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Merge branch 'feature_soft_i2c'

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This commit is contained in:
4x-tech
2025-11-18 14:54:09 +08:00
parent cd2518e7fb ffc20fb0a9
commit a924ee9b94
8 changed files with 314 additions and 191 deletions
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2
3rd/config.h
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@@ -2,6 +2,6 @@
#define CONFIG_H
#define DEBUG_ENABLED true
#define DEBUG_MT_ENABLED false
#define DEBUG_MT_ENABLED true
#define DEBUG_DFOC_ENABLED false
#endif

16
3rd/delay.c
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@@ -1,9 +1,13 @@
#include "delay.h"
#include "ti_msp_dl_config.h"
void delay_ms(uint16_t ms)
{
while(ms--)
{
delay_cycles(CPUCLK_FREQ / 1000);
}
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
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@@ -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 */

329
3rd/mt6701.c
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@@ -1,8 +1,9 @@
#include "mt6701.h"
#include "config.h"
#include "soft_i2c.h"
#include "stdio.h"
#include "ti_msp_dl_config.h"
#include "uart_redircet.h"
#include "stdio.h"
#include "config.h"
volatile int16_t angle;
volatile float angle_f;
@@ -10,13 +11,10 @@ volatile float angle_f_rad;
volatile bool gIsI2cError = false;
#define DEBUG_I2C false
#define DEBUG_I2C false
/* Data sent to the Target */
uint8_t gTxPacket[I2C_TX_PACKET_SIZE] =
{
0x03
};
uint8_t gTxPacket[I2C_TX_PACKET_SIZE] = {0x03};
/* Data received from Target */
volatile uint8_t gRxPacket[I2C_RX_PACKET_SIZE] = {0};
@@ -30,186 +28,193 @@ volatile uint32_t gClockSelFreq;
volatile uint32_t gDelayCycles;
/* I2C Target address */
#define I2C_TARGET_ADDRESS (0x06)
#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");
void MT6701_iic_read_angel(void) {
}
/*
* 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");
}
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_SendAck(1);
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;
// 单圈值
float GetAngle_NoTrack(void)
{
MT6701_iic_read_angel();
angle = ((int16_t)gRxPacket[0] << 6) | (gRxPacket[1] >> 2);
angle_f_rad = (float)angle * _2PI / 16384;
if(DEBUG_ENABLED & DEBUG_MT_ENABLED)
{
printf("angle_rad read back is %f \n", angle_f_rad);
}
return angle_f_rad;
float GetAngle_NoTrack(void) {
MT6701_iic_read_angel();
angle = ((int16_t)gRxPacket[0] << 6) | (gRxPacket[1] >> 2);
angle_f_rad = (float)angle * _2PI / 16384;
if (DEBUG_ENABLED & DEBUG_MT_ENABLED) {
printf("angle_rad read back is %f \n", angle_f_rad);
}
return angle_f_rad;
}
volatile float full_rotations = 0.0;
volatile float Last_Angle_rad = 0.0;
//多圈值
float GetAngle(void)
{
volatile float D_Angle_rad = 0.0;
volatile float Angle_rad = GetAngle_NoTrack();
D_Angle_rad = Angle_rad - Last_Angle_rad;
// 多圈值
float GetAngle(void) {
volatile float D_Angle_rad = 0.0;
volatile float Angle_rad = GetAngle_NoTrack();
D_Angle_rad = Angle_rad - Last_Angle_rad;
if(fabs(D_Angle_rad) > (0.8f * 2 * PI))
{
full_rotations = full_rotations + ((D_Angle_rad > 0) ? -1 : 1);
}
if (fabs(D_Angle_rad) > (0.8f * 2 * PI)) {
full_rotations = full_rotations + ((D_Angle_rad > 0) ? -1 : 1);
}
Last_Angle_rad = Angle_rad;
Last_Angle_rad = Angle_rad;
return (full_rotations * 2 * PI + Last_Angle_rad);
return (full_rotations * 2 * PI + Last_Angle_rad);
}
volatile float Last_Vel_ts = 0.0;
volatile float Vel_Last_Angle = 0.0;
float GetVelocity(void)
{
volatile float dt = 0.0;
volatile float Vel_ts = SysTick -> VAL;
if(Vel_ts < Last_Vel_ts)
{
dt = (Last_Vel_ts - Vel_ts) / 80 * 1e-6f;
}
else
{
dt = (0xFFFFFF - Vel_ts + Last_Vel_ts) / 80 * 1e-6f;
}
float GetVelocity(void) {
volatile float dt = 0.0;
volatile float Vel_ts = SysTick->VAL;
if (Vel_ts < Last_Vel_ts) {
dt = (Last_Vel_ts - Vel_ts) / 80 * 1e-6f;
} else {
dt = (0xFFFFFF - Vel_ts + Last_Vel_ts) / 80 * 1e-6f;
}
if(dt < 0.0001)
{
dt = 10000;
}
if (dt < 0.0001) {
dt = 10000;
}
float Vel_Angle = GetAngle();
float Vel_Angle = GetAngle();
float dv = Vel_Angle - Vel_Last_Angle;
float dv = Vel_Angle - Vel_Last_Angle;
float velocity = (Vel_Angle - Vel_Last_Angle) / dt;
float velocity = (Vel_Angle - Vel_Last_Angle) / dt;
Last_Vel_ts = Vel_ts;
Vel_Last_Angle = Vel_Angle;
Last_Vel_ts = Vel_ts;
Vel_Last_Angle = Vel_Angle;
return velocity;
return velocity;
}
void MT6701_get_angle_degree(void)
{
MT6701_iic_read_angel();
angle = ((int16_t)gRxPacket[0] << 6) | (gRxPacket[1] >> 2);
angle_f = (float)angle * 360 / 16384;
void MT6701_get_angle_degree(void) {
MT6701_iic_read_angel();
angle = ((int16_t)gRxPacket[0] << 6) | (gRxPacket[1] >> 2);
angle_f = (float)angle * 360 / 16384;
}

