value 

7 Internal Error Bootloader data corrupted •Try to reload Bootloader via 

CodeWarrior 

If an application is loaded via the Bootloader, it must meet the following requirements: 


be located at address 0x0080 in Program memory; i.e., immediately after the interrupt table 


Bootloader, the entry point for COP ISR must be located at address 0x0082 in Program 

memory 




12-137 









Bootloader without SDK support, see the config\vector.c file in the SDK. 

• Use of restricted resources - An application cannot occupy Reset and COP interrupt 

vectors, and cannot place code into the Boot Flash memory area. There is no way to place 

any initialized variable from an application into internal data RAM while loading, as this 

memory area is used by the Bootloader. All data from S-Record files that address to the 

restricted area will be ignored. External Program memory is also unavailable while loading 

an application, because the Bootloader utilizes the DSP’s Mode 0A memory map. 

All applications built with the SDK can be loaded via the Serial Bootloader. The SDK provides 

fixed addresses for application entry points, a redirect for an application COP vector and uses the 

configuration variable (BSP_BOOTLOADER_DELAY) in the appconfig.h file to specify the 

amount of time the Serial Bootloader will wait prior to launching the application already stored in 

Flash. 

The possible values of BSP_BOOTLOADER_DELAY: 

0 Disable the Bootloader and start the application immediately 

without waiting. After loading the application with this setting, 

there are only two ways to re-enter Bootloader: 

0 - 254 

255 

• Reload the Bootloader from Metrowerks CodeWarrior into 

Boot Flash again 

• Reprogram the value of the start delay variable located on 

address 0x0083 in the Program Flash into zero value 

(0x0000) in the loaded application 

Set waiting time for start of S-Record file for 0-255 seconds before 

starting a previously-loaded application 

Set waiting time to infinity. After reset, the Bootloader waits for a 

new S-Record file without counting down any time-out. 

If there is no BSP_BOOTLOADER_DELAY in the appconfig.h file, the default value for the 

time-out is 30 seconds. 



If the DSP is used in a single chip mode, the Bootloader uses only internal data RAM for data 

buffering. 

The Bootloader does not initialize any DSP peripherals except SCI 0, Port E and PLL unitization. 

The PLL multiplier is set to 18, which equals the DSP’s 72MHz operational frequency. Before the 

application starts, SCI 0 is disabled, but PLL does not reprogram to its initial state. 

The Bootloader uses a statically-calculated SCI baud rate value. This value is calculated assuming 

an external oscillator frequencyof 8MHz. 




MOTOROLA 




















12.22.1 Files 






file 


file 






12-139 


















seconds. 

12.22.3 Set-up 




12.22.4 Build 









MOTOROLA 












12.23 CAN 





12.25 DAC Application 

Section 6.7.6 describes how to build and execute this application. 

