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servoMotor/BSP/Driver/as5047d/as5047d.c

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源工程
2025-10-11 09:54:11 +00:00
#include "as5047d.h"
#include <includes.h>
#include <stdint.h>
#include <stdio.h>
#include <stdbool.h>
#ifdef AS5047
static BSP_OS_SEM ptz_hori_get_angle_mutex;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
static BSP_OS_SEM ptz_vert_get_angle_mutex;
static void as5047d_delay_nop(int as5047d_delay_time);
static unsigned int as5047d_Parity_bit_even(unsigned int package);
/// AS5047D<37><44><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
///
/// <20><><EFBFBD><EFBFBD>AS5047D<37><44>SPIͨ<49>Ŷ<EFBFBD><C5B6><EFBFBD>ʱ
/// @param delay_time <20><><EFBFBD><EFBFBD>ʱʱ<CAB1>䳤<EFBFBD><E4B3A4>
/// @return <20><>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-06<30><36><EFBFBD><EFBFBD>
static void as5047d_delay_nop(int delay_time)
{
for(int i = 0; i < delay_time; i ++)
{
asm("nop");
asm("nop");
asm("nop");
asm("nop");
}
}
/// AS5047D<37><44>ʼ<EFBFBD><CABC>
///
/// <20><>ʼ<EFBFBD><CABC>AS5047D
/// @param <20><>
/// @return <20><>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-06<30><36><EFBFBD><EFBFBD>
/// LH<4C>޸<EFBFBD><DEB8><EFBFBD>2022.0525
void as5047d_init()
{
//<2F><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>ʹ<EFBFBD><CAB9>
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_GPIOC);
rcu_periph_clock_enable(RCU_GPIOD);
//ˮƽPC10--CLK,PC12--MOSI
gpio_mode_set(GPIOC, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_10| GPIO_PIN_12);
gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_10| GPIO_PIN_12);
//PA15--CS
gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_15);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_15);
//PC11--MISO
gpio_mode_set(GPIOC, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
AS5047D_HORI_CSN_DISABLE;
AS5047D_HORI_CLK_LOW;
AS5047D_HORI_MOSI_LOW;
//<2F><>ֱPD0--CS,PD1--CLK,PD3--MOSI
gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0| GPIO_PIN_1| GPIO_PIN_3);
gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_0| GPIO_PIN_1| GPIO_PIN_3);
//PD2--MISO
gpio_mode_set(GPIOD, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_2);
AS5047D_VERT_CSN_DISABLE;
AS5047D_VERT_CLK_LOW;
AS5047D_VERT_MOSI_LOW;
}
/// AS5047D<37><44><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD>żУ<C5BC><D0A3>(żУ<C5BC><D0A3>)
///
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD><EFBFBD><EFBFBD>żУ<C5BC><D0A3>(żУ<C5BC><D0A3>)
/// @param package <20><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>
/// @return <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>żУ<C5BC><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-06<30><36><EFBFBD><EFBFBD>
static unsigned int as5047d_Parity_bit_even(unsigned int package)
{
unsigned int temp = 0;
char temp1 = 0;
///<2F>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD>ÿһλ<D2BB><CEBB>0<EFBFBD><30><EFBFBD><EFBFBD>1
for(char i = 0; i < 15; i++)
{
temp = package & (1 << i);
if(temp != 0)
{
///<2F><><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>ֵΪ1<CEAA><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
temp1++;
}
temp = 0;
}
///temp1<70><31><EFBFBD><EFBFBD>Ϊż<CEAA><C5BC>
if(temp1 % 2 == 0)
{
///<2F><><EFBFBD><EFBFBD>żЧ<C5BC><D0A7>λ<EFBFBD><CEBB>Ϊ0
package = package & 0X7FFF; //0111 1111 1111 1111
}
///temp1<70><31><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>
else
{
///<2F><><EFBFBD><EFBFBD>żЧ<C5BC><D0A7>λ<EFBFBD><CEBB>Ϊ1
package = package | 0X8000;//1000 0000 0000 0000
}
return package;
}
/// <20>趨<EFBFBD><E8B6A8><EFBFBD>ݰ<EFBFBD>read/write<74><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///
/// <20>趨<EFBFBD><E8B6A8><EFBFBD>ݰ<EFBFBD>read/write<74><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @param package <20><>Ҫ<EFBFBD>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>
