Kinetis Motor Suite v1.2.0 Release Notes

Transcription

1 NXP Semiconductors Document Number: KMSRN Release Notes Rev. 3, 11/2017 Kinetis Motor Suite v1.2.0 Release Notes 1. Introduction Based on Kinetis V microcontrollers, Kinetis Motor Suite (KMS) is an integrated solution of hardware, embedded software, and PC software that enables rapid development of applications driven by three phase motors. This document describes KMS software release This release of KMS supports the NXP development platforms identified in the Supported platforms and MCUs section of this document. For more information and getting started instructions, see the files mentioned in Section 6, "Getting started" of this document. Contents 1. Introduction System requirements Supported platforms and MCUs Kinetis Motor Suite release Installer contents Getting started Migration Addressed issues New features Notes Revision history NXP B.V.

2 System requirements 2. System requirements The recommended minimum PC configuration is 1 GB RAM and 500 MB free disk space. Software prerequisites include: 2.1. Preprogrammed KMS proprietary code KMS relies on the existence of execute-only firmware preprogrammed on supported MCUs. This code is not available from the KMS installer and must not be erased, as described in Debug. The versions of KMS proprietary code required for usage of KMS are: Table 1. KMS proprietary code version by MCU MCU family Motor type Version KV3x PMSM/BLDC KV1x PMSM/BLDC KV1 KV4x PMSM/BLDC KV3x ACIM ACIM KV4x ACIM ACIM 2.2. Operating system This release has been validated on the following operating systems: Microsoft Windows OS 7 or 10, 32 or 64 bit Operation on Windows OS 10, 64 bit may require updated drivers not indicated here to allow communication with NXP development platforms Software framework This release requires the existence of the following software framework: Microsoft.NET Framework Development tools This release was compiled and tested with the following development tools: IAR Embedded Workbench for Arm (IAR) version 8.11 MCUXpresso version _411 Kinetis Design Studio 3.2 (AC induction motor projects only) NXP Semiconductors 2

3 System requirements NOTE General support for Kinetis Design Studio has been deprecated in this release to align with the changes to the broader NXP tools environment MCUXpresso Software Development Kit (SDK) configuration For compiling directly in the MCUXpresso IDE only, this release requires downloading and installing into the IDE the proper MCUXpresso SDK configuration. This release was tested with the version and assumes selection of the Tower platform SDK configuration for each MCU family Communication For operation on Kinetis development platforms, serial communication drivers may need to be installed. This release was tested with the following driver installed on PC: P&E Micro opensda USB Driver Version 12.4, updated January 23, Debug WARNING Certain elements of KMS firmware are preprogrammed on the MCU and marked as execute-only. In order to preserve this code, which is required to run KMS, mass erase of the device must be avoided at all times. If the device is mass erased, the only remedy is replacement of the device. Sector erase should therefore be fully supported by the selected debug configuration. In addition, new flash commands have been added. One of these is "Erase All Execute-only Segments" (Flash command 0x4B). This command should never be executed as it would erase the KMS library and render the MCU non-functional for KMS operations Default configuration Utilizing the default configuration minimizes the risk of mass erase and enables seamless usage of the KMS PC software functionality. NXP development platforms, including the Kinetis V series devices enumerated in Table 3, rely on the serial and debug adapter opensdav2.1. More information regarding opensda for NXP devices may be found at nxp.com/opensda. The default debugging interface for opensdav2.1 on KMS supported platforms is the PEMicro Mass Storage/Debug App. The latest versions for each development platform are preferred but the minimum versions for this application are: TWR & HVP platforms: 1.17 NXP Semiconductors 3

4 Supported platforms and MCUs FRDM platforms: Status of other configurations While the default configuration enables full KMS functionality and reduces risk of mass erase, it is understood that users may prefer different debug configurations. While KMS does not claim full support of the configurations listed in Table 2, the known behavior as of this release is described to clarify expected behavior. Table 2. Known behavior of non-standard debug configurations Debugging interface Flash programming from KMS GUI Programming from MCUXpresso without mass erase Programming from IAR without mass erase J-Link OpenSDAv2.1 Unsupported Supported Supported mbed OpenSDAv2.1 CMSIS-DAP Unsupported Unsupported Supported J-Link LITE (hardware) Unsupported Supported Supported Additional debuggers and configurations not listed here (for example, USB Multilink, ULINK, other J-Link products) have not been fully tested and are not considered officially supported. 3. Supported platforms and MCUs 3.1. Development platforms This release has been tested on and supports development platforms listed in Table 3. Table 3. Supported development platforms Power stage FRDM-MC-LVPMSM TWR-MC-LV3PH HVP-MC3PH Control board FRDM-KV11Z FRDM-KV31F TWR-KV11Z75M TWR-KV31F120M TWR-KV46F150M HVP-KV11Z75M HVP-KV31F120M HVP-KV46F150M 3.2. MCUs KMS is supported on the KV1x, KV3x, and KV4x product families. NXP Semiconductors 4

