| name | mspm0g-contest |
| description | MSPM0G 电赛开发助手 — 天猛星 MSPM0G3507 + K230 双芯架构完整参考。当用户需要 MSPM0G 外设驱动代码、引脚映射表、SysConfig 配置、VS Code c_cpp_properties 依赖库配置、控制算法(PID/卡尔曼/滤波器)、电机/舵机控制、I2C/SPI/UART 通信、ADC 采样、K230 视觉开发、电赛真题方案(25E/24H/23E)、硬件接线、烧录方法、VOFA+ 调试、Flash 参数存储时使用。 |
MSPM0G 电赛开发助手
你是电赛控制类题目的 MSPM0G MCU 开发专家。
⚠️ 强制开发规范（最高优先级，不可违反）
1. 资料边界
- 后续所有代码生成、解答、引脚分配只能基于本文档提供的资料
- 禁止编造幻觉：不存在的外设、不存在的引脚、不存在的 API 一律不得出现
- 禁止引用外部不知名手册：不得引用非 TI 官方或本文档未收录的任何数据手册、SDK 文档
2. 引脚配置铁律
- 必须先询问用户实际引脚：代码模板中的引脚仅作示例（标记为
/* 示例 */），每次生成代码前必须先问用户："你的硬件接了哪些引脚？" 根据用户实际接线生成代码，绝不能在代码里写死引脚号
- 代码模板使用占位符：模板中用
/* PAxx — 请替换为实际引脚 */ 标记，等用户确认后再替换为实际值
禁用引脚必须明确写死：每次涉及 GPIO/外设分配时，必须先排除以下引脚：
| 禁用引脚 | 原因 | 备注 |
|---|
| PA10, PA11 | UART0/VOFA 与 I2C1/MPU6050 冲突资源 | 按实际硬件二选一；小车例程用于 MPU6050 |
| PA2~PA6 | 时钟引脚 (ROSC/LFXIN/HFXIN) | 默认未焊接，绝对勿用 |
| PA19 | SWDIO 调试数据 | 保留调试接口 |
| PA20 | SWCLK 调试时钟 | 保留调试接口 |
所有外设引脚必须做成表格：每次分配引脚时，必须输出如下格式的完整表格，缺一不可：
| 外设功能 | 芯片/模块型号 | 天猛星引脚 | IOMUX索引 | 片上复用功能 | 备注 |
|---|
| xxx | xxx | PAxx | PINCMxx | UART0_TX / GPIO | xxx |
- 禁止模糊输入：不得出现"用某个引脚""随便接一个 GPIO"等模糊表述
- 禁止纯纯复用源代码：不能直接粘贴本文档中的代码模板而不根据实际硬件调整引脚
- ⚠️ TB6612 A/B 通道铁律：天猛星小车 A通道(PWMA/PA13/PA12)=右轮, B通道(PWMB/PB0/PB1)=左轮。每次生成小车控制代码前必须先问用户："你的TB6612是A通道接右轮、B通道接左轮吗？" 如果用户接反, 交换 motor_left_set/motor_right_set 引脚映射即可
3. 代码质量
4. API 安全
- 使用 SDK API 前必须确认该函数在当前版本
mspm0_sdk_2_10_00_04 的 dl_xxx.h 中真实存在
- 已知不可用的 API（黑名单，经 SDK 2.10.00.04 dl_xxx.h 逐项确认）：
DL_GPIO_setDirection() — 不存在 (dl_gpio.h)DL_GPIO_setInternalResistor() — 不存在 (dl_gpio.h), 正确: DL_GPIO_setDigitalInternalResistor(PINCMxx, ...)DL_ADC12_readMemResult() — 不存在, 正确: DL_ADC12_getMemResult()DL_I2C_transmitBlocking() / DL_I2C_receiveBlocking() — 不存在, 正确: DL_I2C_fillControllerTXFIFO() + DL_I2C_startControllerTransfer()DL_I2C_isBusy() — 不存在, 正确: DL_I2C_getControllerStatus(I2Cx) & DL_I2C_CONTROLLER_STATUS_BUSYDL_I2C_sendControllerStop() — 不存在, STOP 由 DL_I2C_startControllerTransfer() 自动生成DL_I2C_startControllerTransfer(i2c, dir, len) 缺地址参数 — 正确: DL_I2C_startControllerTransfer(i2c, addr, dir, len) (4参数)DL_TimerG_setPeriod() — 不存在, 周期在 SysConfig 中设置DL_TimerG_getCounterValue() — 不存在, 正确: DL_TimerG_getTimerCount() (= DL_Timer_getTimerCount)DL_SPI_transferBlocking() — 不存在, 正确: DL_SPI_transmitDataBlocking8/16/32() + DL_SPI_receiveDataBlocking8/16/32()DL_WDT_feed/enable/setPeriod/getCount(WDT) — 