i2c poll test

empty.c

@@ -30,18 +30,16 @@
  * 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 "delay.h"
+#include "dfoc.h"
+#include "mt6701.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;
 
@@ -52,54 +50,49 @@ 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 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 uint8_t gUartRxPacket[UART_PACKET_SIZE] = {'a', 'b', 'c',
+                                                    'd', 'e', 'f'};
 
 volatile bool gCheckUART;
 
-
+void parse_uart_cmd(void) {
-
-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[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++];}
+      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
-					 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++];}
+      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 {
-			 else
-			 {
     printf((char *)"Input format error\n");
   }
 }
 
-
+int main(void) {
-
-
-
-int main(void)
-{
 
   SYSCFG_DL_init();
 
@@ -109,56 +102,47 @@ int main(void)
   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)
+  while (1) {
-    {
     // DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
     // delay_ms(10);
 
     // 开环
     // velocityopenloop(Target);
     // 闭环
-        //Set_Angle(Target);
+    Set_Angle(Target);
-				if(gCheckUART)
+    if (gCheckUART) {
-				{
       gCheckUART = false;
       parse_uart_cmd();
-					Set_Angle(Target);
+      // Set_Angle(Target);
     }
     delay_ms(10);
-
-
   }
 }
 
-
+void TIMER_0_INST_IRQHandler(void) {
-void TIMER_0_INST_IRQHandler(void)
+  switch (DL_TimerA_getPendingInterrupt(TIMER_0_INST)) {
-{
-    switch(DL_TimerA_getPendingInterrupt(TIMER_0_INST))
-    {
   case DL_TIMERG_INTERRUPT_ZERO_EVENT:
 
     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;
   }
 }
-void UART_0_INST_IRQHandler(void)
+void UART_0_INST_IRQHandler(void) {
-{
   switch (DL_UART_Main_getPendingInterrupt(UART_0_INST)) {
   case DL_UART_MAIN_IIDX_DMA_DONE_RX:
     gCheckUART = true;