103
3rd/soft_i2c.c Normal file
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@@ -0,0 +1,103 @@
#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) {
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) {
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) {
uint32_t BitValue;
BitValue = DL_GPIO_readPins(SOFT_I2C_PORT, SOFT_I2C_SDA_PIN);
return (uint8_t)(BitValue >> 9);
}
void I2C_Start(void) {
I2C_W_SCL(1);
I2C_W_SDA(1);
I2C_W_SDA(0);
I2C_W_SCL(0);
}
void I2C_Stop(void) {
I2C_W_SDA(0);
I2C_W_SCL(1);
I2C_W_SDA(1);
}
void I2C_SendByte(uint8_t Byte) {
uint8_t i;
for (i = 0; i < 8; i++) {
I2C_W_SDA(Byte & (0x80 >> i));
I2C_W_SCL(1);
I2C_W_SCL(0);
}
}
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;
}
void I2C_SendAck(uint8_t AckBit) {
I2C_W_SDA(AckBit);
I2C_W_SCL(1);
I2C_W_SCL(0);
}
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;
}

15
3rd/soft_i2c.h Normal file
View File

@@ -0,0 +1,15 @@
#ifndef __SOFT_I2C_H
#define __SOFT_I2C_H
#include <stdint.h>
void I2C_W_SCL(uint8_t BitValue);
void I2C_W_SDA(uint8_t BitValue);
uint8_t I2C_R_SDA(void);
void I2C_Start(void);
void I2C_Stop(void);
void I2C_SendByte(uint8_t Byte);
uint8_t I2C_RecviveData(void);
void I2C_SendAck(uint8_t AckBit);
uint8_t I2C_RecviveAck(void);
#endif /* ti_msp_dl_config_h */

9
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;
@@ -50,8 +50,8 @@ 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
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)
@@ -134,9 +134,8 @@ void TIMER_0_INST_IRQHandler(void) {
printf("Target is %f \n", Target);
// printf("%s",gUartRxPacket);
printf("angle is %f \n", angle_f);
DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
Target = Target + 1;
break;
default:
break;

30
empty.syscfg
View File

@@ -11,6 +11,7 @@
*/
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 PWM = scripting.addModule("/ti/driverlib/PWM", {}, false);
@@ -28,9 +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;
@@ -40,14 +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.$name = "LED";
@@ -59,6 +50,13 @@ Board.peripheral.$assign = "DEBUGSS";
Board.peripheral.swclkPin.$assign = "PA20";
Board.peripheral.swdioPin.$assign = "PA19";
GPIO2.$name = "SOFT_I2C";
GPIO2.associatedPins.create(2);
GPIO2.associatedPins[0].$name = "CLK";
GPIO2.associatedPins[0].pin.$assign = "PA8";
GPIO2.associatedPins[1].$name = "SDA";
GPIO2.associatedPins[1].pin.$assign = "PA9";
I2C1.$name = "I2C_1";
I2C1.advAnalogGlitchFilter = "DISABLED";
I2C1.basicEnableController = true;
@@ -100,9 +98,9 @@ TIMER1.$name = "TIMER_0";
TIMER1.timerClkDiv = 8;
TIMER1.timerMode = "PERIODIC";
TIMER1.timerClkPrescale = 8;
TIMER1.interrupts = ["ZERO"];
TIMER1.timerClkSrc = "LFCLK";
TIMER1.timerPeriod = "1";
TIMER1.interrupts = ["ZERO"];
TIMER1.timerPeriod = "2";
TIMER1.peripheral.$assign = "TIMG0";
UART1.$name = "UART_0";
@@ -114,6 +112,7 @@ UART1.txFifoThreshold = "DL_UART_TX_FIFO_LEVEL_ONE_ENTRY";
UART1.enabledDMATXTriggers = "DL_UART_DMA_INTERRUPT_TX";
UART1.enabledInterrupts = ["DMA_DONE_RX"];
UART1.enabledDMARXTriggers = "DL_UART_DMA_INTERRUPT_RX";
UART1.interruptPriority = "1";
UART1.peripheral.$assign = "UART0";
UART1.peripheral.rxPin.$assign = "PA11";
UART1.peripheral.txPin.$assign = "PA10";
@@ -138,8 +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.$suggestSolution = "DMA_CH1";
I2C1.peripheral.$suggestSolution = "I2C1";
UART1.DMA_CHANNEL_RX.peripheral.$suggestSolution = "DMA_CH1";