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test soft i2c write and read passed

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This commit is contained in:
4x-tech
2025-11-18 14:37:42 +08:00
parent 73733da6dd
commit 1d75c96f74
6 changed files with 233 additions and 184 deletions
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12
3rd/delay.c
View File

@@ -1,9 +1,13 @@
#include "delay.h"
#include "ti_msp_dl_config.h"
void delay_ms(uint16_t ms)
{
while(ms--)
{
void delay_ms(uint16_t ms) {
while (ms--) {
delay_cycles(CPUCLK_FREQ / 1000);
}
}
void delay_us(uint16_t us) {
while (us--) {
delay_cycles(CPUCLK_FREQ / 1000000);
}
}

1
3rd/delay.h
View File

@@ -3,5 +3,6 @@
#include <stdint.h>
void delay_ms(uint16_t ms);
void delay_us(uint16_t us);
#endif /* ti_msp_dl_config_h */

239
3rd/mt6701.c
View File

@@ -28,129 +28,134 @@ volatile uint32_t gClockSelFreq;
volatile uint32_t gDelayCycles;
/* I2C Target address */
#define I2C_TARGET_ADDRESS (0x06)
// void MT6701_iic_read_angel(void) {
// I2C_Start();
// I2C_SendByte(I2C_TARGET_ADDRESS);
// I2C_RecviveAck();
// I2C_SendByte(0X03);
// I2C_RecviveAck();
// I2C_Start();
// I2C_SendByte(I2C_TARGET_ADDRESS | 0x01);
// I2C_RecviveAck();
// gRxPacket[0] = I2C_RecviveData();
// I2C_RecviveAck();
// I2C_Start();
// I2C_SendByte(I2C_TARGET_ADDRESS | 0x01);
// I2C_RecviveAck();
// gRxPacket[1] = I2C_RecviveData();
// I2C_SendAck(1);
// I2C_Stop();
// }
#define I2C_TARGET_ADDRESS (0x06 << 1)
void MT6701_iic_read_angel(void) {
/* Get I2C clock source and clock divider to use for delay cycle
calculation */
DL_I2C_getClockConfig(I2C_1_INST, &gI2CclockConfig);
switch (gI2CclockConfig.clockSel) {
case DL_I2C_CLOCK_BUSCLK:
gClockSelFreq = 32000000;
break;
case DL_I2C_CLOCK_MFCLK:
gClockSelFreq = 4000000;
break;
default:
break;
}
/*
* Calculate number of clock cycles to delay after controller transfer
initiated
* gDelayCycles = 3 I2C functional clock cycles
* gDelayCycles = 3 * I2C clock divider * (CPU clock freq / I2C clock
freq)
*/
gDelayCycles =
(5 * (gI2CclockConfig.divideRatio + 1)) * (CPUCLK_FREQ / gClockSelFreq);
if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
printf("i2c before writing -------\n");
}
/*
* Fill FIFO with data. This example will send a MAX of 8 bytes since it
* doesn't handle the case where FIFO is full
*/
DL_I2C_fillControllerTXFIFO(I2C_1_INST, &gTxPacket[0], I2C_TX_PACKET_SIZE);
I2C_Start();
I2C_SendByte(I2C_TARGET_ADDRESS);
I2C_RecviveAck();
I2C_SendByte(0X03);
I2C_RecviveAck();
/* Wait for I2C to be Idle */
while (
!(DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_IDLE))
;
I2C_Start();
I2C_SendByte(I2C_TARGET_ADDRESS | 0x01);
I2C_RecviveAck();
gRxPacket[0] = I2C_RecviveData();
I2C_SendAck(1);
/* Send the packet to the controller.
* This function will send Start + Stop automatically.
*/
DL_I2C_startControllerTransfer(I2C_1_INST, I2C_TARGET_ADDRESS,
DL_I2C_CONTROLLER_DIRECTION_TX,
I2C_TX_PACKET_SIZE);
if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
printf("i2c writing done -------\n");
}
/* Workaround for errata I2C_ERR_13 */
delay_cycles(gDelayCycles);
/* Poll until the Controller writes all bytes */
while (DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_BUSY)
;
/* Trap if there was an error */
if (DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_ERROR) {
gIsI2cError = true;
if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
printf("i2c error ------------------------------------------\n");
}
/* LED will remain high if there is an error */
__BKPT(0);
return;
}
/* Wait for I2C to be Idle */
while (
!(DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_IDLE))
;
/* Add delay between transfers */
delay_cycles(1000);
