HMI Brushless DC (BLDC) Motor Controller - Renesas · PDF fileHMI Brushless DC (BLDC) Motor Controller Introduction ... On the other hand, when we configure the General PWM Timer I/O

Application Note

R30AN0282EU0100 Rev.1.00 Page 1 of 16 Feb 13, 2017

Renesas Synergy™ Platform

HMI Brushless DC (BLDC) Motor Controller Introduction The example program illustrates a multitasking application design that drives the three-phase Brushless DC Motor and provides a Human Machine Interface for speed control. It does this by implementing Output Phase Switching function of General PWM Timers, which uses external signals detected by the Hall sensors to output PWM signal of 6-phase motor control, and it also utilizes the GUIX library to build the user interface for expanding features. This example applies to DK-S7G2 device and operates with inverter board.

Figure 1 The DK-S7G2 with 3-phase inverter and Brushless DC Motor attached

Prerequisites Users should have some experience with either the Renesas e2 studio Integrated Solutions Development Environment (ISDE) or the IAR EW. The program can be compiled and run using either tool chain. Users should also be familiar with the basic control theory of Brushless DC Motor and the Synergy Software Package (SSP).

Required Resources The example application targets Renesas Synergy S7G2 devices. To build and run the application, users will need:

A Renesas Synergy DK-S7G2 device

A inverter board including:

Three-phase inverter

MOSFETS drivers

Hall sensor input circuit

A PC running Microsoft® Windows® 7 or later with the following Renesas software installed:

e2 studio ISDE 5.0.0.043 or later and GCC version 4.92015q3 or later

Synergy Software Package (SSP) 1.1.0 or later.

GUIX Studio 5.3.2

The program can also be operated by following development tools:

IAR Embedded Workbench for Synergy 7.41.1 or later

Renesas SSC 5.1.0.010 or later

R30AN0282EU0100 Rev.1.00

Feb 13, 2017

Renesas Synergy™ Platform HMI Brushless DC (BLDC) Motor Controller


Users can download the required Renesas software from the Renesas Synergy Gallery (https://synergygallery.renesas.com).

Contents

1. Overview .................................................................................................................................... 3 1.1 Goals and Objective ................................................................................................................................ 3 1.2 Time Required ......................................................................................................................................... 3

2. Design Considerations .............................................................................................................. 3

3. Synergy Platform Capabilities ................................................................................................... 3

4. Hardware Implementation ......................................................................................................... 5 4.1 Hardware of Human Machine Interface .................................................................................................. 5 4.2 Hardware of Brushless DC Motor Driver ................................................................................................. 5

5. Design Overview of Synergy Project ......................................................................................... 7 5.1 Application Design ................................................................................................................................... 7 5.1.1 Source Codes ........................................................................................................................................ 7 5.1.2 Thread Layout ....................................................................................................................................... 7 5.1.3 Thread Objects ...................................................................................................................................... 8 5.2 BLDC Thread Logic ............................................................................................................................... 10 5.3 BLDC Motor control ............................................................................................................................... 11 5.4 HMI Thread Logic .................................................................................................................................. 12 5.5 Application Features .............................................................................................................................. 13 5.5.1 Splash Screen ..................................................................................................................................... 13 5.5.2 Mode Selection Screen ....................................................................................................................... 13 5.5.3 Main Screen ........................................................................................................................................ 14

6. Next Steps ............................................................................................................................... 15

https://synergygallery.renesas.com/



1. Overview

1.1 Goals and Objective The goal of this application note is to demonstrate the capabilities of the S7G2 processor and the possibilities of using SSP to implement multitasking design in motor application. The topics covered in this application note include following:

1. Overview

2. Design Considerations

3. Synergy Platform Capabilities

4. Hardware Implementation

5. Design Overview of Synergy Project

6. Next Steps

1.2 Time Required Before executing the example application, the required hardware should be prepared. Then, you should be able to install, build, and run the example application in under 1 hour. The high-level steps involved are:

1. Configure the DK-S7 board , and check overall hardware connection by referencing the Hardware Implementation chapter

2. Import, build, and debug the project

3. Use oscilloscope to check the motor commutation is correct before applying the voltage to the three-phase inverter

4. Refer to the description of application features chapter to test motor running in different modes

5. Adjust the PID gains of current and speed controller for the best performance

2. Design Considerations The principle goal of this application is to show how to acquire input signal of Hall sensor, 3-phase current and motor speed using the GPT (General PWM Timer), ADC (Analog to Digital Converter) and Input Capture HAL driver in the SSP and control a BLDC motor through HMI. To keep the application design simple, the Proportional-Integral gain of current and speed controller is set as a default value for general 24 voltage BLDC Motors use.