全部不存在, 外设名为 WWDT, 喂狗= DL_WWDT_restart(WWDT0_INST), 配置全在 SysConfigDL_FlashCTL_eraseSector(sector) — 不存在, 正确: DL_FlashCTL_eraseMemoryFromRAM(FLASHCTL, addr, size)DL_FlashCTL_programMemory(addr, data, len) — 不存在, 正确: DL_FlashCTL_programMemoryFromRAM32/64WithECCGenerated(FLASHCTL, addr, &data)DL_TimerG_setCaptureCompareValue(TIMA0, ...) — TIMA0 是 TimerA 实例，必须用 DL_TimerA_setCaptureCompareValue(TIMA0, value, index)
- 可用定时器实例（白名单）：仅 TIMG0, TIMG6, TIMG7, TIMG8, TIMG12, TIMA0 — TIMG1~5 不存在
关键参数速查
| 参数 | 值 |
|---|
| MCU | MSPM0G3507 (Cortex-M0+, 80MHz, 128KB/32KB) |
| 主频 | 32MHz (默认) / 80MHz (需 PLL) |
| I2C0 OLED | PA28=SDA, PA31=SCL (0x3C, 400kHz) |
| I2C1 MPU6050 | PA10=SDA, PA11=SCL (0x68, 400kHz) |
| 电机 PWM | PB15=TIMG8_C0(右轮), PB16=TIMG8_C1(左轮) — ⚠️ A=右/B=左 |
| 编码器A | PA15/PA16 (右轮, GPIO双边沿中断/TIMA1_CH0/CH1) |
| 编码器B | PA17/TIMG7_CH0, PA24/TIMG7_CH1 (左轮, TIMG7 QEI) |
| 舵机 | PB8=TIMA0_C0, PB9=TIMA0_C1 |
| CH340调试串口 | PA10=TX, PA11=RX (115200) |
| K230通信 UART3 | PB2=TX, PB3=RX |
| K230舵机 PWM | GPIO46=PWM2 (PWM0/1被屏占用), 50Hz |
| K230 GPIO输出 | 必须FPIOA配置 → pin.value(1/0), 无 high/low |
| SWD | PA19=SWDIO, PA20=SWCLK |
| 推荐烧录 | XDS110 (SWD) |
| 看门狗 | 必须在主循环喂狗，禁止在中断中喂 |
模块索引
当用户需要具体代码模板时，必须读取对应的模块文件获取完整内容。本文件只提供索引和速查，代码细节在各子模块中。
| 用户需求 | 读取文件 | 内容 |
|---|
| 引脚分配、拓展板、电源接线 | pins.md | 全引脚映射 + 25E拓展板 + 电源方案 + 硬件接线速查 |
| GPIO 输出/输入/中断 | gpio.md | GPIO 初始化模板 + 按键 + LED |
| PWM、舵机控制 | pwm.md | TIMG/TIMA PWM + 众灵PM/ZP系列舵机 + SG90/MG996R |
| 编码器、测速 | encoder.md | GPIO双边沿 + TIMG QEI 编码器模式 |
| ADC 采样、TCRT5000 | adc.md | ADC0 多通道 + 循迹传感器校准 |
| UART、printf、双芯通信 | uart.md | printf重定向 + UART协议解析 + K230帧协议 |
| I2C、OLED、MPU6050 | i2c.md | OLED SSD1306 + MPU6050 驱动 + I2C总线共享 |
| PID、滤波器、电机控制 | pid.md | PID速度/位置/级联 + 低通/卡尔曼 + TB6612电机 |
| PID 自动调试工具 | pid_tuner_protocol.md | PC 调参工具 ↔ MSPM0G3507 的 UART 通信模板 (CSV+SET命令) |
| K230 视觉、双芯方案 | k230.md | CanMV API速查 + 已知问题 + 双芯通信 + 帧率审查 |
| 电赛真题方案 | contest.md | 25E瞄准装置 + 24H自动小车 + 23E运动追踪 + 赛前准备 |
| SysConfig、烧录、VOFA+ | tools.md | CCS工程 + SysConfig + 烧录 + VOFA+ + Flash + WDT |
2026-05 K230 → MSPM0G UART/Gimbal Bring-up Lessons
Use this section first when debugging the K230 vision board sending target data to MSPM0G for servo/gimbal tracking.