if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
printf("i2c before reading -------\n");
}
/* Send a read request to Target */
DL_I2C_startControllerTransfer(I2C_1_INST, I2C_TARGET_ADDRESS,
DL_I2C_CONTROLLER_DIRECTION_RX,
I2C_RX_PACKET_SIZE);
/*
* Receive all bytes from target. LED will remain high if not all bytes
* are received
*/
for (uint8_t i = 0; i < I2C_RX_PACKET_SIZE; i++) {
while (DL_I2C_isControllerRXFIFOEmpty(I2C_1_INST))
;
gRxPacket[i] = DL_I2C_receiveControllerData(I2C_1_INST);
}
if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
printf("i2c reading done -------\n");
}
I2C_Start();
I2C_SendByte(I2C_TARGET_ADDRESS | 0x01);
I2C_RecviveAck();
gRxPacket[1] = I2C_RecviveData();
I2C_SendAck(1);
I2C_Stop();
}
// void MT6701_iic_read_angel(void) {
// /* Get I2C clock source and clock divider to use for delay cycle
// calculation */
// DL_I2C_getClockConfig(I2C_1_INST, &gI2CclockConfig);
// switch (gI2CclockConfig.clockSel) {
// case DL_I2C_CLOCK_BUSCLK:
// gClockSelFreq = 32000000;
// break;
// case DL_I2C_CLOCK_MFCLK:
// gClockSelFreq = 4000000;
// break;
// default:
// break;
// }
// /*
// * Calculate number of clock cycles to delay after controller transfer
// initiated
// * gDelayCycles = 3 I2C functional clock cycles
// * gDelayCycles = 3 * I2C clock divider * (CPU clock freq / I2C clock
// freq)
// */
// gDelayCycles =
// (5 * (gI2CclockConfig.divideRatio + 1)) * (CPUCLK_FREQ /
// gClockSelFreq);
// if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
// printf("i2c before writing -------\n");
// }
// /*
// * Fill FIFO with data. This example will send a MAX of 8 bytes since it
// * doesn't handle the case where FIFO is full
// */
// DL_I2C_fillControllerTXFIFO(I2C_1_INST, &gTxPacket[0], I2C_TX_PACKET_SIZE);
// /* Wait for I2C to be Idle */
// while (
// !(DL_I2C_getControllerStatus(I2C_1_INST) &
// DL_I2C_CONTROLLER_STATUS_IDLE))
// ;
// /* Send the packet to the controller.
// * This function will send Start + Stop automatically.
// */
// DL_I2C_startControllerTransfer(I2C_1_INST, I2C_TARGET_ADDRESS,
// DL_I2C_CONTROLLER_DIRECTION_TX,
// I2C_TX_PACKET_SIZE);
// if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
// printf("i2c writing done -------\n");
// }
// /* Workaround for errata I2C_ERR_13 */
// delay_cycles(gDelayCycles);
// /* Poll until the Controller writes all bytes */
// while (DL_I2C_getControllerStatus(I2C_1_INST) &
// DL_I2C_CONTROLLER_STATUS_BUSY)
// ;
// /* Trap if there was an error */
// if (DL_I2C_getControllerStatus(I2C_1_INST) &
// DL_I2C_CONTROLLER_STATUS_ERROR) {
// gIsI2cError = true;
// if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
// printf("i2c error ------------------------------------------\n");
// }
// /* LED will remain high if there is an error */
// __BKPT(0);
// return;
// }
// /* Wait for I2C to be Idle */
// while (
// !(DL_I2C_getControllerStatus(I2C_1_INST) &
// DL_I2C_CONTROLLER_STATUS_IDLE))
// ;
// /* Add delay between transfers */
// delay_cycles(1000);
// if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
// printf("i2c before reading -------\n");
// }
// /* Send a read request to Target */
// DL_I2C_startControllerTransfer(I2C_1_INST, I2C_TARGET_ADDRESS,
// DL_I2C_CONTROLLER_DIRECTION_RX,
// I2C_RX_PACKET_SIZE);
// /*
// * Receive all bytes from target. LED will remain high if not all bytes
// * are received
// */
// for (uint8_t i = 0; i < I2C_RX_PACKET_SIZE; i++) {
// while (DL_I2C_isControllerRXFIFOEmpty(I2C_1_INST))
// ;
// gRxPacket[i] = DL_I2C_receiveControllerData(I2C_1_INST);
// }
// if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
// printf("i2c reading done -------\n");
// }
// }
volatile float Last_ts = 0.0;
volatile float last_angle = 0.0;

