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add config.h ; try to OpenLoop control, not passed

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4x-tech
2025-11-13 15:16:24 +08:00
parent c67d13de54
commit ab6d7c0dd9
9 changed files with 133 additions and 35 deletions
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7
3rd/config.h Normal file
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@@ -0,0 +1,7 @@
#ifndef CONFIG_H
#define CONFIG_H
#define DEBUG_ENABLED true
#define DEBUG_MT_ENABLED false
#define DEBUG_DFOC true
#endif /* ti_msp_dl_config_h */

53
3rd/dfoc.c
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@@ -1,11 +1,14 @@
#include <stdlib.h>
#include <stdio.h>
#include "pwm.h"
#include "mt6701.h"
#include "delay.h"
#include "lowpass_filter.h"
#include "pid_control.h"
#include <math.h>
#include <ti_msp_dl_config.h>
#include "config.h"
#define PI 3.14159265359f
#define _3PI_2 4.71238898f
@@ -20,6 +23,8 @@ float zero_electric_Angle = 0.0;
extern int pp;
extern int Dir;
void Motor_en()
{
// GPIO_InitTypeDef GPIO_InitStructure;
@@ -66,9 +71,16 @@ void SetPwm(float Ua, float Ub, float Uc)
dc_b = constrain(U_b / voltage_power_supply, 0.0f, 1.0f);
dc_c = constrain(U_c / voltage_power_supply, 0.0f, 1.0f);
PWM_Channel1(dc_a * 4800.0f); // 频率15k
PWM_Channel2(dc_b * 4800.0f);
PWM_Channel3(dc_c * 4800.0f);
PWM_Channel1(dc_a * 1000.0f); // 频率15k
PWM_Channel2(dc_b * 1000.0f);
PWM_Channel3(dc_c * 1000.0f);
if(DEBUG_ENABLED & DEBUG_DFOC)
{
printf("dc_a %f \n", dc_a);
printf("dc_b %f \n", dc_b);
printf("dc_c %f \n", dc_c);
}
}
@@ -120,7 +132,40 @@ void Set_Angle(float Target)
SetPhaseVoltage(Uq, 0, electricAngle());
}
double shaft_angle;
double openloop_timestamp;
float velocityopenloop(float target)
{
float Uq = 0.0;
double Ts = 0.0;
uint32_t now_ts = DL_SYSTICK_getValue();
if(now_ts < openloop_timestamp)
{
Ts = (openloop_timestamp - now_ts) / 32.0f * 1e-6f;
}
else
{
Ts = (0xFFFFFF - now_ts + openloop_timestamp) / 32.0f * 1e-6f;
}
if(Ts < 0 || Ts >= 0.005)
{
Ts = 0.001f;
}
shaft_angle = normalizeAngle(shaft_angle + pp * target * Ts);
Uq = voltage_limit;
SetPhaseVoltage(Uq, 0, shaft_angle);
openloop_timestamp = now_ts;
return Uq;
}

1
3rd/dfoc.h
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@@ -11,6 +11,7 @@ void FOC_Init(float power);
float electricAngle(void);
float GetCommand(void);
void Set_Angle(float Target);
float velocityopenloop(float target);

