add systick ； issue -- i2c transfer unstable

3rd/dfoc.c

@@ -12,39 +12,39 @@
 #define _1_SQRT3 	 0.57735026919f
 #define _2_SQRT3   1.15470053838f
 
-float Ua=0,Ub=0,Uc=0,Ualpha,Ubeta=0,dc_a=0,dc_b=0,dc_c=0;
+float Ua = 0, Ub = 0, Uc = 0, Ualpha, Ubeta = 0, dc_a = 0, dc_b = 0, dc_c = 0;
 float voltage_limit = 8;
 float voltage_power_supply = 0;
-float zero_electric_Angle=0.0;
+float zero_electric_Angle = 0.0;
 
 extern int pp;
 extern int Dir;
 
 void Motor_en()
 {
-//	GPIO_InitTypeDef GPIO_InitStructure;
+    //	GPIO_InitTypeDef GPIO_InitStructure;
-//	
+    //
-//	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
+    //	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
-//	
+    //
-//	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+    //	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
-//	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
+    //	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
-//	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+    //	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
-//	GPIO_Init(GPIOA,&GPIO_InitStructure);
+    //	GPIO_Init(GPIOA,&GPIO_InitStructure);
-//	
+    //
-//	GPIO_SetBits(GPIOA, GPIO_Pin_8);
+    //	GPIO_SetBits(GPIOA, GPIO_Pin_8);
 }
 
 //限制幅值
 float constrain(float amt, float low, float high)
 {
-	 return ((amt<low)?(low):((amt)>(high)?(high):(amt)));
+    return ((amt < low) ? (low) : ((amt) > (high) ? (high) : (amt)));
 }
 
 //将角度归化到0-2PI
 float normalizeAngle(float angle)
 {
-	float a = fmod(angle, 2*PI);
+    float a = fmod(angle, 2 * PI);
-	return ((a>=0) ? a : (a + 2*PI));
+    return ((a >= 0) ? a : (a + 2 * PI));
 }
 
 float electricAngle(void)
@@ -54,9 +54,9 @@ float electricAngle(void)
 
 void SetPwm(float Ua, float Ub, float Uc)
 {
-	float U_a=0.0;
+    float U_a = 0.0;
-	float U_b=0.0;
+    float U_b = 0.0;
-	float U_c=0.0;
+    float U_c = 0.0;
 
     U_a = constrain(Ua, 0.0f, voltage_limit);
     U_b = constrain(Ub, 0.0f, voltage_limit);
@@ -77,17 +77,17 @@ float test_angle = 0.0;
 float last_test_angle = 0.0;
 void SetPhaseVoltage(float Uq, float Ud, float angle_el)
 {
-//	angle_el = normalizeAngle(angle_el);
+    //	angle_el = normalizeAngle(angle_el);
     test_angle = angle_el - last_test_angle;
 
-	Ualpha = -Uq*sin(angle_el);
+    Ualpha = -Uq * sin(angle_el);
-	Ubeta = Uq*cos(angle_el);
+    Ubeta = Uq * cos(angle_el);
 
     Ua = Ualpha + voltage_power_supply / 2;
-	Ub = (sqrt(3)*Ubeta - Ualpha) / 2 + voltage_power_supply / 2;
+    Ub = (sqrt(3) * Ubeta - Ualpha) / 2 + voltage_power_supply / 2;
-	Uc = -(Ualpha + sqrt(3)*Ubeta) / 2 + voltage_power_supply / 2;
+    Uc = -(Ualpha + sqrt(3) * Ubeta) / 2 + voltage_power_supply / 2;
 
-	SetPwm(Ua,Ub,Uc);
+    SetPwm(Ua, Ub, Uc);
 
     last_test_angle = angle_el;
 }
@@ -116,7 +116,7 @@ void FOC_Init(float power)
 void Set_Angle(float Target)
 {
     float angle = GetAngle();
-	float Uq = PID_Controller(0.133, 0.01, 0, (Target - Dir*angle)*180/PI);
+    float Uq = PID_Controller(0.133, 0.01, 0, (Target - Dir * angle) * 180 / PI);
     SetPhaseVoltage(Uq, 0, electricAngle());
 }
 

3rd/lowpass_filter.c

@@ -1,11 +1,11 @@
 
 #include <stdint.h>
-
+#include <ti_msp_dl_config.h>
 
 float y = 0;
 float Lowpassfilter_sim(float x)
 {
-	float out = 0.9*x + 0.1*y;
+    float out = 0.9 * x + 0.1 * y;
     y = x;
     return out;
 }
@@ -16,15 +16,21 @@ 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)
-	else if(dt>0.005f)
+    {
+        dt = 0.0015f;
+    }
+    else if(dt > 0.005f)
     {
         Last_y = x;
         Last_Timesamp = Timesamp;