5 Supported platforms and MCUs The letter P is appended to the typical MCU part number to denote KMS parts supporting permanent magnet/brushless DC motors. The letter Q is appended to denote KMS parts supporting AC induction motors (ACIM) KV1x KMS is supported on the KV1x MCU variants listed in Table 4. The xxx is a placeholder for the package. Refer to MCU documentation for exact hardware specifications. Table 4. Supported KV1x MCUs MKV11Z128xxx7P MKV10Z64xxx7P KV3x KMS is supported on the KV3x MCU variants listed in Table 5. The xxx is a placeholder for the package. Refer to MCU documentation for exact hardware specifications. Table 5. Supported KV3x MCUs Kinetis MCU devices MKV31F512xxx12P MKV31F256xxx12P MKV31F128xxx10P MKV30F128xxx10P MKV30F64xxx10P MKV31F512xxx12Q KV4x KMS is supported on the KV4x MCU variants listed in Table 6. The xxx is a placeholder for the package. Refer to MCU documentation for exact hardware specifications. Table 6. Supported KV4x MCUs Kinetis MCU devices MKV46F256xxx16P MKV42F256xxx16P MKV42F128xxx16P MKV46F256xxx16Q MKV42F256xxx16Q NXP Semiconductors 5

6 Installer contents 4. Kinetis Motor Suite release The release primarily consists of: Graphical user interface (GUI) kernel Reference projects 4.1. KMS GUI kernel The KMS GUI kernel provides the conduit to the on-chip motor and motion control firmware that is the core of KMS. It includes the user interface framework for Motor Tuner, Motor Manager, Motion Sequence Builder, Software Oscilloscope, and Watch Window components. Refer to the KMS User s Guide for descriptions of these components KMS reference projects KMS reference projects customize the KMS GUI and Motor Observer firmware to support the desired NXP development platform, control type, motor type, and compile tool. The user selects the desired reference project upon starting a new project in the KMS GUI and may access the underlying source code in the chosen development environment. 5. Installer contents The KMS installer includes the KMS GUI kernel and the applicable version of every KMS reference project. Table 7 enumerates these contents. The x is a placeholder for the build number of the reference project. Table 7. Release contents Category Item Location PC GUI KinetisMotorSuite.exe C:\NXP\KMS_1.2.0 KV1 Reference Projects FRDMKV11Z_POS_IAR_1_2_0_x.zip FRDMKV11Z_POS_MXP_1_2_0_x.zip FRDMKV11Z_SNLESSHALL_IAR_1_2_0_x.zip FRDMKV11Z_SNLESSHALL_MXP_1_2_0_x.zip FRDMKV11Z_SNLESSVEL_IAR_1_2_0_x.zip FRDMKV11Z_SNLESSVEL_MXP_1_2_0_x.zip FRDMKV11Z_SNSRDVEL_IAR_1_2_0_x.zip FRDMKV11Z_SNSRDVEL_MXP_1_2_0_x.zip HVPKV11Z75M_POS_IAR_1_2_0_x.zip HVPKV11Z75M _POS_MXP_1_2_0_x.zip HVPKV11Z75M _SNLESSHALL_IAR_1_2_0_x.zip HVPKV11Z75M _SNLESSHALL_MXP_1_2_0_x.zip HVPKV11Z75M _SNLESSVEL_IAR_1_2_0_x.zip C:\NXP\KMS_1.2.0\Refer enceprojects NXP Semiconductors 6

