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README.md
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README.md
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## Example Summary
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# FOC 电机控制工程
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Empty project using DriverLib.
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This example shows a basic empty project using DriverLib with just main file
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and SysConfig initialization.
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## 1. 工程概述
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## Peripherals & Pin Assignments
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本工程是基于 **TI MSPM0G3507** 微控制器的 **FOC（磁场定向控制）** 电机控制方案，用于驱动无刷直流电机（BLDC），实现高精度角度控制。
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|
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| Peripheral | Pin | Function |
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| --- | --- | --- |
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| SYSCTL | | |
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| DEBUGSS | PA20 | Debug Clock |
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| DEBUGSS | PA19 | Debug Data In Out |
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### 硬件平台
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- **MCU**: MSPM0G3507（MSPM0系列，Cortex-M0+内核）
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- **开发板**: LP_MSPM0G3507 LaunchPad
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- **编码器**: MT6701（磁编码器，I2C接口，14位分辨率）
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## BoosterPacks, Board Resources & Jumper Settings
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### 软件特性
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- 完整的FOC算法实现（克拉克逆变换、帕克逆变换）
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- 开环/闭环双控制模式
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- 单角度环PID控制
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- UART串口指令接收
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- 模块化代码结构
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Visit [LP_MSPM0G3507](https://www.ti.com/tool/LP-MSPM0G3507) for LaunchPad information, including user guide and hardware files.
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---
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| Pin | Peripheral | Function | LaunchPad Pin | LaunchPad Settings |
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| --- | --- | --- | --- | --- |
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| PA20 | DEBUGSS | SWCLK | N/A | <ul><li>PA20 is used by SWD during debugging<br><ul><li>`J101 15:16 ON` Connect to XDS-110 SWCLK while debugging<br><li>`J101 15:16 OFF` Disconnect from XDS-110 SWCLK if using pin in application</ul></ul> |
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| PA19 | DEBUGSS | SWDIO | N/A | <ul><li>PA19 is used by SWD during debugging<br><ul><li>`J101 13:14 ON` Connect to XDS-110 SWDIO while debugging<br><li>`J101 13:14 OFF` Disconnect from XDS-110 SWDIO if using pin in application</ul></ul> |
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## 2. 工程结构
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### Device Migration Recommendations
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This project was developed for a superset device included in the LP_MSPM0G3507 LaunchPad. Please
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visit the [CCS User's Guide](https://software-dl.ti.com/msp430/esd/MSPM0-SDK/latest/docs/english/tools/ccs_ide_guide/doc_guide/doc_guide-srcs/ccs_ide_guide.html#sysconfig-project-migration)
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for information about migrating to other MSPM0 devices.
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```
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FOC/
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├── 3rd/ # 第三方模块
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│ ├── dfoc.c/h # FOC核心算法
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│ ├── mt6701.c/h # MT6701编码器驱动
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│ ├── pid_control.c/h # PID控制器
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│ ├── pwm.c/h # PWM输出控制
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│ ├── lowpass_filter.c/h # 低通滤波器
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│ ├── uart_redircet.c/h # printf重定向
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│ ├── delay.c/h # 延时函数
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│ └── config.h # 调试配置
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├── keil/ # Keil工程文件
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│ ├── empty_LP_MSPM0G3507_nortos_keil.uvprojx
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│ ├── mspm0g3507.sct
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│ └── startup_mspm0g350x_uvision.s
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├── empty.c # 主程序入口
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├── empty.syscfg # SysConfig配置文件
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├── ti_msp_dl_config.c/h # SysConfig生成的配置代码
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└── README.md # 工程文档
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```
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### Low-Power Recommendations
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TI recommends to terminate unused pins by setting the corresponding functions to
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GPIO and configure the pins to output low or input with internal
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pullup/pulldown resistor.
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---
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SysConfig allows developers to easily configure unused pins by selecting **Board**→**Configure Unused Pins**.
