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i2c poll test

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4x-tech
2025-11-18 08:15:45 +08:00
parent 8acb95d566
commit cd2518e7fb
1 changed files with 97 additions and 113 deletions
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210
empty.c
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@@ -30,18 +30,16 @@
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * 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 "config.h"
#include "delay.h"
#include "dfoc.h"
#include "mt6701.h"
#include "ti_msp_dl_config.h"
#include <ctype.h> #include <ctype.h>
#include <pwm.h>
#include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h>
extern float angle_f; extern float angle_f;
@@ -49,121 +47,107 @@ extern bool gIsI2cError;
const float num_f = 0.123456f; const float num_f = 0.123456f;
volatile uint16_t count = 0 ; volatile uint16_t count = 0;
volatile float Target = 0; //串口目标值 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) #define UART_PACKET_SIZE (6)
/* Data received from UART */ /* 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; volatile bool gCheckUART;
void parse_uart_cmd(void) {
char num[10] = {0};
void parse_uart_cmd(void) int i = 1;
{ int j = 0;
char num[10]={0}; if (gUartRxPacket[0] == 'T' &&
int i = 1; gUartRxPacket[UART_PACKET_SIZE - 1] == '\n') // 数据第一位与数据的最后一位
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
{
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); while (gUartRxPacket[i] != '\n' &&
//delay_ms(10); (isdigit(gUartRxPacket[i]) || gUartRxPacket[i] == '.')) {
num[j++] = gUartRxPacket[i++];
//开环 }
//velocityopenloop(Target); Target = atof(num);
//闭环 // Serial_SendFloatNumber(Target,3,2);
//Set_Angle(Target); } else // 接收到的数据为负数
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: i = 2;
while (gUartRxPacket[i] != '\n' &&
printf("Target is %f \n", Target); (isdigit(gUartRxPacket[i]) || gUartRxPacket[i] == '.')) {
//printf("%s",gUartRxPacket); num[j++] = gUartRxPacket[i++];
DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN); }
Target = -(atof(num));
break; // Serial_SendFloatNumber(Target,3,2);
default:
break;
} }
printf("%s", gUartRxPacket);
} else {
printf((char *)"Input format error\n");
}
} }
void UART_0_INST_IRQHandler(void)
{ int main(void) {
switch (DL_UART_Main_getPendingInterrupt(UART_0_INST)) {
case DL_UART_MAIN_IIDX_DMA_DONE_RX: SYSCFG_DL_init();
gCheckUART = true;
break; /* Configure DMA source, destination and size */
default: DL_DMA_setSrcAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t)(&UART_0_INST->RXDATA));
break; 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);
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) {
switch (DL_UART_Main_getPendingInterrupt(UART_0_INST)) {
case DL_UART_MAIN_IIDX_DMA_DONE_RX:
gCheckUART = true;
break;
default:
break;
}
} }