91 lines
2.6 KiB
C
91 lines
2.6 KiB
C
/*
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* Copyright (c) 2021, Texas Instruments Incorporated
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* * Neither the name of Texas Instruments Incorporated nor the names of
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* its contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "ti_msp_dl_config.h"
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#include "delay.h"
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#include "mt6701.h"
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#include "dfoc.h"
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#include <stdio.h>
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#include <string.h>
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#include <pwm.h>
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#include "config.h"
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extern float angle_f;
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extern bool gIsI2cError;
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const float num_f = 0.123456f;
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volatile uint16_t count = 0 ;
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const float Target = 10; //串口目标值
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const int pp = 7; //电机极对数
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const int Dir = -1; //电机编码器方向
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int main(void)
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{
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SYSCFG_DL_init();
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NVIC_EnableIRQ(UART_0_INST_INT_IRQN);
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DL_TimerA_startCounter(PWM_0_INST);
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FOC_Init(12.6);
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DL_SYSTICK_resetValue();
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while(1)
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{
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DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
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//delay_ms(10);
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if(DEBUG_ENABLED)
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{
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//volatile float angle_rad = GetAngle();
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//printf("angle %.5f \n", angle_rad);
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}
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if(DEBUG_ENABLED)
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{
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volatile uint32_t tick = DL_SYSTICK_getValue();
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//printf("systick is %x \n",tick);
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}
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//开环
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//velocityopenloop(Target);
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//闭环
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Set_Angle(Target);
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}
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}
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