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

3rd/dfoc.c

@@ -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;
+}