37
3rd/mt6701.c
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@@ -2,10 +2,14 @@
#include "ti_msp_dl_config.h"
#include "uart_redircet.h"
#include "stdio.h"
#include "config.h"
volatile int16_t angle;
volatile float angle_f;
volatile float angle_f_rad;
volatile bool gIsI2cError = false;
/* Data sent to the Target */
uint8_t gTxPacket[I2C_TX_PACKET_SIZE] =
{
@@ -13,7 +17,7 @@ uint8_t gTxPacket[I2C_TX_PACKET_SIZE] =
};
/* Data received from Target */
volatile uint8_t gRxPacket[I2C_RX_PACKET_SIZE];
volatile uint8_t gRxPacket[I2C_RX_PACKET_SIZE] = {0};
/* I2C clock configuration */
DL_I2C_ClockConfig gI2CclockConfig;
@@ -46,8 +50,13 @@ void MT6701_iic_read_angel(void)
* gDelayCycles = 3 I2C functional clock cycles
* gDelayCycles = 3 * I2C clock divider * (CPU clock freq / I2C clock freq)
*/
gDelayCycles = (3 * (gI2CclockConfig.divideRatio + 1)) *
gDelayCycles = (5 * (gI2CclockConfig.divideRatio + 1)) *
(CPUCLK_FREQ / gClockSelFreq);
if(DEBUG_ENABLED & DEBUG_MT_ENABLED)
{
printf("i2c before writing -------\n");
}
/*
* Fill FIFO with data. This example will send a MAX of 8 bytes since it
@@ -66,6 +75,11 @@ 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)
{
printf("i2c writing done -------\n");
}
/* Workaround for errata I2C_ERR_13 */
delay_cycles(gDelayCycles);
@@ -78,7 +92,12 @@ void MT6701_iic_read_angel(void)
if(DL_I2C_getControllerStatus(I2C_1_INST) &
DL_I2C_CONTROLLER_STATUS_ERROR)
{
printf("i2c error --------------------------------------------------------------------------------\n");
gIsI2cError = true;
if(DEBUG_ENABLED & DEBUG_MT_ENABLED)
{
printf("i2c error ------------------------------------------\n");
}
/* LED will remain high if there is an error */
__BKPT(0);
return;
@@ -92,6 +111,11 @@ void MT6701_iic_read_angel(void)
/* Add delay between transfers */
delay_cycles(1000);
if(DEBUG_ENABLED & DEBUG_MT_ENABLED)
{
printf("i2c before reading -------\n");
}
/* Send a read request to Target */
DL_I2C_startControllerTransfer(I2C_1_INST, I2C_TARGET_ADDRESS,
DL_I2C_CONTROLLER_DIRECTION_RX, I2C_RX_PACKET_SIZE);
@@ -106,6 +130,13 @@ void MT6701_iic_read_angel(void)
;
gRxPacket[i] = DL_I2C_receiveControllerData(I2C_1_INST);
}
if(DEBUG_ENABLED & DEBUG_MT_ENABLED)
{
printf("i2c reading done -------\n");
}
}
volatile float Last_ts = 0.0;
volatile float last_angle = 0.0;

44
empty.c
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@@ -31,18 +31,23 @@
*/
#include "ti_msp_dl_config.h"
#include "Delay.h"
#include "MT6701.h"
#include "delay.h"
#include "mt6701.h"
#include "dfoc.h"
#include <stdio.h>
#include <string.h>
#include <pwm.h>
#include "config.h"
extern float angle_f;
extern bool gIsI2cError;
const float num_f = 0.123456f;
volatile uint16_t count = 0 ;
const float Target = 10.0; //串口目标值
int pp = 7; //电机极对数
@@ -53,20 +58,25 @@ int main(void)
SYSCFG_DL_init();
NVIC_EnableIRQ(UART_0_INST_INT_IRQN);
DL_TimerA_startCounter(PWM_0_INST);
while (1) {
DL_GPIO_togglePins(LED_PORT,LED_PA0_PIN);
//MT6701_get_angle_degree();
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)
count = 0;
FOC_Init(12);
while(1)
{
DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
//delay_ms(10);
volatile float angle_rad = GetAngle();
if(DEBUG_ENABLED)
{
printf("angle %.5f \n", angle_rad);
}
// volatile uint32_t tick = DL_SYSTICK_getValue();
// printf("systick is %x \n",tick);
velocityopenloop(Target);
}
}

7
empty.syscfg
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@@ -60,7 +60,6 @@ Board.peripheral.swdioPin.$assign = "PA19";
I2C1.$name = "I2C_1";
I2C1.advAnalogGlitchFilter = "DISABLED";
I2C1.basicEnableController = true;
I2C1.basicControllerStandardBusSpeed = "Fast";
I2C1.peripheral.sdaPin.$assign = "PB3";
I2C1.peripheral.sclPin.$assign = "PB2";
I2C1.sdaPinConfig.hideOutputInversion = scripting.forceWrite(false);
@@ -78,9 +77,9 @@ PWM1.clockDivider = 2;
PWM1.timerCount = 2000;
PWM1.pwmMode = "CENTER_ALIGN";
PWM1.PWM_CHANNEL_0.$name = "ti_driverlib_pwm_PWMTimerCC0";
PWM1.PWM_CHANNEL_0.dutyCycle = 25;
PWM1.PWM_CHANNEL_0.ccValue = 1000;
PWM1.PWM_CHANNEL_1.$name = "ti_driverlib_pwm_PWMTimerCC1";
PWM1.PWM_CHANNEL_1.dutyCycle = 50;
PWM1.PWM_CHANNEL_1.ccValue = 1000;
PWM1.ccp0PinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric4";
PWM1.ccp1PinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric5";
PWM1.peripheral.$assign = "TIMA0";
@@ -88,7 +87,7 @@ PWM1.peripheral.ccp0Pin.$assign = "PA21";
PWM1.peripheral.ccp1Pin.$assign = "PA22";
PWM1.peripheral.ccp2Pin.$assign = "PB20";
PWM1.PWM_CHANNEL_2.$name = "ti_driverlib_pwm_PWMTimerCC2";
PWM1.PWM_CHANNEL_2.dutyCycle = 75;
PWM1.PWM_CHANNEL_2.ccValue = 1000;
PWM1.ccp2PinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric6";
SYSCTL.forceDefaultClkConfig = true;