3. Synergy Platform Capabilities This application can be separated to 2 parts. The first part primarily deals with sampling 3-phase current using the on-board Analog-to-Digital Converter for the current controller’s feedback, and catching the Hall sensor input edge using the Output-Phase-Switching and Input Capture, which are performed by the on-board General PWM Timer. The second part primarily deals with messages transmission among different tasks using the Message framework, and operating the Human Machine Interface using the GUIX and Touch Panel framework. The Synergy Software Package (SSP) provides both higher level Framework and X-Ware to speed up the specific function development and lower level driver modules to interface with these hardware peripherals. Figure 2 highlights the DK-S7G2 hardware peripherals, which are used by this application, and the Table 1 shows the port summary of peripheral connections.



Figure 2 S7 Peripherals used by the HMI BLDC motor controller example

Table 1 Port Summary of peripheral connections used by the application

Schematic Part Description S7 Port Connection Pin Function J9 W-phase Hall sensor signal input Port 2 Pin 4 GTIW J9 V-phase Hall sensor signal input Port 2 Pin 5 GTIV J9 U-phase Hall sensor signal input Port 2 Pin 6 GTIU J10 W-phase(low bridge) PWM signal Port 4 Pin 8 GTOWLO J10 W-phase(up bridge) PWM signal Port 4 Pin 9 GTOWUP J10 V-phase(low bridge) PWM signal Port 4 Pin 10 GTOVLO J10 V-phase(up bridge) PWM signal Port 4 Pin 11 GTOVUP J10 U-phase(low bridge) PWM signal Port 4 Pin 12 GTOULO J10 U-phase(up bridge) PWM signal Port 4 Pin 13 GTOUUP J9 U-phase current value Port 0 Pin 8 Analog UNIT 0 CH 3 J9 V-phase current value Port 0 Pin 9 Analog UNIT 0 CH 4 J9 W-phase current value Port 0 Pin 15 Analog UNIT 0 CH 6 J102 Panel clock output Port 9 Pin 0 LCD CLOCK J102 LCD signal output (RGB565) Port 8 Pin 4 LCD DATA00 J102 LCD signal output (RGB565) Port 8 Pin 3 LCD DATA01 J102 LCD signal output (RGB565) Port 8 Pin 2 LCD DATA02 J102 LCD signal output (RGB565) Port 6 Pin 6 LCD DATA03 J102 LCD signal output (RGB565) Port 6 Pin 7 LCD DATA04 J102 LCD signal output (RGB565) Port A Pin 0 LCD DATA05 J102 LCD signal output (RGB565) Port A Pin 1 LCD DATA06 J102 LCD signal output (RGB565) Port A Pin 10 LCD DATA07 J102 LCD signal output (RGB565) Port A Pin 9 LCD DATA08 J102 LCD signal output (RGB565) Port A Pin 8 LCD DATA09 J102 LCD signal output (RGB565) Port 6 Pin 15 LCD DATA10 J102 LCD signal output (RGB565) Port 9 Pin 5 LCD DATA11 J102 LCD signal output (RGB565) Port 9 Pin 6 LCD DATA12 J102 LCD signal output (RGB565) Port 9 Pin 7 LCD DATA13



Schematic Part Description S7 Port Connection Pin Function J102 LCD signal output (RGB565) Port 9 Pin 8 LCD DATA14 J102 LCD signal output (RGB565) Port 9 Pin 1 LCD DATA15 J102 LCD_TCON0 output signal Port 3 Pin 15 LCD TCON0 J102 LCD_TCON1 output signal Port 3 Pin 14 LCD TCON1 J102 LCD_TCON2 output signal Port 3 Pin 13 LCD TCON2

4. Hardware Implementation 4.1 Hardware of Human Machine Interface The DK-S7G2 board contains a breakout board and a LCD panel which provide the hardware of Human Machine Interface. As the synergy configuration settings for Graphics LCD Controller (GLCDC) driver, the screen frame buffer is located in the SDRAM. Figure 3 shows a simple block diagram for display input and output connection.