12.26 SPI Application 




CAN 




12-141 











MOTOROLA 





Index 

Numerics 

3DES 7-16 

3-phase AC Ind. motor 

specification 11-99, 12-100 

3-Phase AC Induction (AC Ind.) 11-98, 12-100 

3-phase AC Motor Control 

setup 11-104 

3-phase AC V/Hz 

execution 11-108 

3-Phase SR 

High Voltage Power Stage 10-48, 10-58, 10-69, 

10-80, 11-50, 11-60, 11-71, 11-80, 12-51, 

12-60, 12-71, 12-82 

Low Voltage Power Stage 10-58, 11-60, 12-60 

3-phase SR 

specification 11-60, 12-60 

3-phase SR Motor 

execution 10-56, 10-76, 10-86, 11-57, 11-68, 

11-77, 11-87, 12-58, 12-68, 12-78, 12-88 

A 

ADC Data Structure 5-35, 5-39 

ADC Driver 5-35 

ADC Ioctl Commands 5-44 

Answering modem 7-11 

Application 

closed loop 11-98, 12-100 

open loop 9-7, 10-106, 11-88, 11-108, 12-89, 

12-111 

Applications 

3-Phase SR Motor Control 11-59, 12-60 

autoCorr Performance 7-3 

B 

Back-EMF Zero Crossing Application 10-27 

BLDC 

Motor Control 11-45 

specifications 11-28, 11-38, 12-27, 12-37 

BLDC Motor Control 

execution 11-36, 11-45, 12-36, 12-46 

BLDC Sensorless 10-27, 10-36 

buildall.mcp 1-3 

C 

Calling modem 7-11 

CID xlix 



CodeWarrior 

IDE 10-56, 10-76, 10-86, 11-57, 11-68, 11-77, 

11-87, 11-107, 12-58, 12-78, 12-88 

Registration 1-2 

MOTOROLA Index 



i 

D 

DES 7-14 

Device Drivers 4-5 

Directory Structure 2-1 

domain specific libraries 7-1 

DSP xlix 

DSP56800 Family Manual xlix 

DSP5680x User’s Manual xlix 

DTMF Generation Library 7-21 

E 

Embedded SDK Programmer’s Guide xlix 

F 

FaultStatus 11-31, 11-40, 12-29, 12-39 

FFT xlix 

FILE I/O Driver 6-11 

FIR xlix 

Flash Driver 5-12 

Flash Driver Arguments 5-21 

Flash Ioctl Commands 5-21 

Flash Memory blocks 5-12 

G 

GPIO Driver 5-71 

GPIO Ioctl Commands 5-76 

I 

I/O xlix 

IDE xlix 

IIR xlix 

Install CodeWarrior 1-1 

Interrupt Dispatchers 4-1 

Interrupt Priorities 4-5 

J 

Jumper Group 9-6, 9-14, 12-8, 12-16, 12-24, 12-34, 

12-44, 12-56, 12-66, 12-76, 12-86, 12-128 





L 

JG1 9-6, 9-14, 12-8, 12-16, 12-24, 12-35, 12-44, 

12-57, 12-67, 12-77, 12-87, 12-98, 12-109, 

12-121, 12-129 

JG10 12-8, 12-16, 12-24, 12-34, 12-44, 12-56, 

12-66, 12-76, 12-86, 12-97, 12-108, 12-120, 

12-128 

JG11 12-8, 12-16, 12-24, 12-34, 12-44, 12-57, 

12-66, 12-76, 12-86, 12-97, 12-108, 12-120, 

12-128 

JG12 12-8, 12-16, 12-24, 12-34, 12-44, 12-57, 

12-66, 12-76, 12-86, 12-97, 12-108, 12-120, 

12-128 

JG13 12-8, 12-16, 12-24, 12-34, 12-44, 12-57, 

12-67, 12-77, 12-86, 12-97, 12-108, 12-120, 

12-129 

JG14 12-8, 12-16, 12-24, 12-34, 12-44, 12-57, 

12-67, 12-77, 12-87, 12-98, 12-109, 12-121, 

12-129 

JG15 12-8, 12-16, 12-24, 12-34, 12-44, 12-56, 

12-66, 12-76, 12-86, 12-97, 12-108, 12-120, 

12-128 

JG16 12-8, 12-16, 12-24, 12-34, 12-44, 12-56, 

12-66, 12-76, 12-86, 12-97, 12-108, 12-120, 

12-128 

JG17 12-8, 12-16, 12-24, 12-34, 12-44, 12-56, 

12-66, 12-76, 12-86, 12-97, 12-108, 12-120, 

12-128 

JG2 9-6, 9-14, 12-8, 12-16, 12-24, 12-35, 12-44, 

12-57, 12-67, 12-77, 12-87, 12-98, 12-109, 

12-121, 12-129 

JG3 9-6, 9-14, 12-8, 12-16, 12-24, 12-35, 12-44, 

12-57, 12-67, 12-77, 12-87, 12-98, 12-109, 

12-121, 12-129 

JG4 9-6, 9-14, 12-8, 12-16, 12-24, 12-34, 12-44, 

12-57, 12-66, 12-76, 12-86, 12-97, 12-108, 

12-120, 12-128 

JG5 9-6, 9-14, 12-8, 12-16, 12-24, 12-34, 12-44, 

12-56, 12-66, 12-76, 12-86, 12-97, 12-108, 

