add systick ； issue -- i2c transfer unstable

3rd/lowpass_filter.c

@@ -1,6 +1,6 @@
 
 #include <stdint.h>
-
+#include <ti_msp_dl_config.h>
 
 float y = 0;
 float Lowpassfilter_sim(float x)
@@ -16,14 +16,20 @@ float Lowpassfilter(float Tf, float x)
 {
     float dt = 0.0;
 
-	//TODO
+    uint32_t Timesamp = DL_SYSTICK_getValue();
-	uint32_t Timesamp = 0;
+    if(Timesamp < Last_Timesamp)
-	//uint32_t Timestamp = SysTick->VAL;
+    {
-	if(Timesamp < Last_Timesamp) dt = (float)(Last_Timesamp - Timesamp)/9*1e-6;
+        dt = (float)(Last_Timesamp - Timesamp) / 32 * 1e-6;
+    }
     else
-		dt = (float)(0xFFFFFF - Timesamp + Last_Timesamp)/9*1e-6;
+    {
+        dt = (float)(0xFFFFFF - Timesamp + Last_Timesamp) / 32 * 1e-6;
+    }
 
-	if(dt<0.0||dt==0) dt = 0.0015f;
+    if(dt < 0.0 || dt == 0)
+    {
+        dt = 0.0015f;
+    }
     else if(dt > 0.005f)
     {
         Last_y = x;

3rd/mt6701.c

@@ -78,9 +78,10 @@ void MT6701_iic_read_angel(void)
     if(DL_I2C_getControllerStatus(I2C_1_INST) &
             DL_I2C_CONTROLLER_STATUS_ERROR)
     {
-			//printf("i2c error \n");
+        printf("i2c error --------------------------------------------------------------------------------\n");
         /* LED will remain high if there is an error */
         __BKPT(0);
+        return;
     }
 
     /* Wait for I2C to be Idle */
@@ -139,10 +140,19 @@ float GetVelocity(void)
 {
     volatile float dt = 0.0;
     volatile float Vel_ts = SysTick -> VAL;
-	if(Vel_ts < Last_Vel_ts) dt = (Last_Vel_ts - Vel_ts)/9*1e-6f;
+    if(Vel_ts < Last_Vel_ts)
-	else dt = (0xFFFFFF - Vel_ts + Last_Vel_ts)/9*1e-6f;
+    {
+        dt = (Last_Vel_ts - Vel_ts) / 9 * 1e-6f;
+    }
+    else
+    {
+        dt = (0xFFFFFF - Vel_ts + Last_Vel_ts) / 9 * 1e-6f;
+    }
 
-	if(dt < 0.0001) dt = 10000;
+    if(dt < 0.0001)
+    {
+        dt = 10000;
+    }
 
     float Vel_Angle = GetAngle();
 

3rd/pid_control.c

@@ -1,5 +1,5 @@
 #include <stdint.h>
-
+#include <ti_msp_dl_config.h>
 #define  limit            6.3
 #define  Output_ramp      10000
 
@@ -16,14 +16,20 @@ float Last_Output = 0.0;
 float PID_Controller(float Kp, float Ki, float Kd, float Error)
 {
     float Ts = 0.0;
-	//TODO
+    uint32_t Timestamp = DL_SYSTICK_getValue();
-	uint32_t Timestamp = 0;
+    if(Timestamp < Timestamp_Last)
-	//uint32_t Timestamp = SysTick->VAL;
+    {
-  if(Timestamp < Timestamp_Last) Ts = (float)(Timestamp_Last - Timestamp)/9*1e-6;
+        Ts = (float)(Timestamp_Last - Timestamp) / 32 * 1e-6;
+    }
     else
-		Ts = (0xFFFFFF - Timestamp + Timestamp_Last)/9*1e-6;
+    {
+        Ts = (0xFFFFFF - Timestamp + Timestamp_Last) / 32 * 1e-6;
+    }
 
-	if(Ts<=0 || Ts > 0.05f) Ts = 0.001;
+    if(Ts <= 0 || Ts > 0.05f)
+    {
+        Ts = 0.001;
+    }
 
     float proportion = Kp * Error;//P环
 

empty.c

@@ -45,6 +45,9 @@ const float num_f = 0.123456f;
 volatile uint16_t count = 0  ;
 