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## 3. 核心模块说明
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For more information about jumper configuration to achieve low-power using the
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MSPM0 LaunchPad, please visit the [LP-MSPM0G3507 User's Guide](https://www.ti.com/lit/slau873).
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### 3.1 FOC算法 (`dfoc.c`)
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## Example Usage
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FOC核心算法实现，包含坐标变换和控制逻辑。
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Compile, load and run the example.
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**功能列表**:
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| 函数 | 功能 |
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|------|------|
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| `SetPhaseVoltage()` | 帕克逆变换 + 克拉克逆变换，计算三相电压 |
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| `SetPwm()` | 将电压转换为占空比，输出PWM |
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| `electricAngle()` | 计算电气角度 |
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| `normalizeAngle()` | 角度归一化到0~2π |
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| `constrain()` | 幅值限幅 |
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| `FOC_Init()` | FOC初始化，校准零电角度 |
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| `Set_Angle()` | 单角度环闭环控制 |
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| `velocityopenloop()` | 开环速度控制 |
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**关键参数**:
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| 参数 | 值 | 说明 |
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|------|-----|------|
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| `voltage_limit` | 8V | 输出电压限幅 |
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| `voltage_power_supply` | 12.0V | 供电电压 |
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### 3.2 编码器驱动 (`mt6701.c`)
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MT6701磁编码器驱动，通过I2C接口读取角度数据。
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**特性**:
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- 通信方式: I2C（从设备地址0x06）
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- 分辨率: 14位（16384脉冲/圈）
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- 支持单圈/多圈角度读取
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**函数列表**:
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| 函数 | 功能 |
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|------|------|
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| `MT6701_iic_read_angel()` | I2C读取原始角度数据 |
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| `GetAngle_NoTrack()` | 获取单圈角度（弧度） |
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| `GetAngle()` | 获取多圈累计角度（弧度） |
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| `GetVelocity()` | 计算角速度 |
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### 3.3 PID控制器 (`pid_control.c`)
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增量式PID控制器实现。
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**参数**:
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- Kp: 0.067（比例系数）
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- Ki: 0.01（积分系数）
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- Kd: 0（微分系数）
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- 输出限幅: ±5.0
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- 积分限幅: ±5.0
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### 3.4 PWM控制 (`pwm.c`)
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3路独立PWM输出控制。
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**配置**:
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- 定时器: TIMA0
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- 频率: 15kHz
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- 通道: 3路
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- 引脚: PA21, PA22, PB20
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### 3.5 UART重定向 (`uart_redircet.c`)
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将标准printf重定向到UART，支持串口调试输出。
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---
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## 4. 通信接口
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### 4.1 UART指令接口
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- 波特率: 115200
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- 数据位: 8位
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- 停止位: 1位
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- 校验: 无
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**指令格式**: `T+数值+\n`
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| 示例 | 说明 |
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|------|------|
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| `T1.57\n` | 设置目标角度为1.57弧度 |
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| `T-0.785\n` | 设置目标角度为-0.785弧度 |
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**接收机制**:
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- DMA方式接收6字节数据包
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- 接收完成触发中断，解析指令并更新目标角度
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### 4.2 I2C编码器接口
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- 速度: 100kHz
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- 用于读取MT6701编码器角度数据
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---
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## 5. 主程序流程
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```
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main()
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│
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├─→ SYSCFG_DL_init() // 初始化所有硬件外设
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├─→ DMA配置 // 配置UART接收DMA
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├─→ NVIC_EnableIRQ() // 使能UART和定时器中断
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├─→ DL_TimerA_startCounter() // 启动PWM定时器
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├─→ DL_TimerG_startCounter() // 启动通用定时器
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├─→ FOC_Init(12.6) // FOC初始化，校准零电角度
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│
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└─→ while(1)
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├─→ 检查gCheckUART标志
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├─→ 解析UART命令 → 更新Target
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└─→ Set_Angle(Target) // 执行闭环控制
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```
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**中断服务函数**:
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| 中断 | 功能 |