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 */
@@ -123,9 +124,9 @@ float GetAngle(void)
     volatile float Angle = GetAngle_NoTrack();
     D_Angle = Angle - Last_Angle;
 
-	if( fabs(D_Angle) > (0.8f*2*PI) )
+    if(fabs(D_Angle) > (0.8f * 2 * PI))
     {
-		full_rotations = full_rotations + ((D_Angle > 0) ? -1 :1);
+        full_rotations = full_rotations + ((D_Angle > 0) ? -1 : 1);
     }
 
     Last_Angle = Angle;
@@ -139,16 +140,25 @@ 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();
 
     float dv = Vel_Angle - Vel_Last_Angle;
 
-	float velocity = (Vel_Angle - Vel_Last_Angle)/dt;
+    float velocity = (Vel_Angle - Vel_Last_Angle) / dt;
 
     Last_Vel_ts = Vel_ts;
     Vel_Last_Angle = Vel_Angle;

3rd/pid_control.c

@@ -1,12 +1,12 @@
 #include <stdint.h>
-
+#include <ti_msp_dl_config.h>
 #define  limit            6.3
 #define  Output_ramp      10000
 
 //限幅
 float  _constrain(float amt, float low, float high)
 {
-	return ((amt<low)?(low):((amt)>(high)?(high):(amt)));
+    return ((amt < low) ? (low) : ((amt) > (high) ? (high) : (amt)));
 }
 
 unsigned long Timestamp_Last = 0.0;
@@ -16,21 +16,27 @@ 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
 
     float intergration = Last_intergration + Ki * 0.5f * Ts * Error;//I环
     intergration = _constrain(intergration, -limit, limit);
 
-	float differential = Kd * (Error - Last_Error)/Ts;//D环
+    float differential = Kd * (Error - Last_Error) / Ts; //D环
 
     float Output = proportion + intergration + differential;
     Output = _constrain(Output, -limit, limit);

3rd/pwm.c

@@ -3,17 +3,17 @@
 
 void PWM_Channel1(uint16_t Compare)
 {
-	        DL_TimerA_setCaptureCompareValue(PWM_0_INST,Compare,GPIO_PWM_0_C0_IDX);
+    DL_TimerA_setCaptureCompareValue(PWM_0_INST, Compare, GPIO_PWM_0_C0_IDX);
 }
 
 void PWM_Channel2(uint16_t Compare)
 {
-	        DL_TimerA_setCaptureCompareValue(PWM_0_INST,Compare,GPIO_PWM_0_C1_IDX);
+    DL_TimerA_setCaptureCompareValue(PWM_0_INST, Compare, GPIO_PWM_0_C1_IDX);
 }
 
 void PWM_Channel3(uint16_t Compare)
 {
-	        DL_TimerA_setCaptureCompareValue(PWM_0_INST,Compare,GPIO_PWM_0_C2_IDX);
+    DL_TimerA_setCaptureCompareValue(PWM_0_INST, Compare, GPIO_PWM_0_C2_IDX);
 }
 
 

3rd/uart_redircet.c

@@ -5,10 +5,10 @@
 
 /* ARM Compiler 6 半主机模式禁用声明 */
 #if (__ARMCC_VERSION >= 6010050)
-__asm(".global __use_no_semihosting\n\t");
+    __asm(".global __use_no_semihosting\n\t");
-__asm(".global __ARM_use_no_argv \n\t");
+    __asm(".global __ARM_use_no_argv \n\t");
 #else
-#pragma import(__use_no_semihosting)
+    #pragma import(__use_no_semihosting)
 #endif
 
 FILE __stdout;
@@ -17,7 +17,7 @@ FILE __stdout;
 void _sys_exit(int x)
 {
     x = x;
-    while (1)
+    while(1)
         ; /* 死循环防止程序异常退出 */
 }
 
@@ -25,7 +25,7 @@ void _sys_exit(int x)
 int fputc(int c, FILE *stream)
 {
     /* 等待UART发送缓冲区就绪 */
-    while (DL_UART_Main_isBusy(UART_0_INST))
+    while(DL_UART_Main_isBusy(UART_0_INST))
         ;
 
     /* 发送字符 */
@@ -37,7 +37,7 @@ int fputs(const char *restrict s, FILE *restrict stream)
 {
     uint16_t i, len;
     len = strlen(s);
-    for (i = 0; i < len; i++)
+    for(i = 0; i < len; i++)
     {
         fputc(s[i], stream);
     }

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);