To enhance the workflow, the SDK works in tandem with TI Universal Motor Lab and MotorStudio. These graphical user interfaces connect to the running MCU via JTAG. They allow developers to visualize phase currents, adjust Kp/Ki gains in real-time, and monitor the FAST observer’s performance without recompiling code.

The SDK uses a Hardware Abstraction Layer (HAL) to manage peripheral configuration. Instead of writing directly to registers, developers interact with a set of standardized APIs. The HAL works by: Initializing system clocks and interrupts.

Clarke and Park Transforms to convert 3-phase signals into 2-phase DC values. PI (Proportional-Integral) controllers for torque and flux.

Setting up the ADC (Analog-to-Digital Converter) for high-speed current and voltage sensing.

The Texas Instruments C2000Ware Motor Control SDK is a comprehensive software package designed to reduce development time for three-phase motor control applications. It provides a highly structured environment for engineers working with C2000 real-time microcontrollers, offering everything from low-level drivers to sophisticated sensorless control algorithms.

At its core, the Motor Control SDK is built upon C2000Ware, the foundational software stack for all C2000 MCUs. It utilizes a layered approach to ensure code portability across different hardware generations, such as the F28004x, F2838x, and F28002x series.

Spinning the motor at a fixed frequency to test the inverter.

The SDK functions through a strictly timed execution model. The motor control "inner loop" is typically triggered by a PWM interrupt. When the PWM counter reaches a specific point, it triggers the ADC to sample phase currents. Once the conversion is complete, an interrupt is fired, and the SDK’s control software takes over. Inside this interrupt, the SDK executes:

Verifying PWMs and ADCs without spinning the motor.