From c67d13de548d47273e2d32ebd6b9c36dd87f2b9e Mon Sep 17 00:00:00 2001
From: 4x-tech <haitaoxing@hotmail.com>
Date: Wed, 12 Nov 2025 21:38:23 +0800
Subject: [PATCH] change clock to HF

---
 3rd/lowpass_filter.c |  4 ++--
 3rd/pid_control.c    |  4 ++--
 empty.syscfg         | 27 ++++++++++++++++++++++++++-
 3 files changed, 30 insertions(+), 5 deletions(-)

diff --git a/3rd/lowpass_filter.c b/3rd/lowpass_filter.c
index 8e849c3..82c95fc 100644
--- a/3rd/lowpass_filter.c
+++ b/3rd/lowpass_filter.c
@@ -19,11 +19,11 @@ float Lowpassfilter(float Tf, float x)
     uint32_t Timesamp = DL_SYSTICK_getValue();
     if(Timesamp < Last_Timesamp)
     {
-        dt = (float)(Last_Timesamp - Timesamp) / 32 * 1e-6;
+        dt = (float)(Last_Timesamp - Timesamp) / 80 * 1e-6;
     }
     else
     {
-        dt = (float)(0xFFFFFF - Timesamp + Last_Timesamp) / 32 * 1e-6;
+        dt = (float)(0xFFFFFF - Timesamp + Last_Timesamp) / 80 * 1e-6;
     }
 
     if(dt < 0.0 || dt == 0)
diff --git a/3rd/pid_control.c b/3rd/pid_control.c
index b84ed63..09793ce 100644
--- a/3rd/pid_control.c
+++ b/3rd/pid_control.c
@@ -19,11 +19,11 @@ float PID_Controller(float Kp, float Ki, float Kd, float Error)
     uint32_t Timestamp = DL_SYSTICK_getValue();
     if(Timestamp < Timestamp_Last)
     {
-        Ts = (float)(Timestamp_Last - Timestamp) / 32 * 1e-6;
+        Ts = (float)(Timestamp_Last - Timestamp) / 80 * 1e-6;
     }
     else
     {
-        Ts = (0xFFFFFF - Timestamp + Timestamp_Last) / 32 * 1e-6;
+        Ts = (0xFFFFFF - Timestamp + Timestamp_Last) / 80 * 1e-6;
     }
 
     if(Ts <= 0 || Ts > 0.05f)
diff --git a/empty.syscfg b/empty.syscfg
index 6996eca..563830e 100644
--- a/empty.syscfg
+++ b/empty.syscfg
@@ -23,9 +23,31 @@ const UART1   = UART.addInstance();
 /**
  * Write custom configuration values to the imported modules.
  */
+const divider7       = system.clockTree["PLL_PDIV"];
+divider7.divideValue = 2;
+
+const divider9       = system.clockTree["UDIV"];
+divider9.divideValue = 2;
+
 const gate7  = system.clockTree["MFCLKGATE"];
 gate7.enable = true;
 
+const multiplier2         = system.clockTree["PLL_QDIV"];
+multiplier2.multiplyValue = 4;
+
+const mux4       = system.clockTree["EXHFMUX"];
+mux4.inputSelect = "EXHFMUX_XTAL";
+
+const mux8       = system.clockTree["HSCLKMUX"];
+mux8.inputSelect = "HSCLKMUX_SYSPLL2X";
+
+const mux12       = system.clockTree["SYSPLLMUX"];
+mux12.inputSelect = "zSYSPLLMUX_HFCLK";
+
+const pinFunction4     = system.clockTree["HFXT"];
+pinFunction4.enable    = true;
+pinFunction4.inputFreq = 40;
+
 GPIO1.$name                         = "LED";
 GPIO1.associatedPins[0].$name       = "PA0";
 GPIO1.associatedPins[0].pin.$assign = "PA0";
@@ -102,4 +124,7 @@ ProjectConfig.migrationCondition = true;
  * version of the tool will not impact the pinmux you originally saw.  These lines can be completely deleted in order to
  * re-solve from scratch.
  */
-I2C1.peripheral.$suggestSolution = "I2C1";
+pinFunction4.peripheral.$suggestSolution           = "SYSCTL";
+pinFunction4.peripheral.hfxInPin.$suggestSolution  = "PA5";
+pinFunction4.peripheral.hfxOutPin.$suggestSolution = "PA6";
+I2C1.peripheral.$suggestSolution                   = "I2C1";