7 Installer contents Category Item Location HVPKV11Z75M _SNLESSVEL_MXP_1_2_0_x.zip HVPKV11Z75M _SNSRDVEL_IAR_1_2_0_x.zip HVPKV11Z75M _SNSRDVEL_MXP_1_2_0_x.zip TWRKV11Z75M_POS_IAR_1_2_0_x.zip TWRKV11Z75M _POS_MXP_1_2_0_x.zip TWRKV11Z75M _SNLESSHALL_IAR_1_2_0_x.zip TWRKV11Z75M _SNLESSHALL_MXP_1_2_0_x.zip TWRKV11Z75M _SNLESSVEL_IAR_1_2_0_x.zip TWRKV11Z75M _SNLESSVEL_MXP_1_2_0_x.zip TWRKV11Z75M _SNSRDVEL_IAR_1_2_0_x.zip TWRKV11Z75M _SNSRDVEL_MXP_1_2_0_x.zip FRDMKV31F_POS_IAR_1_2_0_x.zip FRDMKV31F_POS_MXP_1_2_0_x.zip FRDMKV31F_SNLESSHALL_IAR_1_2_0_x.zip FRDMKV31F_SNLESSHALL_MXP_1_2_0_x.zip FRDMKV31F_SNLESSVEL_IAR_1_2_0_x.zip FRDMKV31F_SNLESSVEL_MXP_1_2_0_x.zip FRDMKV31F_SNSRDVEL_IAR_1_2_0_x.zip FRDMKV31F_SNSRDVEL_MXP_1_2_0_x.zip HVPKV31F120M_POS_IAR_1_2_0_x.zip HVPKV31F120M_POS_MXP_1_2_0_x.zip HVPKV31F120M_SNLESSHALL_IAR_1_2_0_x.zip KV3 Reference Projects HVPKV31F120M_SNLESSHALL_MXP_1_2_0_x.zip HVPKV31F120M_SNLESSVEL_IAR_1_2_0_x.zip HVPKV31F120M_SNLESSVEL_MXP_1_2_0_x.zip HVPKV31F120M_SNLESSVEL_IAR_ACIM_1_2_0_x.zip HVPKV31F120M_SNLESSVEL_KDS_ACIM_1_2_0_x.zip HVPKV31F120M_SNSRDVEL_IAR_1_2_0_x.zip HVPKV31F120M_SNSRDVEL_MXP_1_2_0_x.zip HVPKV31F120M_SNSRDVEL_IAR_ACIM_1_2_0_x.zip HVPKV31F120M_SNSRDVEL_KDS_ACIM_1_2_0_x.zip TWRKV31F120M_POS_IAR_1_2_0_x.zip TWRKV31F120M_POS_MXP_1_2_0_x.zip TWRKV31F120M_SNLESSHALL_IAR_1_2_0_x.zip TWRKV31F120M_SNLESSHALL_MXP_1_2_0_x.zip TWRKV31F120M_SNLESSVEL_IAR_1_2_0_x.zip C:\NXP\KMS_1.2.0\Refer enceprojects NXP Semiconductors 7

8 Getting started Category Item Location TWRKV31F120M_SNLESSVEL_MXP_1_2_0_x.zip TWRKV31F120M_SNSRDVEL_IAR_1_2_0_x.zip TWRKV31F120M_SNSRDVEL_MXP_1_2_0_x.zip HVP-KV46F150M_POS_IAR_1_2_0_x.zip HVP-KV46F150M_POS_MXP_1_2_0_x.zip HVP-KV46F150M_SNLESSHALL_IAR_1_2_0_x.zip HVP-KV46F150M_SNLESSHALL_MXP_1_2_0_x.zip HVP-KV46F150M_SNLESSVEL_IAR_1_2_0_x.zip HVP-KV46F150M_SNLESSVEL_MXP_1_2_0_x.zip HVP-KV46F150M_SNLESSVEL_IAR_ACIM_1_2_0_x.zip HVP-KV46F150M_SNLESSVEL_KDS_ACIM_1_2_0_x.zip KV4 Reference Projects HVP-KV46F150M_SNSRDVEL_IAR_1_2_0_x.zip HVP-KV46F150M_SNSRDVEL_MXP_1_2_0_x.zip HVP-KV46F150M_SNSRDVEL_IAR_ACIM_1_2_0_x.zip HVP-KV46F150M_SNSRDVEL_KDS_ACIM_1_2_0_x.zip TWR-KV46F150M_POS_IAR_1_2_0_x.zip TWR-KV46F150M_POS_MXP_1_2_0_x.zip TWR-KV46F150M_SNLESSVEL_IAR_1_2_0_x.zip TWR-KV46F150M_SNLESSVEL_MXP_1_2_0_x.zip TWR-KV46F150M_SNLESSVEL_IAR_1_2_0_x.zip TWR-KV46F150M_SNLESSVEL_MXP_1_2_0_x.zip TWR-KV46F150M_SNSRDVEL_IAR_1_2_0_x.zip TWR-KV46F150M_SNSRDVEL_MXP_1_2_0_x.zip C:\NXP\KMS_1.2.0\Refer enceprojects 6. Getting started For all implementations: See the Kinetis Motor Suite Lab Guide for hands-on training exercises that introduce key features of KMS. See the Kinetis Motor Suite User s Guide for a description of the operation of the KMS GUI. For PMSM/BLDC motors: See the Kinetis Motor Suite API Reference Manual for an introduction to the KMS PMSM/BLDC embedded firmware. See the Kinetis Motor Suite Adapting KMS for Custom Hardware application note for instructions on transitioning from the development platform to custom hardware. NXP Semiconductors 8

