From 6de9d53e1c42a585db335fb5ff6020016479bd08 Mon Sep 17 00:00:00 2001 From: 4x-tech Date: Mon, 17 Nov 2025 10:13:18 +0800 Subject: [PATCH] add uart rx; 4 bytes cmd parse --- 3rd/config.h | 6 +-- 3rd/dfoc.c | 25 ++++++---- 3rd/mt6701.c | 39 ++++++++++------ empty.c | 111 ++++++++++++++++++++++++++++++++++++++------- empty.syscfg | 22 +++++++-- ti_msp_dl_config.c | 67 ++++++++++++++++++++++++++- ti_msp_dl_config.h | 14 +++++- 7 files changed, 237 insertions(+), 47 deletions(-) diff --git a/3rd/config.h b/3rd/config.h index 008b8a9..e6fc993 100644 --- a/3rd/config.h +++ b/3rd/config.h @@ -1,7 +1,7 @@ #ifndef CONFIG_H #define CONFIG_H -#define DEBUG_ENABLED true +#define DEBUG_ENABLED false #define DEBUG_MT_ENABLED false -#define DEBUG_DFOC false -#endif /* ti_msp_dl_config_h */ \ No newline at end of file +#define DEBUG_DFOC_ENABLED false +#endif \ No newline at end of file diff --git a/3rd/dfoc.c b/3rd/dfoc.c index 0e5f566..26c287e 100644 --- a/3rd/dfoc.c +++ b/3rd/dfoc.c @@ -16,7 +16,7 @@ #define _2_SQRT3 1.15470053838f volatile float Ua = 0, Ub = 0, Uc = 0, Ualpha, Ubeta = 0, dc_a = 0, dc_b = 0, dc_c = 0; -const float voltage_limit = 12; +const float voltage_limit = 8; const float voltage_power_supply = 12.0f; volatile float zero_electric_Angle = 0.0; @@ -66,7 +66,7 @@ void SetPwm(float Ua, float Ub, float Uc) U_a = constrain(Ua, 0.0f, voltage_limit); U_b = constrain(Ub, 0.0f, voltage_limit); U_c = constrain(Uc, 0.0f, voltage_limit); - //printf("Ua : %f -- Ub : %f -- Uc : %f -- U_a : %f -- U_b : %f -- U_c : %f \n",Ua,Ub,Uc,U_a,U_b,U_c); + //printf("Ua : %f -- Ub : %f -- Uc : %f -- U_a : %f -- U_b : %f -- U_c : %f \n",Ua,Ub,Uc,U_a,U_b,U_c); dc_a = constrain(U_a / voltage_power_supply, 0.0f, 1.0f); dc_b = constrain(U_b / voltage_power_supply, 0.0f, 1.0f); dc_c = constrain(U_c / voltage_power_supply, 0.0f, 1.0f); @@ -96,8 +96,8 @@ void SetPhaseVoltage(float Uq, float Ud, float angle_el) SetPwm(Ua, Ub, Uc); - - + + last_test_angle = angle_el; } @@ -124,8 +124,17 @@ void FOC_Init(float power) // 单角度环 void Set_Angle(float Target) { - volatile float angle = GetAngle(); - volatile float Uq = PID_Controller(0.133, 0.01, 0, (Target - Dir * angle) * 180 / PI); + volatile float langle = GetAngle(); + if(DEBUG_ENABLED & DEBUG_DFOC_ENABLED) + { + printf("angle readback in dfoc.c is %f \n", langle); + } + volatile float Uq = PID_Controller(0.133, 0.01, 0, (Target - Dir * langle) * 180 / PI); + //volatile float Uq = PID_Controller(0.06, 0, 0, (Target - Dir * langle) * 180 / PI); + if(DEBUG_ENABLED) + { + printf("Uq is %f \n", Uq); + } SetPhaseVoltage(Uq, 0, electricAngle()); } @@ -157,14 +166,14 @@ float velocityopenloop(float target) if(DEBUG_ENABLED) { - //printf("shaft_angle : %f -- target : %f -- Ts : %f",shaft_angle,target,Ts); + //printf("shaft_angle : %f -- target : %f -- Ts : %f \n",shaft_angle,target,Ts); } Uq = voltage_limit; SetPhaseVoltage(Uq, 0, shaft_angle); - printf("shaft_angle : %f \n",shaft_angle); + printf("shaft_angle : %f \n", shaft_angle); openloop_timestamp = now_ts; return Uq; diff --git a/3rd/mt6701.c b/3rd/mt6701.c index 2ba1df4..01a5a85 100644 --- a/3rd/mt6701.c +++ b/3rd/mt6701.c @@ -10,6 +10,8 @@ volatile float angle_f_rad; volatile bool gIsI2cError = false; +#define DEBUG_I2C false + /* Data sent to the Target */ uint8_t gTxPacket[I2C_TX_PACKET_SIZE] = { @@ -52,7 +54,7 @@ void MT6701_iic_read_angel(void) */ gDelayCycles = (5 * (gI2CclockConfig.divideRatio + 1)) * (CPUCLK_FREQ / gClockSelFreq); - if(DEBUG_ENABLED & DEBUG_MT_ENABLED) + if(DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) { printf("i2c before writing -------\n"); @@ -75,7 +77,7 @@ void MT6701_iic_read_angel(void) DL_I2C_startControllerTransfer(I2C_1_INST, I2C_TARGET_ADDRESS, DL_I2C_CONTROLLER_DIRECTION_TX, I2C_TX_PACKET_SIZE); - if(DEBUG_ENABLED & DEBUG_MT_ENABLED) + if(DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) { printf("i2c writing done -------\n"); } @@ -94,7 +96,7 @@ void MT6701_iic_read_angel(void) { gIsI2cError = true; - if(DEBUG_ENABLED & DEBUG_MT_ENABLED) + if(DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) { printf("i2c error ------------------------------------------\n"); } @@ -111,7 +113,7 @@ void MT6701_iic_read_angel(void) /* Add delay between transfers */ delay_cycles(1000); - if(DEBUG_ENABLED & DEBUG_MT_ENABLED) + if(DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) { printf("i2c before reading -------\n"); } @@ -131,7 +133,7 @@ void MT6701_iic_read_angel(void) gRxPacket[i] = DL_I2C_receiveControllerData(I2C_1_INST); } - if(DEBUG_ENABLED & DEBUG_MT_ENABLED) + if(DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) { printf("i2c reading done -------\n"); } @@ -140,29 +142,36 @@ void MT6701_iic_read_angel(void) } volatile float Last_ts = 0.0; volatile float last_angle = 0.0; + +// 单圈值 float GetAngle_NoTrack(void) { MT6701_iic_read_angel(); angle = ((int16_t)gRxPacket[0] << 6) | (gRxPacket[1] >> 2); angle_f_rad = (float)angle * _2PI / 16384; + if(DEBUG_ENABLED & DEBUG_MT_ENABLED) + { + printf("angle_rad read back is %f \n", angle_f_rad); + } return angle_f_rad; } volatile float full_rotations = 0.0; -volatile float Last_Angle = 0.0; +volatile float Last_Angle_rad = 0.0; +//多圈值 float GetAngle(void) { - volatile float D_Angle = 0.0; - volatile float Angle = GetAngle_NoTrack(); - D_Angle = Angle - Last_Angle; + volatile float D_Angle_rad = 0.0; + volatile float Angle_rad = GetAngle_NoTrack(); + D_Angle_rad = Angle_rad - Last_Angle_rad; - if(fabs(D_Angle) > (0.8f * 2 * PI)) + if(fabs(D_Angle_rad) > (0.8f * 2 * PI)) { - full_rotations = full_rotations + ((D_Angle > 0) ? -1 : 1); + full_rotations = full_rotations + ((D_Angle_rad > 0) ? -1 : 1); } - Last_Angle = Angle; + Last_Angle_rad = Angle_rad; - return (full_rotations * 2 * PI + Last_Angle); + return (full_rotations * 2 * PI + Last_Angle_rad); } volatile float Last_Vel_ts = 0.0; @@ -173,11 +182,11 @@ float GetVelocity(void) volatile float Vel_ts = SysTick -> VAL; if(Vel_ts < Last_Vel_ts) { - dt = (Last_Vel_ts - Vel_ts) / 9 * 1e-6f; + dt = (Last_Vel_ts - Vel_ts) / 80 * 1e-6f; } else { - dt = (0xFFFFFF - Vel_ts + Last_Vel_ts) / 9 * 1e-6f; + dt = (0xFFFFFF - Vel_ts + Last_Vel_ts) / 80 * 1e-6f; } if(dt < 0.0001) diff --git a/empty.c b/empty.c index ba8b589..db274f8 100644 --- a/empty.c +++ b/empty.c @@ -38,6 +38,9 @@ #include #include #include "config.h" +#include +#include + extern float angle_f; @@ -47,44 +50,120 @@ extern bool gIsI2cError; const float num_f = 0.123456f; volatile uint16_t count = 0 ; -const float Target = 10; //串口目标值 +volatile float Target = 0; //串口目标值 const int pp = 7; //电机极对数 -const int Dir = -1; //电机编码器方向 +const int Dir = 1; //电机编码器方向 + + +#define UART_PACKET_SIZE (4) + +/* Data received from UART */ +volatile uint8_t gUartRxPacket[UART_PACKET_SIZE] ={'a','b','c','d'}; + +volatile bool gCheckUART; + + + +void parse_uart_cmd(void) +{ + char num[10]={0}; + int i = 1; + int j = 0; + if(gUartRxPacket[0] == 'T' && gUartRxPacket[UART_PACKET_SIZE-1] == '\n')//数据第一位与数据的最后一位 + { + if(gUartRxPacket[1] != '-')//接受到的数据为正数 + { + while (gUartRxPacket[i] != '\n' && (isdigit(gUartRxPacket[i]) || gUartRxPacket[i] == '.')) {num[j++] = gUartRxPacket[i++];} + Target = atof(num); +// Serial_SendFloatNumber(Target,3,2); + } + else//接收到的数据为负数 + { + i=2; + while (gUartRxPacket[i] != '\n' && (isdigit(gUartRxPacket[i]) || gUartRxPacket[i] == '.')) {num[j++] = gUartRxPacket[i++];} + Target = -(atof(num)); +// Serial_SendFloatNumber(Target,3,2); + } + printf("%s",gUartRxPacket); + } + else + { + printf((char *)"Input format error\n"); + } +} + + + + int main(void) { + SYSCFG_DL_init(); + + /* Configure DMA source, destination and size */ + DL_DMA_setSrcAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t)(&UART_0_INST->RXDATA)); + DL_DMA_setDestAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t) &gUartRxPacket[0]); + DL_DMA_setTransferSize(DMA, DMA_CH1_CHAN_ID, UART_PACKET_SIZE); + DL_DMA_enableChannel(DMA, DMA_CH1_CHAN_ID); + + NVIC_EnableIRQ(UART_0_INST_INT_IRQN); DL_TimerA_startCounter(PWM_0_INST); + + NVIC_EnableIRQ(TIMER_0_INST_INT_IRQN); + DL_TimerG_startCounter(TIMER_0_INST); + + FOC_Init(12.6); DL_SYSTICK_resetValue(); while(1) { - DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN); + //DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN); //delay_ms(10); - if(DEBUG_ENABLED) - { - //volatile float angle_rad = GetAngle(); - //printf("angle %.5f \n", angle_rad); - } - if(DEBUG_ENABLED) - { - volatile uint32_t tick = DL_SYSTICK_getValue(); - //printf("systick is %x \n",tick); - } //开环 //velocityopenloop(Target); //闭环 - Set_Angle(Target); - - + //Set_Angle(Target); + if(gCheckUART) + { + gCheckUART = false; + parse_uart_cmd(); + Set_Angle(Target); + } + //delay_ms(10); } } +void TIMER_0_INST_IRQHandler(void) +{ + switch(DL_TimerA_getPendingInterrupt(TIMER_0_INST)) + { + case DL_TIMERG_INTERRUPT_ZERO_EVENT: + + printf("Target is %f \n", Target); + //printf("%s",gUartRxPacket); + DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN); + + break; + default: + break; + } +} +void UART_0_INST_IRQHandler(void) +{ + switch (DL_UART_Main_getPendingInterrupt(UART_0_INST)) { + case DL_UART_MAIN_IIDX_DMA_DONE_RX: + gCheckUART = true; + break; + default: + break; + } +} diff --git a/empty.syscfg b/empty.syscfg index 9589d56..fa56caf 100644 --- a/empty.syscfg +++ b/empty.syscfg @@ -17,6 +17,8 @@ const PWM = scripting.addModule("/ti/driverlib/PWM", {}, false); const PWM1 = PWM.addInstance(); const SYSCTL = scripting.addModule("/ti/driverlib/SYSCTL"); const SYSTICK = scripting.addModule("/ti/driverlib/SYSTICK"); +const TIMER = scripting.addModule("/ti/driverlib/TIMER", {}, false); +const TIMER1 = TIMER.addInstance(); const UART = scripting.addModule("/ti/driverlib/UART", {}, false); const UART1 = UART.addInstance(); @@ -77,9 +79,7 @@ PWM1.clockDivider = 2; PWM1.timerCount = 2000; PWM1.pwmMode = "CENTER_ALIGN"; PWM1.PWM_CHANNEL_0.$name = "ti_driverlib_pwm_PWMTimerCC0"; -PWM1.PWM_CHANNEL_0.ccValue = 1000; PWM1.PWM_CHANNEL_1.$name = "ti_driverlib_pwm_PWMTimerCC1"; -PWM1.PWM_CHANNEL_1.ccValue = 1000; PWM1.ccp0PinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric4"; PWM1.ccp1PinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric5"; PWM1.peripheral.$assign = "TIMA0"; @@ -87,7 +87,6 @@ PWM1.peripheral.ccp0Pin.$assign = "PA21"; PWM1.peripheral.ccp1Pin.$assign = "PA22"; PWM1.peripheral.ccp2Pin.$assign = "PB20"; PWM1.PWM_CHANNEL_2.$name = "ti_driverlib_pwm_PWMTimerCC2"; -PWM1.PWM_CHANNEL_2.ccValue = 1000; PWM1.ccp2PinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric6"; SYSCTL.forceDefaultClkConfig = true; @@ -97,6 +96,15 @@ SYSTICK.periodEnable = true; SYSTICK.systickEnable = true; SYSTICK.period = 16000000; +TIMER1.$name = "TIMER_0"; +TIMER1.timerClkDiv = 8; +TIMER1.timerMode = "PERIODIC"; +TIMER1.timerClkPrescale = 8; +TIMER1.interrupts = ["ZERO"]; +TIMER1.timerClkSrc = "LFCLK"; +TIMER1.timerPeriod = "1"; +TIMER1.peripheral.$assign = "TIMG0"; + UART1.$name = "UART_0"; UART1.rxFifoThreshold = "DL_UART_RX_FIFO_LEVEL_ONE_ENTRY"; UART1.targetBaudRate = 115200; @@ -104,6 +112,8 @@ UART1.uartClkDiv = "8"; UART1.enableFIFO = true; UART1.txFifoThreshold = "DL_UART_TX_FIFO_LEVEL_ONE_ENTRY"; UART1.enabledDMATXTriggers = "DL_UART_DMA_INTERRUPT_TX"; +UART1.enabledInterrupts = ["DMA_DONE_RX"]; +UART1.enabledDMARXTriggers = "DL_UART_DMA_INTERRUPT_RX"; UART1.peripheral.$assign = "UART0"; UART1.peripheral.rxPin.$assign = "PA11"; UART1.peripheral.txPin.