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|------|------|
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| `TIMER_0_INST_IRQHandler` | 定时器中断（调试用，LED闪烁，打印目标值） |
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| `UART_0_INST_IRQHandler` | UART DMA接收完成中断，设置接收标志 |
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---
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## 6. 关键配置参数
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### 6.1 电机参数 (`empty.c`)
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| 参数 | 值 | 说明 |
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|------|-----|------|
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| `pp` | 7 | 电机极对数 |
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| `Dir` | -1 | 电机方向（-1为反转，1为正转） |
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### 6.2 系统时钟 (`ti_msp_dl_config.h`)
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| 参数 | 值 | 说明 |
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|------|-----|------|
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| `CPUCLK_FREQ` | 32MHz | CPU系统时钟 |
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| `PWM_0_INST_CLK_FREQ` | 16MHz | PWM定时器时钟 |
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### 6.3 调试配置 (`config.h`)
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```c
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#define DEBUG_ENABLED true // 总调试开关
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#define DEBUG_MT_ENABLED false // 编码器调试输出
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#define DEBUG_DFOC_ENABLED false // FOC算法调试输出
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```
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---
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## 7. 控制模式
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### 7.1 闭环角度控制（默认）
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通过PID控制器实现精确角度定位：
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```c
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// 主循环中调用
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if(gCheckUART)
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{
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gCheckUART = false;
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parse_uart_cmd();
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Set_Angle(Target); // 闭环控制
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}
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```
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**控制流程**:
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1. 读取编码器当前角度
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2. 计算角度误差（目标角度 - 当前角度）
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3. PID控制器输出Uq电压
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4. 执行FOC变换，输出PWM
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### 7.2 开环速度控制
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直接按目标速度旋转，无位置反馈：
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```c
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// 主循环中调用（需注释掉闭环代码）
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velocityopenloop(Target);
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```
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|
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---
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## 8. 引脚分配
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### 8.1 PWM输出
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| 通道 | 引脚 | 功能 |
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|------|------|------|
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| PWM CH0 | PA21 | U相 |
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| PWM CH1 | PA22 | V相 |
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| PWM CH2 | PB20 | W相 |
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|
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### 8.2 I2C编码器
|
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|
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| 引脚 | 功能 |
|
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|------|------|
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| PB2 | I2C_SCL |
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| PB3 | I2C_SDA |
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|
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### 8.3 UART
|
||||
|
||||
| 引脚 | 功能 |
|
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|------|------|
|
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| PA10 | UART_TX |
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| PA11 | UART_RX |
|
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|
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### 8.4 其他
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||||
|
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| 引脚 | 功能 |
|
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|------|------|
|
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| PA0 | LED |
|
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| PA19 | SWDIO |
|
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| PA20 | SWCLK |
|
||||
|
||||
---
|
||||
|
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## 9. 使用方法
|
||||
|
||||
### 9.1 编译
|
||||
|
||||
使用Keil MDK打开 `keil/empty_LP_MSPM0G3507_nortos_keil.uvprojx` 工程文件，编译生成固件。
|
||||
|
||||
### 9.2 烧录
|
||||
|
||||
通过XDS-110调试器将固件烧录到LP_MSPM0G3507开发板。
|
||||
|
||||
### 9.3 调试
|
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|
||||
1. 连接串口到PA10/PA11（UART0）
|
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2. 打开串口助手，波特率设置为115200
|
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3. 发送指令格式: `T+数值+\n`，例如 `T1.57\n`
|
||||
4. 观察电机响应和串口输出
|
||||
|
||||
---
|
||||
|
||||
## 10. 代码说明
|
||||
|
||||
### 10.1 编码规范
|
||||
|
||||
- 使用C语言编写，符合C99标准
|
||||
- 变量命名: 小写+下划线（如 `voltage_limit`）
|
||||
- 函数命名: 首字母大写（如 `SetPhaseVoltage`）
|
||||
- 中文注释，便于理解
|
||||
|
||||
### 10.2 注意事项
|
||||
|
||||
1. 修改电机极对数时需同时修改 `empty.c` 中的 `pp` 参数
|
||||
2. 编码器方向不对时调整 `Dir` 参数
|
||||
3. PID参数需根据实际电机调试优化
|
||||
4. 电压参数需与实际供电电压匹配
|
||||
|
||||
---
|
||||
|
||||
## 11. 版本信息
|
||||
|
||||
| 项目 | 说明 |
|
||||
|------|------|
|
||||
| SDK版本 | MSPM0 SDK 2.07.00.05 |
|
||||
| 编译工具 | Keil MDK |
|
||||
| 目标MCU | MSPM0G3507 |
|
||||
| FOC算法 | 无传感器FOC（仅位置闭环）
|
||||
92
empty.syscfg
92
empty.syscfg
@@ -1,8 +1,8 @@
|
||||
/**
|
||||
* These arguments were used when this file was generated. They will be automatically applied on subsequent loads
|
||||
* via the GUI or CLI. Run CLI with '--help' for additional information on how to override these arguments.