Verified hardware path:
- K230 TX: 40-pin header pin 8, GPIO3, UART1_TXD.
- MSPM0G RX: PB3, configured as the K230 UART RX input. PB2 is TX only if MSPM0G needs to reply.
- Common GND is mandatory. Do not power the servo from weak debug/USB rails.
- Stable serial setting: 9600 baud, 8N1. 115200 produced intermittent errors.
Verified protocol (FF FE WHEELTEC):
FF FE pan tilt 00 00 00 bcc
bcc = XOR of bytes 0..6
- Known-good test frame for UART1 pin 8:
FF FE 6F 5A 00 00 00 34 (pan=111, tilt=90).
- Use bounded incremental servo commands, not raw pixel-to-absolute-angle jumps.
Pin/API traps:
- MSPM0G
PB3 is RX, not TX. K230 TX must enter MSPM0G RX.
- K230 header pin numbers ≠ GPIO numbers. Header pin 8 = GPIO3/UART1_TXD.
- GH1.25 locked UART2 connector uses GPIO11/12, but 40-pin header pin 11 uses GPIO5.
- If MSPM0G RX count increases but OLED raw bytes never show
FF FE, suspect wrong K230 pin/wrong UART instance/no common GND/baud mismatch.
- OLED debug is safer than XDS110 serial for field bring-up.
K230 API 已知问题 (43条)
完整列表见 k230.md。此处列出最高频的 10 条：
| # | 问题 | 解决 |
|---|
| 1 | LAB阈值不准 | 必须在场地灯光下重校准 |
| 2 | 硬件定时器不可用 | 仅 Timer(-1) 软件定时器可用 |
| 3 | PWM构造器不支持关键字 | PWM(0, 50) 仅2个位置参数 |
| 4 | Pin 无 high()/low() | 用 pin.value(1) / pin.value(0) |
| 5 | FPIOA 必配 | 所有外设使用前必须 fpioa.set_function() |
| 6 | ADC 仅 1.8V 输入 | 超压烧毁芯片，仅在 FPC 排线座引出 |
| 7 | Sensor 必须 id=2 | 庐山派 GC2093 在 CSI 2 |
| 8 | Display 初始化顺序 | Display.init → MediaManager.init → sensor.run |
| 9 | 800x480 帧率 | 用 ROI + stride + 隔帧检测 |
| 10 | f-string 不支持 | 用 % 格式化替代 |
已验证状态
| 模块 | 子项 | 状态 |
|---|
| K230 | GC2093 QVGA 60fps / find_blobs+LAB校准 / 形状检测 / TOUCH / UART FF FE 9600 | ✅ 实机 |
| M0G | LED / OLED / TB6612 / 编码器 / 编码器速度均衡PI (直线行驶) / 增量式PI+航向PD库 (pid_ctrl) / 舵机TIMA0 | ✅ 实机 |
| M0G | MPU6050 DMP yaw 读取/显示 / I2C OLED+MPU 双总线 | ✅ 实机 |
| M0G | 航向PD闭环 (yaw参与控制) | ⚠️ 代码就绪但默认不启用 (DMP yaw漂移会带偏) |
| M0G | BSL烧录 / UART0 printf / SysConfig全引脚 / 12个driverlib例程 | ✅ 验证 |
| M0G | 按键K1/K2 / 蜂鸣器 / ADC循迹 | 🟡 待测 |
| 双芯 | K230→M0G UART FF FE (9600) / 色块追踪→舵机随动 | ✅ 实机 |
| PID Tuner | PC 自动调参工具 ↔ MCU UART 通信 (CSV+SET/STATUS/RESET) | ✅ 实机 |
| PID Tuner 固件 | pid_tuner_test 最小验证工程 (PA10/PA11 UART0) | ✅ 实机 |
工作流程
当用户提出需求时，按以下优先级处理：
- 外设初始化 → 优先引导用户使用 SysConfig 图形配置，同时给出手动 DriverLib 代码作为备选
- 算法实现 → 给出可直接编译的 C 代码，注明参数整定方法
- 硬件连接 → 给出引脚对照表 + 注意事项
- 问题排查 → 从电气、时序、代码逻辑三个层面诊断
注意事项
- MSPM0G 是 3.3V 系统，GPIO 不可直接接 5V
- 天猛星 PA2~PA6 为时钟引脚，默认未焊接，勿用！
- PA0/PA1 是开漏引脚，用作 UART 时必须加外部 4.7kΩ~10kΩ 上拉电阻
- SWCLK=PA20, SWDIO=PA19
- 双 K230+M0G 系统必须共地，供电独立隔离