39
3rd/soft_i2c.c
View File

@@ -1,20 +1,46 @@
#include "soft_i2c.h"
#include "delay.h"
#include "ti_msp_dl_config.h"
#define DELAY 1
#define SDA_PIN_SHIFT 9 // if pa.8 shift8 , if pa.9 shift 9
void I2C_ENABLE_OUTPUT_SDA(void) {
DL_GPIO_initDigitalOutput(SOFT_I2C_SDA_IOMUX);
DL_GPIO_enableOutput(SOFT_I2C_PORT, SOFT_I2C_SDA_PIN);
}
void I2C_ENABLE_INPUT_SDA(void) {
DL_GPIO_disableOutput(SOFT_I2C_PORT, SOFT_I2C_SDA_PIN);
DL_GPIO_initDigitalInputFeatures(
SOFT_I2C_SDA_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
}
void I2C_W_SCL(uint8_t BitValue) {
DL_GPIO_writePinsVal(SOFT_I2C_PORT, SOFT_I2C_CLK_PIN, BitValue);
if (BitValue) {
DL_GPIO_setPins(SOFT_I2C_PORT, SOFT_I2C_CLK_PIN);
} else {
DL_GPIO_clearPins(SOFT_I2C_PORT, SOFT_I2C_CLK_PIN);
}
delay_us(DELAY);
}
void I2C_W_SDA(uint8_t BitValue) {
DL_GPIO_writePinsVal(SOFT_I2C_PORT, SOFT_I2C_SDA_PIN, BitValue);
if (BitValue) {
DL_GPIO_setPins(SOFT_I2C_PORT, SOFT_I2C_SDA_PIN);
} else {
DL_GPIO_clearPins(SOFT_I2C_PORT, SOFT_I2C_SDA_PIN);
}
delay_us(DELAY);
}
// 读取时钟线数据
uint8_t I2C_R_SDA(void) {
uint8_t BitValue;
uint32_t BitValue;
BitValue = DL_GPIO_readPins(SOFT_I2C_PORT, SOFT_I2C_SDA_PIN);
return BitValue;
return (uint8_t)(BitValue >> 9);
}
void I2C_Start(void) {
@@ -44,11 +70,13 @@ uint8_t I2C_RecviveData(void) {
uint8_t i, Byte = 0x00;
I2C_W_SDA(1);
for (i = 0; i < 8; i++) {
I2C_ENABLE_INPUT_SDA();
I2C_W_SCL(1);
if (I2C_R_SDA() == 1) {
Byte |= (0x80 >> i);
}
I2C_W_SCL(0);
I2C_ENABLE_OUTPUT_SDA();
}
return Byte;
}
@@ -64,9 +92,12 @@ uint8_t I2C_RecviveAck(void) {
uint8_t AckBit;
I2C_W_SDA(1);
I2C_ENABLE_INPUT_SDA();
I2C_W_SCL(1);
AckBit = I2C_R_SDA();
I2C_W_SCL(0);
I2C_ENABLE_OUTPUT_SDA();
return AckBit;
}