|
||||
* @cliArgs --device "MSPM0G350X" --part "Default" --package "LQFP-48(PT)" --product "mspm0_sdk@2.07.00.05"
|
||||
* @v2CliArgs --device "MSPM0G3507" --package "LQFP-48(PT)" --product "mspm0_sdk@2.07.00.05"
|
||||
* @cliArgs --device "MSPM0G350X" --part "Default" --package "VQFN-32(RHB)" --product "mspm0_sdk@2.07.00.05"
|
||||
* @v2CliArgs --device "MSPM0G3507" --package "VQFN-32(RHB)" --product "mspm0_sdk@2.07.00.05"
|
||||
* @versions {"tool":"1.25.0+4268"}
|
||||
*/
|
||||
|
||||
@@ -11,16 +11,18 @@
|
||||
*/
|
||||
const GPIO = scripting.addModule("/ti/driverlib/GPIO", {}, false);
|
||||
const GPIO1 = GPIO.addInstance();
|
||||
const GPIO2 = GPIO.addInstance();
|
||||
const I2C = scripting.addModule("/ti/driverlib/I2C", {}, false);
|
||||
const I2C1 = I2C.addInstance();
|
||||
const MATHACL = scripting.addModule("/ti/driverlib/MATHACL");
|
||||
const MCAN = scripting.addModule("/ti/driverlib/MCAN", {}, false);
|
||||
const MCAN1 = MCAN.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 TIMER = scripting.addModule("/ti/driverlib/TIMER", {}, false);
|
||||
const TIMER1 = TIMER.addInstance();
|
||||
const UART = scripting.addModule("/ti/driverlib/UART", {}, false);
|
||||
const UART1 = UART.addInstance();
|
||||
|
||||
/**
|
||||
* Write custom configuration values to the imported modules.
