add uart rx; 4 bytes cmd parse

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
+#define DEBUG_DFOC_ENABLED false
-#endif /* ti_msp_dl_config_h */
+#endif

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 langle = GetAngle();
-    volatile float Uq = PID_Controller(0.133, 0.01, 0, (Target - Dir * angle) * 180 / PI);
+    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;

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 D_Angle_rad = 0.0;
-    volatile float Angle = GetAngle_NoTrack();
+    volatile float Angle_rad = GetAngle_NoTrack();
-    D_Angle = Angle - Last_Angle;
+    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)

empty.c

@@ -38,6 +38,9 @@
 #include <string.h>
 #include <pwm.h>
 #include "config.h"
+#include <ctype.h>
+#include <stdlib.h>
+
 
 
 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;
+    }
+}

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";

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();
 }
 
 

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);