7
keil/empty_LP_MSPM0G3507_nortos_keil.uvprojx
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@@ -314,7 +314,7 @@
</ArmAdsMisc>
<Cads>
<interw>1</interw>
<Optim>3</Optim>
<Optim>1</Optim>
<oTime>0</oTime>
<SplitLS>0</SplitLS>
<OneElfS>1</OneElfS>
@@ -479,6 +479,11 @@
<FileType>5</FileType>
<FilePath>..\3rd\pid_control.h</FilePath>
</File>
<File>
<FileName>config.h</FileName>
<FileType>5</FileType>
<FilePath>..\3rd\config.h</FilePath>
</File>
</Files>
</Group>
</Groups>

10
ti_msp_dl_config.c
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@@ -189,21 +189,21 @@ SYSCONFIG_WEAK void SYSCFG_DL_PWM_0_init(void) {
DL_TIMERA_CAPTURE_COMPARE_0_INDEX);
DL_TimerA_setCaptCompUpdateMethod(PWM_0_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERA_CAPTURE_COMPARE_0_INDEX);
DL_TimerA_setCaptureCompareValue(PWM_0_INST, 750, DL_TIMER_CC_0_INDEX);
DL_TimerA_setCaptureCompareValue(PWM_0_INST, 1000, DL_TIMER_CC_0_INDEX);
DL_TimerA_setCaptureCompareOutCtl(PWM_0_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW,
DL_TIMER_CC_OCTL_INV_OUT_DISABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL,
DL_TIMERA_CAPTURE_COMPARE_1_INDEX);
DL_TimerA_setCaptCompUpdateMethod(PWM_0_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERA_CAPTURE_COMPARE_1_INDEX);
DL_TimerA_setCaptureCompareValue(PWM_0_INST, 500, DL_TIMER_CC_1_INDEX);
DL_TimerA_setCaptureCompareValue(PWM_0_INST, 1000, DL_TIMER_CC_1_INDEX);
DL_TimerA_setCaptureCompareOutCtl(PWM_0_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW,
DL_TIMER_CC_OCTL_INV_OUT_DISABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL,
DL_TIMERA_CAPTURE_COMPARE_2_INDEX);
DL_TimerA_setCaptCompUpdateMethod(PWM_0_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERA_CAPTURE_COMPARE_2_INDEX);
DL_TimerA_setCaptureCompareValue(PWM_0_INST, 250, DL_TIMER_CC_2_INDEX);
DL_TimerA_setCaptureCompareValue(PWM_0_INST, 1000, DL_TIMER_CC_2_INDEX);
DL_TimerA_enableClock(PWM_0_INST);
@@ -228,8 +228,8 @@ SYSCONFIG_WEAK void SYSCFG_DL_I2C_1_init(void) {
/* Configure Controller Mode */
DL_I2C_resetControllerTransfer(I2C_1_INST);
/* Set frequency to 400000 Hz*/
DL_I2C_setTimerPeriod(I2C_1_INST, 7);
/* Set frequency to 100000 Hz*/
DL_I2C_setTimerPeriod(I2C_1_INST, 31);
DL_I2C_setControllerTXFIFOThreshold(I2C_1_INST, DL_I2C_TX_FIFO_LEVEL_EMPTY);
DL_I2C_setControllerRXFIFOThreshold(I2C_1_INST, DL_I2C_RX_FIFO_LEVEL_BYTES_1);
DL_I2C_enableControllerClockStretching(I2C_1_INST);

2
ti_msp_dl_config.h
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@@ -108,7 +108,7 @@ extern "C" {
#define I2C_1_INST I2C1
#define I2C_1_INST_IRQHandler I2C1_IRQHandler
#define I2C_1_INST_INT_IRQN I2C1_INT_IRQn
#define I2C_1_BUS_SPEED_HZ 400000
#define I2C_1_BUS_SPEED_HZ 100000
#define GPIO_I2C_1_SDA_PORT GPIOB
#define GPIO_I2C_1_SDA_PIN DL_GPIO_PIN_3
#define GPIO_I2C_1_IOMUX_SDA (IOMUX_PINCM16)