87
empty.c
View File

@@ -34,13 +34,13 @@
#include "delay.h"
#include "dfoc.h"
#include "mt6701.h"
#include "soft_i2c.h"
#include "ti_msp_dl_config.h"
#include <ctype.h>
#include <pwm.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
extern float angle_f;
extern bool gIsI2cError;
@@ -96,43 +96,70 @@ int main(void) {
SYSCFG_DL_init();
int count = 10;
while (count--) {
DL_GPIO_writePinsVal(LED_PORT, LED_PA0_PIN, 1);
delay_ms(100);
DL_GPIO_writePinsVal(LED_PORT, LED_PA0_PIN, 0);
delay_ms(100);
}
/* Configure DMA source, destination and size */
DL_DMA_setSrcAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t)(&UART_0_INST->RXDATA));
DL_DMA_setDestAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t)&gUartRxPacket[0]);
DL_DMA_setTransferSize(DMA, DMA_CH1_CHAN_ID, UART_PACKET_SIZE);
DL_DMA_enableChannel(DMA, DMA_CH1_CHAN_ID);
// DL_DMA_setSrcAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t)(&UART_0_INST->RXDATA));
// DL_DMA_setDestAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t)&gUartRxPacket[0]);
// DL_DMA_setTransferSize(DMA, DMA_CH1_CHAN_ID, UART_PACKET_SIZE);
// DL_DMA_enableChannel(DMA, DMA_CH1_CHAN_ID);
NVIC_EnableIRQ(UART_0_INST_INT_IRQN);
DL_TimerA_startCounter(PWM_0_INST);
// DL_TimerA_startCounter(PWM_0_INST);
NVIC_EnableIRQ(TIMER_0_INST_INT_IRQN);
DL_TimerG_startCounter(TIMER_0_INST);
FOC_Init(12);
DL_SYSTICK_resetValue();
// NVIC_EnableIRQ(TIMER_0_INST_INT_IRQN);
// DL_TimerG_startCounter(TIMER_0_INST);
// FOC_Init(12);
// DL_SYSTICK_resetValue();
uint32_t readback = 0xffff;
while (1) {
// DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
// delay_ms(10);
// 开环
// velocityopenloop(Target);
// 闭环
Set_Angle(Target);
if (gCheckUART) {
gCheckUART = false;
parse_uart_cmd();
I2C_Start();
I2C_SendByte(0x06 << 1);
I2C_RecviveAck();
I2C_SendByte(0x03);
I2C_RecviveAck();
I2C_Stop();
// DL_GPIO_writePinsVal(LED_PORT, LED_PA0_PIN, 1);
// readback = DL_GPIO_readPins(LED_PORT, LED_PA0_PIN);
// printf("pa 0readback is %d \n", readback);
// delay_ms(100);
// DL_GPIO_writePinsVal(LED_PORT, LED_PA0_PIN, 0);
// readback = DL_GPIO_readPins(LED_PORT, LED_PA0_PIN);
// printf("pa0 readback is %d \n", readback);
// delay_ms(100);
// DL_GPIO_disableOutput(SOFT_I2C_PORT, SOFT_I2C_CLK_PIN);
// DL_GPIO_initDigitalInputFeatures(
// SOFT_I2C_CLK_IOMUX, DL_GPIO_INVERSION_DISABLE,
// DL_GPIO_RESISTOR_PULL_UP, DL_GPIO_HYSTERESIS_DISABLE,
// DL_GPIO_WAKEUP_DISABLE);
// DL_GPIO_disableOutput(SOFT_I2C_PORT, SOFT_I2C_SDA_PIN);
// DL_GPIO_initDigitalInputFeatures(
// SOFT_I2C_SDA_IOMUX, DL_GPIO_INVERSION_DISABLE,
// DL_GPIO_RESISTOR_PULL_UP, DL_GPIO_HYSTERESIS_DISABLE,
// DL_GPIO_WAKEUP_DISABLE);
// readback =
// DL_GPIO_readPins(SOFT_I2C_PORT, SOFT_I2C_CLK_PIN | SOFT_I2C_SDA_PIN);
// printf("soft_i2c_clk readback is %x \n", readback);
// delay_ms(100);
// // DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
// // delay_ms(10);
// // 开环
// // velocityopenloop(Target);
// // 闭环
// Set_Angle(Target);
}
// delay_ms(10);
// if (gCheckUART) {
// gCheckUART = false;
// parse_uart_cmd();
// // Set_Angle(Target);
// }
// // delay_ms(10);
}
}

23
empty.syscfg
View File

@@ -29,9 +29,6 @@ const UART1 = UART.addInstance();
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;
@@ -41,14 +38,7 @@ 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.$name = "LED";
@@ -61,17 +51,11 @@ Board.peripheral.swclkPin.$assign = "PA20";
Board.peripheral.swdioPin.$assign = "PA19";
GPIO2.$name = "SOFT_I2C";
GPIO2.port = "PORTA";
GPIO2.portSegment = "Lower";
GPIO2.associatedPins.create(2);
GPIO2.associatedPins[0].initialValue = "SET";
GPIO2.associatedPins[0].$name = "CLK";
GPIO2.associatedPins[0].ioStructure = "HS";
GPIO2.associatedPins[0].pin.$assign = "PA13";
GPIO2.associatedPins[1].initialValue = "SET";
GPIO2.associatedPins[1].ioStructure = "HS";
GPIO2.associatedPins[0].pin.$assign = "PA8";
GPIO2.associatedPins[1].$name = "SDA";
GPIO2.associatedPins[1].pin.$assign = "PA14";
GPIO2.associatedPins[1].pin.$assign = "PA9";
I2C1.$name = "I2C_1";
I2C1.advAnalogGlitchFilter = "DISABLED";
@@ -153,8 +137,5 @@ ProjectConfig.migrationCondition = true;
* version of the tool will not impact the pinmux you originally saw. These lines can be completely deleted in order to
* re-solve from scratch.
*/
pinFunction4.peripheral.$suggestSolution = "SYSCTL";
pinFunction4.peripheral.hfxInPin.$suggestSolution = "PA5";
pinFunction4.peripheral.hfxOutPin.$suggestSolution = "PA6";
I2C1.peripheral.$suggestSolution = "I2C1";
UART1.DMA_CHANNEL_RX.peripheral.$suggestSolution = "DMA_CH1";