 
+int pp = 7; //电机极对数
+int Dir = 1; //电机编码器方向
+
 int main(void)
 {
     SYSCFG_DL_init();
@@ -53,10 +56,12 @@ int main(void)
     while (1) {
 			DL_GPIO_togglePins(LED_PORT,LED_PA0_PIN);
 			//MT6701_get_angle_degree();
-			delay_ms(20);
+			delay_ms(50);
 			volatile float angle_rad = GetAngle();
 			//printf("test \n");
 			printf("angle %.5f \n" , angle_rad);
+			volatile  uint32_t tick = DL_SYSTICK_getValue();
+			printf("systick is %x \n",tick);
 			
 			PWM_Channel1(count ++);
 			if(count == 750)

empty.syscfg

@@ -16,6 +16,7 @@ const I2C1   = I2C.addInstance();
 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 UART    = scripting.addModule("/ti/driverlib/UART", {}, false);
 const UART1   = UART.addInstance();
 
@@ -71,6 +72,10 @@ PWM1.ccp2PinConfig.$name        = "ti_driverlib_gpio_GPIOPinGeneric6";
 SYSCTL.forceDefaultClkConfig = true;
 SYSCTL.peripheral.$assign    = "SYSCTL";
 
+SYSTICK.periodEnable  = true;
+SYSTICK.systickEnable = true;
+SYSTICK.period        = 16000000;
+
 UART1.$name                             = "UART_0";
 UART1.rxFifoThreshold                   = "DL_UART_RX_FIFO_LEVEL_ONE_ENTRY";
 UART1.targetBaudRate                    = 115200;

keil/empty_LP_MSPM0G3507_nortos_keil.uvprojx

@@ -449,6 +449,36 @@
               <FileType>5</FileType>
               <FilePath>..\3rd\pwm.h</FilePath>
             </File>
+            <File>
+              <FileName>dfoc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\3rd\dfoc.c</FilePath>
+            </File>
+            <File>
+              <FileName>dfoc.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\3rd\dfoc.h</FilePath>
+            </File>
+            <File>
+              <FileName>lowpass_filter.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\3rd\lowpass_filter.c</FilePath>
+            </File>
+            <File>
+              <FileName>lowpass_filter.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\3rd\lowpass_filter.h</FilePath>
+            </File>
+            <File>
+              <FileName>pid_control.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\3rd\pid_control.c</FilePath>
+            </File>
+            <File>
+              <FileName>pid_control.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\3rd\pid_control.h</FilePath>
+            </File>
           </Files>
         </Group>
       </Groups>

ti_msp_dl_config.c

@@ -56,6 +56,7 @@ SYSCONFIG_WEAK void SYSCFG_DL_init(void)
     SYSCFG_DL_I2C_1_init();
     SYSCFG_DL_UART_0_init();
     SYSCFG_DL_DMA_init();
+    SYSCFG_DL_SYSTICK_init();
     /* Ensure backup structures have no valid state */
 	gPWM_0Backup.backupRdy 	= false;
 
@@ -93,12 +94,14 @@ SYSCONFIG_WEAK void SYSCFG_DL_initPower(void)
     DL_UART_Main_reset(UART_0_INST);
 
 
+
     DL_GPIO_enablePower(GPIOA);
     DL_GPIO_enablePower(GPIOB);
     DL_TimerA_enablePower(PWM_0_INST);
     DL_I2C_enablePower(I2C_1_INST);
     DL_UART_Main_enablePower(UART_0_INST);
 
+
     delay_cycles(POWER_STARTUP_DELAY);
 }
 
@@ -296,3 +299,11 @@ SYSCONFIG_WEAK void SYSCFG_DL_DMA_init(void){
 }
 
 
+SYSCONFIG_WEAK void SYSCFG_DL_SYSTICK_init(void)
+{
+    /* Initialize the period to 500.00 ms */
+    DL_SYSTICK_init(16000000);
+    /* Enable the SysTick and start counting */
+    DL_SYSTICK_enable();
+}
+

ti_msp_dl_config.h

@@ -153,6 +153,8 @@ extern "C" {
 #define LED_PA0_IOMUX                                             (IOMUX_PINCM1)
 
 
+
+
 /* clang-format on */
 
 void SYSCFG_DL_init(void);
@@ -164,6 +166,7 @@ void SYSCFG_DL_I2C_1_init(void);
 void SYSCFG_DL_UART_0_init(void);
 void SYSCFG_DL_DMA_init(void);
 
+void SYSCFG_DL_SYSTICK_init(void);
 
 bool SYSCFG_DL_saveConfiguration(void);
 bool SYSCFG_DL_restoreConfiguration(void);