12-120, 12-128 

JG6 9-6, 9-14, 12-8, 12-16, 12-24, 12-34, 12-44, 

12-56, 12-66, 12-76, 12-86, 12-97, 12-108, 

12-120, 12-128 

JG7 9-6, 9-14, 12-8, 12-16, 12-24, 12-34, 12-44, 

12-56, 12-66, 12-76, 12-86, 12-97, 12-108, 

12-120, 12-128 

JG8 9-6, 9-14, 12-8, 12-16, 12-24, 12-34, 12-44, 

12-56, 12-66, 12-76, 12-86, 12-97, 12-108, 

12-120, 12-128 

JG9 9-6, 9-14, 12-8, 12-16, 12-24, 12-34, 12-44, 

12-57, 12-66, 12-76, 12-86, 12-97, 12-108, 

12-120, 12-128 

LED Driver 6-1 

LED Driver Arguments 6-5, 6-10 



LED Ioctl Commands 6-5 

license key 1-2 

LSB xlix 

ii Targeting Motorola DSP56F80x Platform 



MOTOROLA 

M 

MAC xlix 

Metrowerks 11-36, 11-45 

Metrowerks CodeWarrior 1-1 

MIPS xlix 

MSB xlix 

N 

Nested Interrupts 4-3 

O 

OCCS 

Block Diagram 5-124 

OMR xlix 

OnCE xlix 

Operating Mode 

Manual 

3-phase AC Ind 10-3, 10-11, 10-19, 11-3, 

11-12, 11-20, 12-3, 12-11, 12-20, 12-102 

3-phase SR motor control 10-49, 10-69, 

10-80, 11-50, 11-60, 11-71, 11-81, 

12-51, 12-61, 12-71, 12-82 

BLDC sensorless motor control 11-29, 11-38, 

12-27, 12-38 

Remote 

3-phase AC Ind 10-5, 10-13, 10-21, 11-4, 

11-14, 11-21, 12-5, 12-13, 12-21, 12-104 

3-phase SR motor control 10-50, 10-71, 

10-81, 11-52, 11-62, 11-72, 11-82, 

12-52, 12-62, 12-73, 12-83 

BLDC sensorless motor control 11-30, 11-39, 

12-29, 12-39 

Optoisolation board 10-45, 10-67, 10-78, 11-46, 11-59, 

11-69, 11-79, 12-47, 12-60, 12-69, 12-80 

P 

PC xlix 

PC Master SCI Communication Driver 6-20 

PCM 7-26 

Program/Debug 11-107 

3-phase SR motor control 10-56, 10-76, 10-86, 

11-57, 11-68, 11-77, 11-87, 12-58, 12-78, 

12-88 

BLDC motor control 11-36, 12-36 

PWM Driver 5-101 

PWM Driver Arguments 5-109 

Q 

Quadrature Decoder Driver 5-83 





Quadrature Timer Driver 5-53 

Quick Start 1-1 

R 

Register CodeWarrior 1-2 

S 

SCI Driver 5-22 

SCI Driver Arguments 5-31 

SCI Ioctl Commands 5-31 

SDK xlix 

SP xlix 

SPI xlix 

SPI Data Structure 5-2 

SPI Driver 5-1 

SPI Driver Arguments 5-8 

SPI Ioctl Commands 5-8 

SR xlix 

SRC xlix 

Switch Driver 6-29 

Switched Reluctance (SR) 10-45, 10-67, 10-78, 11-46, 

11-59, 11-69, 11-79, 12-47, 12-60, 12-69, 12-80 

T 

Timer Application 9-21, 10-131, 11-135, 12-139 

Timer Drive 5-151 



MOTOROLA Index 



iii 





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suitability of its products for any particular purpose, nor does Motorola assume any liability arising out of the application or use of any product or circuit, and 

specifically disclaims any and all liability, including without limitation consequential or incidental damages. “Typical” parameters which may be provided in Motorola 

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“Typicals” must be validated for each customer application by customer’s technical experts. Motorola does not convey any license under its patent rights nor the 

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How to reach us: 

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JAPAN: Motorola Japan Ltd.; SPS, Technical Information Center, 3–20–1, Minami–Azabu. Minato–ku, Tokyo 106–8573 Japan. 81–3–3440–3569 

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HOME PAGE: http://www.motorola.com/semiconductors/ 





SDK126/D

Embedded SDK - Freescale Semiconductor

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