$assign = "PA10"; @@ -114,6 +124,11 @@ UART1.DMA_CHANNEL_TX.addressMode = "b2f"; UART1.DMA_CHANNEL_TX.srcLength = "BYTE"; UART1.DMA_CHANNEL_TX.dstLength = "BYTE"; UART1.DMA_CHANNEL_TX.peripheral.$assign = "DMA_CH0"; +UART1.DMA_CHANNEL_RX.$name = "DMA_CH1"; +UART1.DMA_CHANNEL_RX.addressMode = "f2b"; +UART1.DMA_CHANNEL_RX.srcLength = "BYTE"; +UART1.DMA_CHANNEL_RX.dstLength = "BYTE"; +UART1.DMA_CHANNEL_RX.transferMode = "FULL_CH_REPEAT_SINGLE"; const ProjectConfig = scripting.addModule("/ti/project_config/ProjectConfig", {}, false); ProjectConfig.migrationCondition = true; @@ -127,3 +142,4 @@ pinFunction4.peripheral.$suggestSolution = "SYSCTL"; pinFunction4.peripheral.hfxInPin.$suggestSolution = "PA5"; pinFunction4.peripheral.hfxOutPin.$suggestSolution = "PA6"; I2C1.peripheral.$suggestSolution = "I2C1"; +UART1.DMA_CHANNEL_RX.peripheral.$suggestSolution = "DMA_CH1"; diff --git a/ti_msp_dl_config.c b/ti_msp_dl_config.c index 576c47b..fb77f75 100644 --- a/ti_msp_dl_config.c +++ b/ti_msp_dl_config.c @@ -53,6 +53,7 @@ SYSCONFIG_WEAK void SYSCFG_DL_init(void) /* Module-Specific Initializations*/ SYSCFG_DL_SYSCTL_init(); SYSCFG_DL_PWM_0_init(); + SYSCFG_DL_TIMER_0_init(); SYSCFG_DL_I2C_1_init(); SYSCFG_DL_UART_0_init(); SYSCFG_DL_DMA_init(); @@ -61,6 +62,7 @@ SYSCONFIG_WEAK void SYSCFG_DL_init(void) gPWM_0Backup.backupRdy = false; + } /* * User should take care to save and restore register configuration in application. @@ -90,6 +92,7 @@ SYSCONFIG_WEAK void SYSCFG_DL_initPower(void) DL_GPIO_reset(GPIOA); DL_GPIO_reset(GPIOB); DL_TimerA_reset(PWM_0_INST); + DL_TimerG_reset(TIMER_0_INST); DL_I2C_reset(I2C_1_INST); DL_UART_Main_reset(UART_0_INST); @@ -98,6 +101,7 @@ SYSCONFIG_WEAK void SYSCFG_DL_initPower(void) DL_GPIO_enablePower(GPIOA); DL_GPIO_enablePower(GPIOB); DL_TimerA_enablePower(PWM_0_INST); + DL_TimerG_enablePower(TIMER_0_INST); DL_I2C_enablePower(I2C_1_INST); DL_UART_Main_enablePower(UART_0_INST); @@ -212,6 +216,45 @@ SYSCONFIG_WEAK void SYSCFG_DL_PWM_0_init(void) { DL_TimerA_setCCPDirection(PWM_0_INST , DL_TIMER_CC0_OUTPUT | DL_TIMER_CC1_OUTPUT | DL_TIMER_CC2_OUTPUT ); +} + + + +/* + * Timer clock configuration to be sourced by LFCLK / (4096 Hz) + * timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1))) + * 512 Hz = 4096 Hz / (8 * (7 + 1)) + */ +static const DL_TimerG_ClockConfig gTIMER_0ClockConfig = { + .clockSel = DL_TIMER_CLOCK_LFCLK, + .divideRatio = DL_TIMER_CLOCK_DIVIDE_8, + .prescale = 7U, +}; + +/* + * Timer load value (where the counter starts from) is calculated as (timerPeriod * timerClockFreq) - 1 + * TIMER_0_INST_LOAD_VALUE = (1 * 512 Hz) - 1 + */ +static const DL_TimerG_TimerConfig gTIMER_0TimerConfig = { + .period = TIMER_0_INST_LOAD_VALUE, + .timerMode = DL_TIMER_TIMER_MODE_PERIODIC, + .startTimer = DL_TIMER_STOP, +}; + +SYSCONFIG_WEAK void SYSCFG_DL_TIMER_0_init(void) { + + DL_TimerG_setClockConfig(TIMER_0_INST, + (DL_TimerG_ClockConfig *) &gTIMER_0ClockConfig); + + DL_TimerG_initTimerMode(TIMER_0_INST, + (DL_TimerG_TimerConfig *) &gTIMER_0TimerConfig); + DL_TimerG_enableInterrupt(TIMER_0_INST , DL_TIMERG_INTERRUPT_ZERO_EVENT); + DL_TimerG_enableClock(TIMER_0_INST); + + + + + } @@ -269,6 +312,12 @@ SYSCONFIG_WEAK void SYSCFG_DL_UART_0_init(void) DL_UART_Main_setBaudRateDivisor(UART_0_INST, UART_0_IBRD_4_MHZ_115200_BAUD, UART_0_FBRD_4_MHZ_115200_BAUD); + /* Configure Interrupts */ + DL_UART_Main_enableInterrupt(UART_0_INST, + DL_UART_MAIN_INTERRUPT_DMA_DONE_RX); + + /* Configure DMA Receive Event */ + DL_UART_Main_enableDMAReceiveEvent(UART_0_INST, DL_UART_DMA_INTERRUPT_RX); /* Configure DMA Transmit Event */ DL_UART_Main_enableDMATransmitEvent(UART_0_INST); /* Configure FIFOs */ @@ -286,7 +335,7 @@ static const DL_DMA_Config gDMA_CH0Config = { .srcIncrement = DL_DMA_ADDR_INCREMENT, .destWidth = DL_DMA_WIDTH_BYTE, .srcWidth = DL_DMA_WIDTH_BYTE, - .trigger = UART_0_INST_DMA_TRIGGER, + .trigger = UART_0_INST_DMA_TRIGGER_0, .triggerType = DL_DMA_TRIGGER_TYPE_EXTERNAL, }; @@ -294,8 +343,24 @@ SYSCONFIG_WEAK void SYSCFG_DL_DMA_CH0_init(void) { DL_DMA_initChannel(DMA, DMA_CH0_CHAN_ID , (DL_DMA_Config *) &gDMA_CH0Config); } +static const DL_DMA_Config gDMA_CH1Config = { + .transferMode = DL_DMA_FULL_CH_REPEAT_SINGLE_TRANSFER_MODE, + .extendedMode = DL_DMA_NORMAL_MODE, + .destIncrement = DL_DMA_ADDR_INCREMENT, + .srcIncrement = DL_DMA_ADDR_UNCHANGED, + .destWidth = DL_DMA_WIDTH_BYTE, + .srcWidth = DL_DMA_WIDTH_BYTE, + .trigger = UART_0_INST_DMA_TRIGGER_1, + .triggerType = DL_DMA_TRIGGER_TYPE_EXTERNAL, +}; + +SYSCONFIG_WEAK void SYSCFG_DL_DMA_CH1_init(void) +{ + DL_DMA_initChannel(DMA, DMA_CH1_CHAN_ID , (DL_DMA_Config *) &gDMA_CH1Config); +} SYSCONFIG_WEAK void SYSCFG_DL_DMA_init(void){ SYSCFG_DL_DMA_CH0_init(); + SYSCFG_DL_DMA_CH1_init(); } diff --git a/ti_msp_dl_config.h b/ti_msp_dl_config.h index a061114..653db5c 100644 --- a/ti_msp_dl_config.h +++ b/ti_msp_dl_config.h @@ -103,6 +103,14 @@ extern "C" { +/* Defines for TIMER_0 */ +#define TIMER_0_INST (TIMG0) +#define TIMER_0_INST_IRQHandler TIMG0_IRQHandler +#define TIMER_0_INST_INT_IRQN (TIMG0_INT_IRQn) +#define TIMER_0_INST_LOAD_VALUE (511U) + + + /* Defines for I2C_1 */ #define I2C_1_INST I2C1 @@ -142,7 +150,10 @@ extern "C" { /* Defines for DMA_CH0 */ #define DMA_CH0_CHAN_ID (0) -#define UART_0_INST_DMA_TRIGGER (DMA_UART0_TX_TRIG) +#define UART_0_INST_DMA_TRIGGER_0 (DMA_UART0_TX_TRIG) +/* Defines for DMA_CH1 */ +#define DMA_CH1_CHAN_ID (1) +#define UART_0_INST_DMA_TRIGGER_1 (DMA_UART0_RX_TRIG) /* Port definition for Pin Group LED */ @@ -162,6 +173,7 @@ void SYSCFG_DL_initPower(void); void SYSCFG_DL_GPIO_init(void); void SYSCFG_DL_SYSCTL_init(void); void SYSCFG_DL_PWM_0_init(void); +void SYSCFG_DL_TIMER_0_init(void); void SYSCFG_DL_I2C_1_init(void); void SYSCFG_DL_UART_0_init(void); void SYSCFG_DL_DMA_init(void);