move to ccs based on 39cc590260f6d69837dd16740b7b8612e8935592

empty.c

@@ -0,0 +1,169 @@
+/*
+ * Copyright (c) 2021, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * 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;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+ * 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"
+#include <ctype.h>
+#include <stdlib.h>
+
+
+
+extern float angle_f;
+
+extern bool gIsI2cError;
+
+const float num_f = 0.123456f;
+
+volatile uint16_t count = 0  ;
+volatile float Target = 0; //串口目标值
+
+
+const int pp = 7; //电机极对数
+const int Dir = -1; //电机编码器方向
+
+
+#define UART_PACKET_SIZE (6)
+
+/* Data received from UART */
+volatile uint8_t gUartRxPacket[UART_PACKET_SIZE] ={'a','b','c','d','e','f'};
+
+volatile bool gCheckUART;
+
+
+
+void parse_uart_cmd(void)
+{
+		 char  num[10]={0};
+	 int i = 1; 
+   int j = 0;
+				 if(gUartRxPacket[0] == 'T' && gUartRxPacket[UART_PACKET_SIZE-1] == '\n')//数据第一位与数据的最后一位
+			 {
+					 if(gUartRxPacket[1] != '-')//接受到的数据为正数
+					 {
+						 while (gUartRxPacket[i] != '\n' && (isdigit(gUartRxPacket[i]) || gUartRxPacket[i] == '.')) {num[j++] = gUartRxPacket[i++];}
+						 Target = atof(num);
+//						 Serial_SendFloatNumber(Target,3,2);
+					 }
+					 else//接收到的数据为负数
+					 {
+						 i=2;
+						 while (gUartRxPacket[i] != '\n' && (isdigit(gUartRxPacket[i]) || gUartRxPacket[i] == '.')) {num[j++] = gUartRxPacket[i++];}
+						 Target = -(atof(num));
+//						 Serial_SendFloatNumber(Target,3,2);
+					}
+					printf("%s",gUartRxPacket);
+			 }
+			 else
+			 {
+				   printf((char *)"Input format error\n");
+			 }
+}
+
+
+
+
+
+int main(void)
+{
+	
+    SYSCFG_DL_init();
+	
+	    /* 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);
+	
+	
+    NVIC_EnableIRQ(UART_0_INST_INT_IRQN);
+    DL_TimerA_startCounter(PWM_0_INST);
+
+    NVIC_EnableIRQ(TIMER_0_INST_INT_IRQN);
+    DL_TimerG_startCounter(TIMER_0_INST);
+
+
+    FOC_Init(12.6);
+    DL_SYSTICK_resetValue();
+
+    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();
+					Set_Angle(Target);
+				}
+				delay_ms(10);
+
+
+    }
+}
+
+
+void TIMER_0_INST_IRQHandler(void)
+{
+    switch(DL_TimerA_getPendingInterrupt(TIMER_0_INST))
+    {
+        case DL_TIMERG_INTERRUPT_ZERO_EVENT:
+            
+						printf("Target is %f \n", Target);
+						//printf("%s",gUartRxPacket);
+				    DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
+
+            break;
+        default:
+            break;
+    }
+}
+void UART_0_INST_IRQHandler(void)
+{
+    switch (DL_UART_Main_getPendingInterrupt(UART_0_INST)) {
+        case DL_UART_MAIN_IIDX_DMA_DONE_RX:
+            gCheckUART = true;
+            break;
+        default:
+            break;
+    }
+}