Figure 3 Simple block diagram of display input and output connections Note: The JTAG switch 1 on DK-S7G2 should be set to ON because the SDRAM need to be used.

Figure 4 The setting of DIP switches on DK-S7G2

4.2 Hardware of Brushless DC Motor Driver For the hardware implementation of BLDC Motor driver, users can refer to the block diagram which is showed in the Figure 5. According to the functionalities, the extra hardware, which isn’t included in the DK-S7G2, can be separated to 3 parts. The first part is 3-phase MOSFET Bridge, which is driven by the 6-phase PWM signal. The second part is current sense circuit, which transfers the current value to the appropriate voltage for the ADC inputs of DK-S7G2. The third part is level shift circuit for the Hall sensor signal because the Hall sensor is typically powered by 5 Volt.



Figure 5 The block diagram of hardware implementation for Brushless DC motor driver On the other hand, when we configure the General PWM Timer I/O Control Register for the PWM waveform, we should check the MOSFET driver is active by high voltage level or low voltage level. The Figure 6 shows the MOSFET driver circuit, which is used in this application.

Figure 6 The driver for up MOSFET bridges



5. Design Overview of Synergy Project The design of this application is composed of two components. The first component is low-level motor driver, which uses Hardware Abstraction Layer (HAL) driver of Synergy Software Package (SSP) to drive the Brushless DC Motor. The second component is high-level middleware, which provides the different application features to users through the Human Machine Interface.

5.1 Application Design 5.1.1 Source Codes Application code is split between two thread entry files as well as the GUIX Event Handler thread and a custom application-defined header file. This creates robust building blocks that can easily be ported into another application (if the configuration for the thread and its modules is also copied). Figure 7 shows the layout of source code of the application project. In the user-created source files, the “bldc_on_gpt.c” is created to customize the configuration of General PWM Timer (GPT), A/D Converter (ADC) and Event Link Controller (ELC) peripherals for building the BLDC motor driver. On the other hand, the “hmi_event_handler.c” organizes the events of HMI and does the relative actions.

Figure 7 The layout of source code

5.1.2 Thread Layout As is the case with all Renesas Synergy applications, module drivers are added to threads and their properties are configured using the ISDE Configurator. The configurator is opened by double clicking on the configuration.xml file from inside the project explorer in e2 studio or clicking on the Synergy Configurator Icon in IAR EW for Synergy. The Figure 8 shows the content of the Threads configuration in the ISDE Configurator, and the Figure 9 illustrates the thread layout and the hierarchy and dependency of the modules belonging to each thread. One important thing user needs to be aware is that the module drivers, which are used to implement motor driver, need to be added in the Hardware Abstraction Layer (HAL).



Figure 8 The content of Threads in Synergy Configurator Notes: 1. Conventional design implements GUI and Touch functionality on the same thread, which is called HMI thread.

2. For more information on Synergy modules refer to the Synergy Software Package (SSP) user’s manual.

Figure 9 Thread layout and module hierarchy

5.1.3 Thread Objects In addition to core module blocks visible on the previous diagram, the application employs additional ThreadX objects such as Queues, Semaphores and Mutexes. The Message Queues are in charge of inter-thread communication service in ThreadX, so the BLDC thread and HMI thread can utilize this service to get data from each other. The Figure 10 shows the BLDC thread subscribes the “bldc_thread_message_queue”, which carries the command of motor control. The Figure 11 shows the HMI thread subscribes the “hmi_thread_message_queue”, which carries the current status of motor driver.



Figure 10 The messaging configuration of the BLDC Thread

Figure 11 The messaging configuration of the HMI Thread The semaphores can be used for mutual exclusion or the event notification. In this application, the BLDC Thread utilizes the semaphore as an event notification service. The BLDC Thread attempts to get the counting semaphore while the motor speed estimator increases the semaphore whenever the latest speed feedback is available.

Figure 12 The setting of semaphores for the BLDC thread



5.2 BLDC Thread Logic According to the concern of motor control timing, the current control algorithm, speed estimation and speed control algorithm are done in the ISRs, which are defined with the highest priority in the Hardware Abstraction Layer. Therefore, the main mission of BLDC thread is only two parts. The first part is making sure that the variables and module drivers, which are used for motor control, are initialized. The second part is dealing with the message processing. The Figure 13 shows the first part of the BLDC thread processing flow, and the Figure 14 shows the second part of the BLDC thread processing flow.