|
||||
@@ -37,6 +39,9 @@ gate7.enable = true;
|
||||
const multiplier2 = system.clockTree["PLL_QDIV"];
|
||||
multiplier2.multiplyValue = 4;
|
||||
|
||||
const mux2 = system.clockTree["CANCLKMUX"];
|
||||
mux2.inputSelect = "CANCLKMUX_PLLCLK1_OUT";
|
||||
|
||||
const mux4 = system.clockTree["EXHFMUX"];
|
||||
mux4.inputSelect = "EXHFMUX_XTAL";
|
||||
|
||||
@@ -46,24 +51,36 @@ mux8.inputSelect = "HSCLKMUX_SYSPLL2X";
|
||||
const mux12 = system.clockTree["SYSPLLMUX"];
|
||||
mux12.inputSelect = "zSYSPLLMUX_HFCLK";
|
||||
|
||||
const pinFunction4 = system.clockTree["HFXT"];
|
||||
pinFunction4.enable = true;
|
||||
pinFunction4.inputFreq = 40;
|
||||
const pinFunction4 = system.clockTree["HFXT"];
|
||||
pinFunction4.enable = true;
|
||||
pinFunction4.inputFreq = 40;
|
||||
pinFunction4.peripheral.$assign = "SYSCTL";
|
||||
pinFunction4.peripheral.hfxInPin.$assign = "PA5";
|
||||
pinFunction4.peripheral.hfxOutPin.$assign = "PA6";
|
||||
|
||||
GPIO1.$name = "LED";
|
||||
GPIO1.associatedPins[0].$name = "PA0";
|
||||
GPIO1.associatedPins[0].pin.$assign = "PA0";
|
||||
GPIO1.$name = "GPIO_GRP_0";
|
||||
GPIO1.port = "PORTA";
|
||||
GPIO1.associatedPins[0].$name = "PIN_0";
|
||||
GPIO1.associatedPins[0].direction = "INPUT";
|
||||
GPIO1.associatedPins[0].pin.$assign = "PA14";
|
||||
|
||||
const Board = scripting.addModule("/ti/driverlib/Board", {}, false);
|
||||
Board.peripheral.$assign = "DEBUGSS";
|
||||
Board.peripheral.swclkPin.$assign = "PA20";
|
||||
Board.peripheral.swdioPin.$assign = "PA19";
|
||||
|
||||
GPIO2.$name = "GPIO_GRP_1";
|
||||
GPIO2.port = "PORTA";
|
||||
GPIO2.associatedPins[0].$name = "PIN_1";
|
||||
GPIO2.associatedPins[0].direction = "INPUT";
|
||||
GPIO2.associatedPins[0].pin.$assign = "PA15";
|
||||
|
||||
I2C1.$name = "I2C_1";
|
||||
I2C1.advAnalogGlitchFilter = "DISABLED";
|
||||
I2C1.basicEnableController = true;
|
||||
I2C1.peripheral.sdaPin.$assign = "PB3";
|
||||
I2C1.peripheral.sclPin.$assign = "PB2";
|
||||
I2C1.peripheral.$assign = "I2C1";
|
||||
I2C1.peripheral.sdaPin.$assign = "PA16";
|
||||
I2C1.peripheral.sclPin.$assign = "PA17";
|
||||
I2C1.sdaPinConfig.hideOutputInversion = scripting.forceWrite(false);
|
||||
I2C1.sdaPinConfig.onlyInternalResistor = scripting.forceWrite(false);
|
||||
I2C1.sdaPinConfig.passedPeripheralType = scripting.forceWrite("Digital");
|
||||
@@ -73,6 +90,13 @@ I2C1.sclPinConfig.onlyInternalResistor = scripting.forceWrite(false);
|
||||
I2C1.sclPinConfig.passedPeripheralType = scripting.forceWrite("Digital");
|
||||
I2C1.sclPinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric3";
|
||||
|
||||
MCAN1.$name = "MCAN0";
|
||||
MCAN1.peripheral.$assign = "CANFD0";
|
||||
MCAN1.peripheral.rxPin.$assign = "PA27";
|
||||
MCAN1.peripheral.txPin.$assign = "PA26";
|
||||
MCAN1.txPinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric7";
|
||||
MCAN1.rxPinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric8";
|
||||
|
||||
PWM1.$name = "PWM_0";
|
||||
PWM1.ccIndex = [0,1,2];
|
||||