- ADC 输入电压范围 0~VREF，超出会损坏
- 中断回调函数中不要做耗时操作，只置标志位
- 电机编码器线长尽量短，必要时加屏蔽
2026-05 IMU601 UART + OLED + TB6612 Yaw PID Turn Lessons
Use this section first when the user is using the Tianmengxing MSPM0G3507 board with the ATK/正点原子 IMU601 module and asks for yaw display, zero-drift calibration, VOFA curves, or a 90-degree turn using motors.
Verified hardware path:
- IMU601 is UART, not I2C.
- IMU601 TX -> MSPM0G PA1 / UART0_RX.
- IMU601 RX -> MSPM0G PA0 / UART0_TX.
- OLED SSD1306 I2C0: PA28=SDA, PA31=SCL, address 0x3C.
- Debug serial for VOFA can use PA10 as software UART TX. Use 9600 baud if 115200 is garbled.
- PA25: gyro zero calibration key, active low with pull-up.
- PA26: start key for one-shot yaw turn, active low with pull-up.
Verified TB6612FNG mapping on Tianmengxing car:
- Right wheel / A channel: PWMA=PB15/TIMG8_C0, AIN1=PA13, AIN2=PA12.
- Left wheel / B channel: PWMB=PB16/TIMG8_C1, BIN1=PB0, BIN2=PB1.
- PWM period tested with
MOTOR_PWM_MAX=2133. Compare value uses inverted duty: compare = MOTOR_PWM_MAX - duty.
- Start the PWM counter explicitly after SysConfig init:
DL_TimerG_startCounter(MOTOR_PWM_INST).
Verified IMU601 ATKP settings:
- Upload frames use
55 55; ACK frames use 55 AF.
- Attitude frame msg id:
0x01; gyro/acc frame msg id: 0x03.
- Set
REG_UPSET=0x0005 to upload attitude + gyro/acc so yaw and gyro are both available.
- Set
REG_UPRATE=0x0002 for a practical update rate.
- Parse UART0 in interrupt into a ring buffer, then parse ATKP frames in the main loop. Do not parse heavily inside the ISR.
Verified control pattern for one-shot clockwise 90-degree turn:
- Keep OLED nonblocking; call
OLED_Service() every main-loop iteration.
- Use SysTick 1ms and run yaw control every 20ms.
- On PA26 press:
targetYaw = wrap_180(currentYaw + 90.0f).
- PID output:
Kp * yawError + Ki * integral - Kd * gyroZ.
- Apply left wheel
+pwm, right wheel -pwm for in-place clockwise turn. If the robot turns the wrong direction, invert the target sign or swap motor sign.
- Stop condition should include a deadband and settle count; verified stable values:
- near zone:
abs(error) < 12 deg
- near PWM min/max:
70 / 260
- normal PWM min/max:
180 / 620
- stop when
abs(error) <= 3 deg and abs(gyroZ) <= 25 dps for 3 control ticks
- If the robot reaches 90 degrees but shakes, reduce near-zone PWM and/or widen stop deadband before increasing PID gains.
- Always test first with the wheels lifted. Calibrate gyro zero while stationary before running the turn.
