/*
 * Copyright (c) 2021, Texas Instruments Incorporated
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "ti_msp_dl_config.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
int Dir = 1; //电机编码器方向

int main(void)
{
    SYSCFG_DL_init();
    NVIC_EnableIRQ(UART_0_INST_INT_IRQN);
    DL_TimerA_startCounter(PWM_0_INST);
		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);





    }
}