Figure 13 The first part of the BLDC Thread Processing Flow



Figure 14 The second part of the BLDC Thread Processing Flow

5.3 BLDC Motor control This section introduces the control flow of BLDC motor driver, which creates the foundation of this application. The Figure 15 shows the system operation of BLDC motor driver.

Figure 15 Control block diagram of BLDC motor driver For the speed control, there are two requirements of control loop, which are the inner current loop and the outer speed loop. In the current loop, the current command calculation is done in the ADC callback, and the six independent edge-aligned PWM signals are implemented by a GPT driver. In the speed loop, the speed estimation is implemented by an input capture driver, and the speed command calculation is done in the timer callback. The Figure 16 shows the stacks in the HAL/Common.



Figure 16 HAL/Common stacks in Synergy Configurator

Table 2 The software specification of BLDC driver

Property Value Motor Commutation Trapezoidal Drive Control PWM Setting Six independent edge-aligned PWM signals PWM Frequency 20 kHz Maximum Rotation Speed 2000 rpm Current Protection 2.5 amp

5.4 HMI Thread Logic The HMI Thread implements the GUI, Touch Panel Framework and the message processing. The message from the BLDC thread and the Touch Panel Framework will be received in a permanent loop of HMI thread. After the event class of message is determined, the event will be sent to the GUIX internal thread. Then, it will be handled by the event process of their parent window.

Figure 17 The first part of the HMI Thread Processing Flow



Figure 18 The second part of the HMI Thread Processing Flow

5.5 Application Features This section describes the features of the Human Machine Interface for the BLDC Motor control.

5.5.1 Splash Screen The splash screen is displayed after the GUIX processing is started. After several seconds, the screen switches to the Main Screen automatically.

Figure 19 Splash Screen

5.5.2 Mode Selection Screen The Mode Selection Screen is displayed when the mode selecting button is clicked in the Main Screen. In this screen, users can set the operation mode of this application, and switch back to the main screen. The functionality of each mode is described as below. For the Command Mode, users can real time change the speed command through the HMI. For the Trapezoid Tracking Mode and Triangle Tracking Mode, the motor will be operated by following the track, which is already planned.



Figure 20 Mode Selection Screen

5.5.3 Main Screen The main screen appears after the device initialization is done. According to the Figure 21, main screen consists of 4 buttons and 2 dynamic graphics. In the beginning of operation, user should click the mode setting button to set which mode you want to use. After the operation mode is set, you can go back to the main screen to continue the operation. The user scenario of each mode is listed as below.

• Command Mode:

User can use the Speed Increasing Button to adjust the speed command. The current speed of motor will be displayed through the dynamic graphic 1.

• Trapezoid Mode:

Motor follows the planning speed track, and the current speed of motor will be displayed through the dynamic graphic 1. In this mode, the Speed Increasing Button and Speed Decreasing Button are disabled.

• Triangle Tracking Mode:

Motor follows the planning speed track, and the current speed of motor will be displayed through the dynamic graphic 1. In this mode, the Speed Increasing Button and Speed Decreasing Button are disabled.

For the all operation modes, you can disable the motor operation and reset the driver by clicking the Motor Stop Button, and the display of speed command will be cleaned automatically.



Figure 21 Main Screen

6. Next Steps After you run the example application, you can learn more about how the application works and the API calls involved by examining the application source code. Also, you can adjust the PI gains of current and speed controller to get the best performance on you motor. For the additional Synergy example applications, you can download from the following URL:

https://www.renesas.com/en-us/search/keyword-search.html#genre=tooldownload&q=synergy

https://www.renesas.com/en-us/search/keyword-search.html#genre=tooldownload&q=synergy



Website and Support Support: https://synergygallery.renesas.com/support

Technical Contact Details:

• America: https://renesas.zendesk.com/anonymous_requests/new • Europe: https://www.renesas.com/en-eu/support/contact.html • Japan: https://www.renesas.com/ja-jp/support/contact.html

All trademarks and registered trademarks are the property of their respective owners.

https://synergygallery.renesas.com/support

https://renesas.zendesk.com/anonymous_requests/new

https://www.renesas.com/en-eu/support/contact.html

https://www.renesas.com/ja-jp/support/contact.html

Revision History

Rev. Date Description Page Summary

1.00 Feb 13, 2017 - Initial version

Notice1. Descriptions of circuits, software and other related information in this document are provided only to illustrate the operation of semiconductor products and application examples. You are fully responsible for

the incorporation or any other use of the circuits, software, and information in the design of your product or system. Renesas Electronics disclaims any and all liability for any losses and damages incurred by

you or third parties arising from the use of these circuits, software, or information.