PWM1.clockDivider = 2;
|
||||
@@ -83,14 +107,14 @@ PWM1.PWM_CHANNEL_1.$name = "ti_driverlib_pwm_PWMTimerCC1";
|
||||
PWM1.ccp0PinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric4";
|
||||
PWM1.ccp1PinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric5";
|
||||
PWM1.peripheral.$assign = "TIMA0";
|
||||
PWM1.peripheral.ccp0Pin.$assign = "PA21";
|
||||
PWM1.peripheral.ccp1Pin.$assign = "PA22";
|
||||
PWM1.peripheral.ccp2Pin.$assign = "PB20";
|
||||
PWM1.peripheral.ccp0Pin.$assign = "PA8";
|
||||
PWM1.peripheral.ccp1Pin.$assign = "PA9";
|
||||
PWM1.peripheral.ccp2Pin.$assign = "PA10";
|
||||
PWM1.PWM_CHANNEL_2.$name = "ti_driverlib_pwm_PWMTimerCC2";
|
||||
PWM1.ccp2PinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric6";
|
||||
|
||||
SYSCTL.forceDefaultClkConfig = true;
|
||||
SYSCTL.peripheral.$assign = "SYSCTL";
|
||||
SYSCTL.clockTreeEn = true;
|
||||
|
||||
SYSTICK.periodEnable = true;
|
||||
SYSTICK.systickEnable = true;
|
||||
@@ -105,41 +129,5 @@ TIMER1.timerClkSrc = "LFCLK";
|
||||
TIMER1.timerPeriod = "1";
|
||||
TIMER1.peripheral.$assign = "TIMG0";
|
||||
|
||||
UART1.$name = "UART_0";
|
||||
UART1.rxFifoThreshold = "DL_UART_RX_FIFO_LEVEL_ONE_ENTRY";
|
||||
UART1.targetBaudRate = 115200;
|
||||
UART1.uartClkDiv = "8";
|
||||
UART1.enableFIFO = true;
|
||||
UART1.txFifoThreshold = "DL_UART_TX_FIFO_LEVEL_ONE_ENTRY";
|
||||
UART1.enabledDMATXTriggers = "DL_UART_DMA_INTERRUPT_TX";
|
||||
UART1.enabledInterrupts = ["DMA_DONE_RX"];
|
||||
UART1.enabledDMARXTriggers = "DL_UART_DMA_INTERRUPT_RX";
|
||||
UART1.peripheral.$assign = "UART0";
|
||||
UART1.peripheral.rxPin.$assign = "PA11";
|
||||
UART1.peripheral.txPin.$assign = "PA10";
|
||||
UART1.txPinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric0";
|
||||
UART1.rxPinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric1";
|
||||
UART1.DMA_CHANNEL_TX.$name = "DMA_CH0";
|
||||
UART1.DMA_CHANNEL_TX.addressMode = "b2f";
|
||||
UART1.DMA_CHANNEL_TX.srcLength = "BYTE";
|
||||
UART1.DMA_CHANNEL_TX.dstLength = "BYTE";
|
||||
UART1.DMA_CHANNEL_TX.peripheral.$assign = "DMA_CH0";
|
||||
UART1.DMA_CHANNEL_RX.$name = "DMA_CH1";
|
||||
UART1.DMA_CHANNEL_RX.addressMode = "f2b";
|
||||
UART1.DMA_CHANNEL_RX.srcLength = "BYTE";
|
||||
UART1.DMA_CHANNEL_RX.dstLength = "BYTE";
|
||||
UART1.DMA_CHANNEL_RX.transferMode = "FULL_CH_REPEAT_SINGLE";
|
||||
|
||||
const ProjectConfig = scripting.addModule("/ti/project_config/ProjectConfig", {}, false);
|
||||
ProjectConfig.migrationCondition = true;
|
||||
|
||||
/**
|
||||
* Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
|
||||
* 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.
|
||||
*/
|
||||
pinFunction4.peripheral.$suggestSolution = "SYSCTL";
|
||||
pinFunction4.peripheral.hfxInPin.$suggestSolution = "PA5";
|
||||
pinFunction4.peripheral.hfxOutPin.$suggestSolution = "PA6";
|
||||
I2C1.peripheral.$suggestSolution = "I2C1";
|
||||
UART1.DMA_CHANNEL_RX.peripheral.$suggestSolution = "DMA_CH1";
|
||||
|
||||
Reference in New Issue
Block a user