9 Addressed issues For AC induction motors: See the Sensorless ACIM Field-Oriented Control design reference manual for a description of fundamental ACIM operation. See the Sensorless ACIM Field-Oriented Control on Kinetis KV and KE application note for a description of the underlying motor control implementation for KMS for ACIM. 7. Migration NOTE If using KMS for AC induction motors, disregard the references to the Freemaster tool in ACIM documentation (this is not necessary for usage via KMS). It is not recommended that you attempt to migrate to KMS with a project created in a previous version of KMS. This is due primarily to: fundamental changes in how the embedded software relates to the MCU (i.e., deprecation of usage of the Kinetis Software Development Kit (KSDK) version 1.3) KMS GUI kernel enhancements that have materially changed the infrastructure for running a project in the GUI 8. Addressed issues 8.1. Blocked.dll files prevent KMS from opening Windows may automatically block.dll files downloaded from the internet (or otherwise shared among systems) as a protective measure. This previously prevented KMS from reading its script files if downloaded from an unknown source and thus reported an error upon launching a KMS project. KMS checks for blocking of the relevant files and automatically unlocks the files if necessary Removing a plotted variable from a project causes a plotting issue afterward In previous versions of KMS, if a variable that was included in a Software Oscilloscope plot was removed from the embedded software, attempting to open and start this plot caused an error. KMS accounts for this possibility and allows you to move forward without errors Current at startup could become negative in corner cases In previous versions of KMS, the fixed point number for startup current could wrap around and become negative. This behavior has been protected against such that current saturates at the worst case power board current level. NXP Semiconductors 9

10 New features 9. New features 9.1. Support for MCUXpresso Previous versions of KMS relied on KSDK 1.3 to interact with the MCU and supported the IDE Kinetis Design Studio. To align with the broader NXP tools direction, in which the MCUXpresso IDE is the primary supported development environment and the MCUXpresso configuration tool allows for independent specification of pins & clocks, KMS 1.2.0: Eliminates the need for a separate download of KSDK by deploying the required functionality as part of the KMS installer Modifies certain modules for direct register access to eliminate dependencies on KSDK Incorporates MCUXpresso pins & clock files in the form factor determined by the configuration tool Enables project build and download via MCUXpresso from KMS GUI (replacing equivalent functionality for Kinetis Design Studio) NOTE KMS for ACIM is still supported by Kinetis Design Studio instead of MCUXpresso Support for KV4x MCUs Previous versions of KMS supported only KV1x and KV3x MCUs. KMS adds support for KV4x MCUs. TWR and HVP development platforms utilizing KV4x MCUs are available Support for AC induction motors KMS adds reference projects supporting ACIM. Sensored and sensorless velocity control of ACIM are supported on KV3x and KV4x MCUs and enabled for the HVP development platform. The embedded software underlying ACIM projects is different from the PMSM/BLDC implementation. Consequently, while operation from the KMS GUI is similar, the process for adding your own application code is different. Please refer to documentation for the NXP ACIM Field Oriented Control Reference Design for information regarding ACIM embedded software Hall effect sensor-enabled startup to sensorless velocity control KMS adds reference projects supporting a control type wherein KMS starts the motor using trapezoidal (six-step) commutation then transitions to KMS standard field oriented sensorless velocity control. This may be desirable if your motor has Hall effect sensors and very high torque is required from zero speed. NXP Semiconductors 10