2. Renesas Electronics hereby expressly disclaims any warranties against and liability for infringement or any other disputes involving patents, copyrights, or other intellectual property rights of third parties, by or

arising from the use of Renesas Electronics products or technical information described in this document, including but not limited to, the product data, drawing, chart, program, algorithm, application

examples.

3. No license, express, implied or otherwise, is granted hereby under any patents, copyrights or other intellectual property rights of Renesas Electronics or others.

4. You shall not alter, modify, copy, or otherwise misappropriate any Renesas Electronics product, whether in whole or in part. Renesas Electronics disclaims any and all liability for any losses or damages

incurred by you or third parties arising from such alteration, modification, copy or otherwise misappropriation of Renesas Electronics products.

5. Renesas Electronics products are classified according to the following two quality grades: "Standard" and "High Quality". The intended applications for each Renesas Electronics product depends on the

product’s quality grade, as indicated below.

"Standard": Computers; office equipment; communications equipment; test and measurement equipment; audio and visual equipment; home electronic appliances; machine tools; personal electronic

equipment; and industrial robots etc.

"High Quality": Transportation equipment (automobiles, trains, ships, etc.); traffic control (traffic lights); large-scale communication equipment; key financial terminal systems; safety control equipment; etc.

Renesas Electronics products are neither intended nor authorized for use in products or systems that may pose a direct threat to human life or bodily injury (artificial life support devices or systems, surgical

implantations etc.), or may cause serious property damages (space and undersea repeaters; nuclear power control systems; aircraft control systems; key plant systems; military equipment; etc.). Renesas

Electronics disclaims any and all liability for any damages or losses incurred by you or third parties arising from the use of any Renesas Electronics product for which the product is not intended by Renesas

Electronics.

6. When using the Renesas Electronics products, refer to the latest product information (data sheets, user’s manuals, application notes, "General Notes for Handling and Using Semiconductor Devices" in the

reliability handbook, etc.), and ensure that usage conditions are within the ranges specified by Renesas Electronics with respect to maximum ratings, operating power supply voltage range, heat radiation

characteristics, installation, etc. Renesas Electronics disclaims any and all liability for any malfunctions or failure or accident arising out of the use of Renesas Electronics products beyond such specified

ranges.

7. Although Renesas Electronics endeavors to improve the quality and reliability of Renesas Electronics products, semiconductor products have specific characteristics such as the occurrence of failure at a

certain rate and malfunctions under certain use conditions. Further, Renesas Electronics products are not subject to radiation resistance design. Please ensure to implement safety measures to guard them

against the possibility of bodily injury, injury or damage caused by fire, and social damage in the event of failure or malfunction of Renesas Electronics products, such as safety design for hardware and

software including but not limited to redundancy, fire control and malfunction prevention, appropriate treatment for aging degradation or any other appropriate measures by your own responsibility as warranty

for your products/system. Because the evaluation of microcomputer software alone is very difficult and not practical, please evaluate the safety of the final products or systems manufactured by you.

8. Please contact a Renesas Electronics sales office for details as to environmental matters such as the environmental compatibility of each Renesas Electronics product. Please investigate applicable laws and

regulations that regulate the inclusion or use of controlled substances, including without limitation, the EU RoHS Directive carefully and sufficiently and use Renesas Electronics products in compliance with all

these applicable laws and regulations. Renesas Electronics disclaims any and all liability for damages or losses occurring as a result of your noncompliance with applicable laws and regulations.