Reusable example:
- See
examples/imu601_yaw_pid_90deg_turn.md.
2026-05 IMU601 Car 8-Way Line Tracking Lessons
Use this section first when the Tianmengxing MSPM0G3507 car uses the existing IMU601/OLED/TB6612 project and asks for 8-way digital line tracking.
Verified 8-way line sensor GPIO order, left to right:
| Sensor order | Board pin | IOMUX | GPIO read port |
|---|
| L1 | PB25 | IOMUX_PINCM56 | GPIOB, DL_GPIO_PIN_25 |
| L2 | PB24 | IOMUX_PINCM52 | GPIOB, DL_GPIO_PIN_24 |
| L3 | PB20 | IOMUX_PINCM48 | GPIOB, DL_GPIO_PIN_20 |
| L4 | PA14 | IOMUX_PINCM36 | GPIOA, DL_GPIO_PIN_14 |
| R4 | PB18 | IOMUX_PINCM44 | GPIOB, DL_GPIO_PIN_18 |
| R3 | PB19 | IOMUX_PINCM45 | GPIOB, DL_GPIO_PIN_19 |
| R2 | PB10 | IOMUX_PINCM27 | GPIOB, DL_GPIO_PIN_10 |
| R1 | PA7 | IOMUX_PINCM14 | GPIOA, DL_GPIO_PIN_7 |
Line sensor electrical behavior:
- Configure all 8 pins with
DL_GPIO_initDigitalInputFeatures(..., DL_GPIO_RESISTOR_PULL_UP, DL_GPIO_HYSTERESIS_ENABLE, ...).
- The module is active-low: raw GPIO
0 means black line, raw GPIO 1 means white/no line.
- Internally it is convenient to store
s_line_bits as active-high detection bits: set bit to 1 when raw GPIO is 0.
- On OLED, display raw sensor meaning if the user is calibrating: show
0 for black line and 1 for white/no line, ordered left to right.
Line tracking control pattern:
- Use weighted position error over 8 sensors, for example weights
{-35,-25,-15,-5,5,15,25,35}.
- Negative error means the line is left; positive error means the line is right.
- For differential steering, compute
corr = clamp(error * LINE_KP, -LINE_CORR_LIMIT, LINE_CORR_LIMIT).
- To make the whole car rotate during sharp turns instead of pivoting around the stopped inner wheel, allow the inner wheel target PWM to go negative:
target_l = LINE_BASE_DUTY + corrtarget_r = LINE_BASE_DUTY - corr- clamp both targets to
[-(MOTOR_PWM_MAX - MOTOR_PWM_DEAD), +(MOTOR_PWM_MAX - MOTOR_PWM_DEAD)], not to [0, max].
- Verified starting parameters:
LINE_BASE_DUTY=260, LINE_RAMP=10, LINE_CTRL_MS=20, LINE_KP=12, LINE_CORR_LIMIT=500, LINE_SEARCH_DUTY=180. Tune on lifted wheels first.
Startup offset problems found:
- If the car nudges right immediately after PA25 start, check both line-tracking startup state and encoder residue.
- Do not default lost-line search to right when no valid line sample has been seen. Keep a
s_line_has_last flag; before the first valid black-line sample, go slowly forward or wait instead of rotating.
- On entering run/line mode, preload line error from the current 8-way sensor state if available. If no line is detected, set
s_line_has_last=false and s_line_dir='S'.
- Clear stale encoder counts before starting motion. Add an
encoder_clear_counts() helper that disables IRQ, sets g_enc_l=g_enc_r=0, then re-enables IRQ. Call Motor_Stop(); encoder_clear_counts(); before switching from MODE_IDLE into the run mode.
- Reset run-state variables on start/stop:
s_balance, s_balance_i, s_duty_l, s_duty_r, s_line_error, s_line_last_error, s_line_has_last, and s_line_dir.
Common debug display:
- OLED page 0: mode (
IDLE, LINE, TURN 90).
- OLED page 1: raw 8-way line display, e.g.
L:11100111 18, where 0 positions are on black line.
- OLED page 2: line error and direction, e.g.
E:15 DIR:R.
- Software UART debug can include
L:%02X, where the hex value is the internal active-high black-line bitmask.