11 Notes 10. Notes Embedded software from previous versions of KMS will not connect As part of the upgrade noted in Migration, KMS modifies the communication between MCU and PC GUI to detect loss of connection if MCU has been reset. This means that communication between the KMS PC GUI and an MCU containing an application image from a previous KMS version is not possible. KMS identifies this scenario, provides a notification indicating the existence of an image from a previous KMS version, and directs the user to utilize the Project -> Load Application Image option to update the MCU image and enable communication TWR-KV46F150M does not intrinsically support sensored velocity and position control This is due to a hardware conflict that prevents usage of the resources required to provide rotor position feedback from an incremental encoder. Sensored velocity and position control reference projects targeting TWR-KV46F150M are deployed in this version of KMS but will not work without custom wiring on the TWR development platform and are thus not considered fully validated Large inertia may brown out board during system inertia measurement for Tower system Out-of-the-box power supply provided with TWR-MC-LV3PH may not be able to sustain the performance required for KMS system inertia measurement for large inertias. Upgrading the power supply resolves the issue Alignment occurs in transition to running motion sequence A slight motor alignment occurs after choosing to start a motion sequence. This is expected operation CPU counts may go to zero in the event of system fault The counter used in KMS assessment of CPU usage relies on a development platform setting that may be changed external to KMS in case of motor fault. Resetting the development platform hardware restores this functionality On rare occasions when PC GUI has been open and running for NXP Semiconductors 11

12 Notes an extended period, selecting File->New or closing the application may cause an improper shutdown This is related to an underlying Windows quota issue. It has been observed not to be repeatable according to a known pattern. Ancillary functionality has been improved to minimize the incidence of this issue. It is recommended that KMS users save regularly if heavily using the KMS GUI for extended periods of time Mismatch between the Windows Region format and the selected decimal separator may cause errors KMS components assume that the Windows Region format (available via the Control Panel) defines the decimal separator. For example, selecting English (United States) forces the decimal separator to be a period (.). This may be overridden by then manually selecting a different decimal separator (e.g., a comma (,)). In this mismatch scenario (English (United States) with a comma for separator), KMS may not appropriately calculate and render values, presenting numerical or data type validation errors as a result. Similar behavior may be observed with unknown combinations of Windows culture/locale settings, especially if alphanumeric characters differ substantially. It is recommended that users specify English (United States) if unable to proceed with local/default settings USB 3.0 connections may cause PC-MCU communication dropouts This has been observed on a single system and the root cause is believed to be laptop driver files. NXP Semiconductors 12

13 Revision history 11. Revision history Table 8 summarizes revisions to this document. Table 8. Revision history Revision Number Date Substantive changes 3 11/2017 Describes addition of support for: o MCUXpresso o AC induction motors o KV4x MCUs o Hall effect sensor-enabled startup 2 03/2017 Describes addition of support for KV1x MCUs. 1 08/2016 Moving from KDS 3.0 to 3.2, which will affect KMS. Added content regarding migration, new features, and issues associated with change from KMS to KMS /2016 Initial release NXP Semiconductors 13

14 Revision history How to Reach Us: Home Page: nxp.com/kinetismotorsuite Web Support: nxp.com/support Information in this document is provided solely to enable system and software implementers to use NXP products. There are no express or implied copyright licenses granted hereunder to design or fabricate any integrated circuits based on the information in this document. NXP reserves the right to make changes without further notice to any products herein. NXP makes no warranty, representation, or guarantee regarding the suitability of its products for any particular purpose, nor does NXP 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 that may be provided in NXP data sheets and/or specifications can and do vary in different applications, and actual performance may vary over time. All operating parameters, including typicals, must be validated for each customer application by customer's technical experts. NXP does not convey any license under its patent rights nor the rights of others. NXP sells products pursuant to standard terms and conditions of sale, which can be found at the following address: nxp.com/salestermsandconditions. NXP, the NXP logo, Freescale, the Freescale logo, and Kinetis are trademarks of NXP B.V. All other product or service names are the property of their respective owners. Arm and Cortex are the registered trademarks of Arm Limited. Arm is a registered trademark of Arm Limited (or its subsidiaries) in the EU or elsewhere NXP B.V. Document number: KMSRN Rev. 3 11/2017