9. Renesas Electronics products and technologies shall not be used for or incorporated into any products or systems whose manufacture, use, or sale is prohibited under any applicable domestic or foreign laws

or regulations. You shall not use Renesas Electronics products or technologies for (1) any purpose relating to the development, design, manufacture, use, stockpiling, etc., of weapons of mass destruction,

such as nuclear weapons, chemical weapons, or biological weapons, or missiles (including unmanned aerial vehicles (UAVs)) for delivering such weapons, (2) any purpose relating to the development,

design, manufacture, or use of conventional weapons, or (3) any other purpose of disturbing international peace and security, and you shall not sell, export, lease, transfer, or release Renesas Electronics

products or technologies to any third party whether directly or indirectly with knowledge or reason to know that the third party or any other party will engage in the activities described above. When exporting,

selling, transferring, etc., Renesas Electronics products or technologies, you shall comply with any applicable export control laws and regulations promulgated and administered by the governments of the

countries asserting jurisdiction over the parties or transactions.

10. Please acknowledge and agree that you shall bear all the losses and damages which are incurred from the misuse or violation of the terms and conditions described in this document, including this notice,

and hold Renesas Electronics harmless, if such misuse or violation results from your resale or making Renesas Electronics products available any third party.

11. This document shall not be reprinted, reproduced or duplicated in any form, in whole or in part, without prior written consent of Renesas Electronics.

12. Please contact a Renesas Electronics sales office if you have any questions regarding the information contained in this document or Renesas Electronics products.

(Note 1) "Renesas Electronics" as used in this document means Renesas Electronics Corporation and also includes its majority-owned subsidiaries.

(Note 2) "Renesas Electronics product(s)" means any product developed or manufactured by or for Renesas Electronics.

http://www.renesas.comRefer to "http://www.renesas.com/" for the latest and detailed information.

Renesas Electronics America Inc.2801 Scott Boulevard Santa Clara, CA 95050-2549, U.S.A.Tel: +1-408-588-6000, Fax: +1-408-588-6130Renesas Electronics Canada Limited9251 Yonge Street, Suite 8309 Richmond Hill, Ontario Canada L4C 9T3Tel: +1-905-237-2004Renesas Electronics Europe LimitedDukes Meadow, Millboard Road, Bourne End, Buckinghamshire, SL8 5FH, U.KTel: +44-1628-585-100, Fax: +44-1628-585-900Renesas Electronics Europe GmbHArcadiastrasse 10, 40472 Düsseldorf, GermanyTel: +49-211-6503-0, Fax: +49-211-6503-1327Renesas Electronics (China) Co., Ltd.Room 1709, Quantum Plaza, No.27 ZhiChunLu Haidian District, Beijing 100191, P.R.ChinaTel: +86-10-8235-1155, Fax: +86-10-8235-7679Renesas Electronics (Shanghai) Co., Ltd.Unit 301, Tower A, Central Towers, 555 Langao Road, Putuo District, Shanghai, P. R. China 200333Tel: +86-21-2226-0888, Fax: +86-21-2226-0999Renesas Electronics Hong Kong LimitedUnit 1601-1611, 16/F., Tower 2, Grand Century Place, 193 Prince Edward Road West, Mongkok, Kowloon, Hong KongTel: +852-2265-6688, Fax: +852 2886-9022Renesas Electronics Taiwan Co., Ltd.13F, No. 363, Fu Shing North Road, Taipei 10543, TaiwanTel: +886-2-8175-9600, Fax: +886 2-8175-9670Renesas Electronics Singapore Pte. Ltd.80 Bendemeer Road, Unit #06-02 Hyflux Innovation Centre, Singapore 339949Tel: +65-6213-0200, Fax: +65-6213-0300Renesas Electronics Malaysia Sdn.Bhd.Unit 1207, Block B, Menara Amcorp, Amcorp Trade Centre, No. 18, Jln Persiaran Barat, 46050 Petaling Jaya, Selangor Darul Ehsan, MalaysiaTel: +60-3-7955-9390, Fax: +60-3-7955-9510Renesas Electronics India Pvt. Ltd.No.777C, 100 Feet Road, HAL II Stage, Indiranagar, Bangalore, IndiaTel: +91-80-67208700, Fax: +91-80-67208777Renesas Electronics Korea Co., Ltd.12F., 234 Teheran-ro, Gangnam-Gu, Seoul, 135-080, KoreaTel: +82-2-558-3737, Fax: +82-2-558-5141

SALES OFFICES

© 2017 Renesas Electronics Corporation. All rights reserved.Colophon 6.0

(Rev.3.0-1 November 2016)

Documents

HMI Brushless DC (BLDC) Motor Controller - Renesas · PDF fileHMI Brushless DC (BLDC) Motor Controller Introduction ... On the other hand, when we configure the General PWM Timer I/O