The processor includes many other capabilities that could be useful for network-connected motor control, such as built-in security features.

ADVANCED PWM FOR MOTOR CONTROL

The i.MX RT1060’s enhanced FlexPWM (eFlexPWM) module is specifically designed
for motor control and power conversion applications.

The module provides:

Four PWM submodules, each capable of controlling one half-bridge power stage

16-bit resolution for precise duty cycle control

Maximum PWM frequency of 150 MHz

Hardware deadtime insertion with programmable delays

Fault channel support with programmable polarity and filtering

Multiple submodule synchronization options for three-phase control

Each submodule offers a complementary pair of PWM outputs

Independent or synchronized timebase operation between submodules

These capabilities make the platform particularly well-suited for implementing sophisticated motor control algorithms like FOC, with the precise timing control and protection features needed for reliable operation in industrial environments.

NXP i.MX RT1060 EVAL KIT SETUP

The i.MX RT1060 eval kit provides access to all the key features we discussed earlier, including the enhanced FlexPWM modules, communication interfaces, and real-time processing capabilities.

Key features of the kit include:

Arduino-compatible headers for connecting motor driver shields

CAN interface for industrial networking

Ethernet port for remote monitoring and control

USB cable for power and programming

To get started:

1. Connect the board to your computer using the USB cable
2. If using a motor driver shield, attach it to the Arduino-compatible headers
3. Configure the board’s boot mode selection switch for your development needs
4. Set up your development environment by downloading the necessary software and tools from NXP’s website

MOTOR CONTROL SOFTWARE WITH ZEPHYR

Once the board is ready to go, set up your Zephyr development environment. Zephyr provides built-in support for the i.MX RT1060, making it straightforward to access the hardware features we need.

These following code samples show the first steps for building a motor control system.
Other steps would typically involve:

1. Implementing the complete FOC algorithm
2. Setting up feedback sensors for position/speed
3. Establishing your communication protocol for control and monitoring
4. Adding safety features and fault handling

In the following code, note that the Zephyr RTOS handles all the low-level hardware initialization and provides a clean API for accessing the i.MX RT1060’s features.

PWM CONFIGURATION

FOC enables precise torque management and efficient operation across a wide range of speeds by controlling the motor’s magnetic field with real-time adjustments to current phase and amplitude.

Zephyr’s real-time capabilities make it well-suited for FOC implementations, ensuring smooth and responsive motor control. Below is a code snippet demonstrating the setup of a PWM signal in Zephyr.

#include <zephyr.h>
#include <drivers/pwm.h>
#define PVM_DEVICE "PWM_0"
#define PVM_CHANNEL 0

void motor_control_task(void) {
const struct device *pum_dev = device_get_binding (PWM_DEVICE);
while (true) <
     pwm_pin_set_usec(pum_dev, PWM_CHANNEL, period, pulse_with,
     PUM_POLARITY _NORMAL);

     K_ sleep(K_MSEC(10));

     }
}

K_ THREAD_DEFINE(motor_control, STACK_SIZE, motor_control_task, NULL, NULL,
NULL, PRIORITY, 0, 0);

CAN COMMUNICATION SETUP

The i.MX RT1060 EVK excels in CAN communication with its integrated FlexCAN modules, offering support for both classic CAN and CAN FD. This flexibility enables higher data throughput, essential for complex industrial networks where multiple devices communicate simultaneously.

Unlike many development kits, the i.MX RT1060 includes built-in CAN transceivers, simplifying the design and reducing the need for additional components, making it an ideal solution for real-time motor control and automation systems.

For industrial networking via CAN:

#include <zephyr.h>
#include ‹drivers/can.h>
#define CAN_DEVICE "CAN_1"
void can_init (void) {
     const struct device *can_dev =
device_get_binding(CAN_DEVICE);
     struct zcan_frame msg;
     msg.id_type = CAN_STANDARD_IDENTIFIER;
     msg.rtr = CAN_DATAFRAME;
     msg.id = 0x123;
     msg.dic = 2U;|
     msg.data[0] = 0xAB;
     msg.data[1] = 0xCD;
     can_send (can_dev, &msg, K_MSEC(100), NULL, NULL) ;
}

K_THREAD_DEFINE(can_thread, STACK_SIZE, can_init, NULL,
NULL, NULL, PRIORITY, 0, 0);

ETHERNET COMMUNICATION SETUP

The Ethernet capabilities of the i.MX RT1060 stand out with its Gigabit Ethernet controller, delivering high-speed, low-latency communication. This is a critical feature for industrial loT applications that require real-time data transmission to remote dashboards or servers.

Notably, the kit supports Time-Sensitive Networking (TSN) standards, ensuring precise handling of time-critical data like motor feedback or sensor updates, making it a robust choice for integrating into modern industrial Ethernet networks.

#include <zephyr.h>
#include <net/socket.h›
#define SERVER_ADDR "192.168.1.100"
#define SERVER_PORT 8080

void ethernet_task(void) ( struct sockaddr_in addr;
int sock = socket (AF_INET, SOCK_STREAM, IPPROTO_TCP) ;
addr-sin_family = AF_INET;
addr. sin_port = htons (SERVER_PORT) ;
inet_pton (AF_INET, SERVER_ADDR, &addr. sin_addr) ;
connect(sock, (struct sockaddr *)&addr, sizeof(addr) );
     while (true) {
          char msg[] = "Motor status: 0K\n";
          send(sock, msg, sizeof(msg), 0);
          k_sleep(K_SECONDS(1)) ;
     }
}
K_THREAD_DEFINE (eth_thread, STACK_SIZE, ethernet_task, NULL, NULL, NULL, PRIORITY,
0, 8):

KEY TAKEAWAYS

The NXP i.MX RT1060, combined with Zephyr RTOS, offers a powerful platform for industrial motor control applications. This solution stands out for several key reasons:

Hardware Capabilities

Software Advantages

Development Experience

In short, the NXP i.MX RT1060 EVK, integrated with Zephyr OS, is a powerful and flexible platform for developing an advanced industrial motor control and monitoring system.

RESOURCES