TI MSPM0 智能车控制系统TI MSPM0 · Embedded Vehicle Control

项目传感与执行主线包含 11 路灰度、ICM20608 和 AT8236。独立 2024“双层”板的原生图纸则标有 MSPM0G3507SPMR、AMS1117-3.3、CH340N、AT24C16、W25Q64 及调试/扩展接口；不能反向把这些全部当作竞赛车已装配器件。The vehicle project context includes eleven grayscale channels, ICM20608 and AT8236. The separate 2024 “双层” drawing labels MSPM0G3507SPMR, AMS1117-3.3, CH340N, AT24C16, W25Q64 and debug/expansion interfaces; these are not all assigned to the competition vehicle as fitted parts.

比赛控制程序、历史 MSPM0 PCB/原理图 PDF 和新“双层”设计分别管理。已有 Top/Bottom 两铜层软件设置确认，但制造、焊接、上电和最终装车需要对应修订的记录。Competition firmware, historical MSPM0 PCB/schematic PDFs and the separate “双层” design remain distinct. Top/Bottom copper is confirmed in the EDA configuration; fabrication, assembly, power-on and final vehicle use require revision-specific records.

来源：既有系统资料与独立 2024 原生原理图Source: existing system material and the separate 2024 native schematic

归档定时器 IRQ 分别调用不同 duty 回调，PWM 比较寄存器写入由驱动接口封装。回调名中的频率不直接当作最终实测周期；应同时核对定时器配置和执行路径。Archived timer IRQs invoke different duty callbacks, and driver interfaces wrap PWM compare-register writes. Frequency-like callback names are not taken as final measured periods; timer configuration and execution paths must agree.

ICM206xx 初始化先复位并读取 WHO_AM_I，按识别结果配置传感器，再读回寄存器与期望值比较；数据读取路径将连续字节组成有符号轴值。该驱动支持多个器件分支，不能把另一型号分支的量程直接套给 ICM20608。ICM206xx initialization resets the device, reads WHO_AM_I, selects a device branch, configures registers and compares readback against expected values. The read path combines bytes into signed axes. Because the driver supports multiple devices, ranges from another branch are not assigned to ICM20608.

来源：归档定时器与多型号 IMU 驱动Source: archived timer and multi-device IMU driver

控制器保存 expect、feedback、error、历史误差、integral 和 output。运行时先更新误差历史，用目标减反馈形成新误差，差分可跨配置的历史间隔；之后执行可选误差限幅、积分分离、积分限幅和总输出限幅。The controller retains expect, feedback, error, error history, integral and output. It updates history, forms setpoint-minus-feedback error and differences against a configured history gap, then applies optional error limiting, integral separation, integral clamping and output clamping.

电机控制框架保留位置式与增量式速度控制分支，并分别处理左右反馈及输出。带 dt 的 PID 例程检查时间间隔，在异常区间回退到传入 dt；这些是所读实现机制，不是新的调参成绩。The motor framework retains positional and incremental speed-control branches with separate wheel feedback/output. A dt-aware PID routine checks the interval and falls back to the supplied dt outside its accepted range. These are implementation mechanisms, not new tuning results.

ctrl->last_error=ctrl->error;
ctrl->error=ctrl->expect-ctrl->feedback;
ctrl->dis_error=ctrl->error-ctrl->error_backup[ctrl->dis_error_gap_cnt-1];

来源：归档 PID 与电机控制框架Source: archived PID and motor-control framework

积分限幅防止积分状态无限增长，输出限幅约束最终执行值；二者作用层次不同。分析还要检查切换模式或停车时是否清除积分，以及误差历史间隔是否处于数组有效范围。Integral clamping limits accumulated state, whereas output clamping constrains the final actuator request. They act at different levels. Review also checks integral reset at stops/mode changes and valid bounds for the history-gap index.

位置式与增量式控制的输出递推不同，参数不宜跨模式直接复用。编码器符号、电机方向、PWM 范围和时间基准应先一致，再比较控制响应。Positional and incremental controllers update output differently, so parameters should not be transferred blindly. Encoder sign, motor direction, PWM range and timing should agree before comparing response.

工程分析：基于当前控制器和电机分支Engineering analysis: based on the reviewed controller and motor branches

可按设备 ID、配置读回、原始轴值、轴方向与零偏、目标/反馈误差、限幅前后输出、PWM 方向分段观察。把传感故障和电机方向错误与 PID 增益问题分开，避免用参数掩盖接口问题。Useful observations progress through device ID, configuration readback, raw axes, orientation/bias, target/feedback error, output before/after limiting and PWM direction. Sensor and direction faults should be separated from PID-gain issues.

工程分析：由现有读回与控制状态确定检查点Engineering analysis: checkpoints from readback and controller state

既有成果为 2024 TI 杯浙江省大学生电子设计竞赛本科组二等奖及控制程序归档。本人范围仍是应用程序、传感接口、电机调试与系统联调，不扩大为所有 SDK、例程或独立控制板的原创设计。The established outcome is undergraduate second prize in the 2024 Zhejiang TI Cup and an archived control application. My scope remains application firmware, sensor interfaces, motor debugging and integration, without claiming authorship of every SDK routine or the separate board.

本页结合固件实现与 ZJA460 团队报告讲解控制系统。测试数据采用报告中的车模配置与测试条件；独立板卡设计与参赛硬件分别说明。This page connects firmware implementation with the ZJA460 team report. Test data retains the report’s vehicle configurations and conditions; separate board designs are distinguished from competition hardware.

来源：项目分工、固件实现与设计报告Source: project responsibilities, firmware implementation and design report