/// @return <20>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-07<30><37><EFBFBD><EFBFBD>
unsigned int as5047d_command_type(unsigned int package, unsigned int type)
{
switch(type)
{
case AS5047D_WRITE_COMMAND:
case AS5047D_WRITE_DATA:
package = package & AS5047D_WRITE_COMMAND;
break;
case AS5047D_READ_COMMAND:
package = package | AS5047D_READ_COMMAND;
break;
default :
return 0;
}
return package;
}
/// <20>жϽ<D0B6><CFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///
/// <20>жϽ<D0B6><CFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @param package <20><><EFBFBD>жϵ<D0B6><CFB5><EFBFBD><EFBFBD><EFBFBD>
/// @param <20><>
/// @return <20><><EFBFBD><EFBFBD><EFBFBD>жϽ<D0B6><CFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
As5047DJudgeReceivePackage as5047d_hori_judge_receive_package(unsigned int package)
{
unsigned int temp = 0;
As5047DJudgeReceivePackage temp1;
memset(&temp1,0,sizeof(temp1));
temp1.package = package;
temp1.Operation_Result = 1;
//<2F><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD>żУ<C5BC><D0A3><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>ȷ
//Ч<><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(package != as5047d_Parity_bit_even(package))
{
temp1.parity_error_package = 1;
temp1.Operation_Result = 0;
}
//Ч<><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ
else
{
//<2F>жϷ<D0B6><CFB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD><DDB0>Ƿ<EFBFBD><C7B7>ǻظ<C7BB><D8B8><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
temp = package & AS5047D_JUDGE_RECEIVE_DATA;
//<2F>ظ<EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(temp != 0)
{
// temp1.error_flag_command = 1;
// temp1.framing_error_command = package & 0X0001;
// temp1.command_invalid_command = package & (0X0001 << 1);
// temp1.parity_error_command = package & (0X0001 << 2);
as5047d_hori_cef_command();
}
}
return temp1;
}
As5047DJudgeReceivePackage as5047d_vert_judge_receive_package(unsigned int package)
{
unsigned int temp = 0;
As5047DJudgeReceivePackage temp1;
memset(&temp1,0,sizeof(temp1));
temp1.package = package;
temp1.Operation_Result = 1;
//<2F><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD>żУ<C5BC><D0A3><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>ȷ
//Ч<><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(package != as5047d_Parity_bit_even(package))
{
temp1.parity_error_package = 1;
temp1.Operation_Result = 0;
}
//Ч<><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ
else
{
//<2F>жϷ<D0B6><CFB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD><DDB0>Ƿ<EFBFBD><C7B7>ǻظ<C7BB><D8B8><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
temp = package & AS5047D_JUDGE_RECEIVE_DATA;
//<2F>ظ<EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(temp != 0)
{
// temp1.error_flag_command = 1;
// temp1.framing_error_command = package & 0X0001;
// temp1.command_invalid_command = package & (0X0001 << 1);
// temp1.parity_error_command = package & (0X0001 << 2);
as5047d_vert_cef_command();
}
}
return temp1;
}
/*********************************************************************/
/// ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @param <20><>
/// @return <20><><EFBFBD>ؽ<EFBFBD><D8BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
unsigned int as5047d_hori_send_package(unsigned int package)
{
unsigned int temp = 0;
unsigned int temp1 = 0;
unsigned int temp2 = 0;
AS5047D_HORI_CLK_LOW;
AS5047D_HORI_MOSI_LOW;
as5047d_delay_nop(2);
for(int i = 15; i >= 0; i--)
{
AS5047D_HORI_CLK_LOW;
as5047d_delay_nop(2);
temp = package & (1 << i);
if(temp != 0)
{
AS5047D_HORI_MOSI_HIGH;
}
else
{
AS5047D_HORI_MOSI_LOW;
}
as5047d_delay_nop(2);
AS5047D_HORI_CLK_HIGH;
as5047d_delay_nop(2);
temp1 = AS5047D_HORI_MISO_READ;
temp2 = temp2 | (temp1 << i);
temp1 = 0;
temp = 0;
}
AS5047D_HORI_CLK_LOW;
AS5047D_HORI_MOSI_LOW;
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp2;
}
/// ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///
/// <20><><EFBFBD><EFBFBD>as5047d<37><64><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
/// @param <20><>
/// @return <20><><EFBFBD>ؽ<EFBFBD><D8BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-07<30><37><EFBFBD><EFBFBD>
unsigned int as5047d_hori_receive_package()
{
unsigned int temp = 0;
unsigned int temp1 = 0;
AS5047D_HORI_CLK_LOW;
as5047d_delay_nop(2);
for(int j = 15; j >= 0; j--)
{
AS5047D_HORI_CLK_HIGH;
as5047d_delay_nop(2);
temp = AS5047D_HORI_MISO_READ;
temp1 = temp1 | (temp << j);
AS5047D_HORI_CLK_LOW;
as5047d_delay_nop(2);
temp = 0;
}
AS5047D_HORI_CLK_LOW;
return temp1;
}
/// ˮƽ<CBAE><C6BD><EFBFBD>Ͷ<EFBFBD>ָ<EFBFBD><D6B8>
///
/// <20><><EFBFBD>Ͷ<EFBFBD>ȡas5047d<37><64><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD> 111 1111 1111 1111
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-07<30><37><EFBFBD><EFBFBD>
unsigned int as5047d_hori_read_command(unsigned int add)
{
unsigned int temp = 0;
add = as5047d_command_type(add,AS5047D_READ_COMMAND);
add = as5047d_Parity_bit_even(add);
//<2F><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
temp = as5047d_hori_send_package(add);
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp;
}
/// ˮƽ<CBAE><C6BD>ȡas5047d<37>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>е<EFBFBD>ֵ
///
/// <20><>ȡas5047d<37>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>е<EFBFBD>ֵ
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @return <20><><EFBFBD>ض<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD>ļĴ<C4BC><C4B4><EFBFBD><EFBFBD>е<EFBFBD>ֵ
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-07<30><37><EFBFBD><EFBFBD>
unsigned int as5047d_hori_read_data(unsigned int add)
{
unsigned int temp = 0;
AS5047D_HORI_CSN_DISABLE;
as5047d_delay_nop(4);
AS5047D_HORI_CSN_ENABLE;
as5047d_delay_nop(4);
//<2F><><EFBFBD>Ͷ<EFBFBD>ָ<EFBFBD><D6B8>
as5047d_hori_read_command(add);
AS5047D_HORI_CSN_DISABLE;
as5047d_delay_nop(4);
AS5047D_HORI_CSN_ENABLE;
as5047d_delay_nop(4);
//<2F><>ȡ<EFBFBD><C8A1>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD>
temp = as5047d_hori_nop_command();
AS5047D_HORI_CSN_DISABLE;
return temp;
}
/// ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD>дָ<D0B4><D6B8>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD>дָ<D0B4><D6B8>
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
unsigned int as5047d_hori_write_command(unsigned int add)
{
unsigned int temp = 0;
add = as5047d_command_type(add,AS5047D_WRITE_COMMAND);
add = as5047d_Parity_bit_even(add);
//<2F><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
temp = as5047d_hori_send_package(add);
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp;
}
/// ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD>NOPָ<50><D6B8>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD>NOPָ<50><D6B8>
/// @param <20><>
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
unsigned int as5047d_hori_nop_command()
{
unsigned int temp = 0;
temp = as5047d_hori_send_package(AS5047D_NOP);
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp;
}
/// ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>CLEAR ERROR FLAG command
/// @param <20><>
/// @return 1<><31><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD><C9B9><EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
unsigned int as5047d_hori_cef_command()
{
unsigned int temp = 0;
unsigned int temp1 = 0;
AS5047D_HORI_CSN_DISABLE;
as5047d_delay_nop(4);
AS5047D_HORI_CSN_ENABLE;
as5047d_delay_nop(4);
temp = as5047d_Parity_bit_even(AS5047D_CLEAR_ERROR_FLAG);
as5047d_hori_send_package(temp);
AS5047D_HORI_CSN_DISABLE;
as5047d_delay_nop(4);
AS5047D_HORI_CSN_ENABLE;
as5047d_delay_nop(4);
temp1 = as5047d_hori_nop_command();
AS5047D_HORI_CSN_DISABLE;
as5047d_delay_nop(4);
AS5047D_HORI_CSN_ENABLE;
as5047d_delay_nop(4);
temp1 = as5047d_hori_nop_command();
AS5047D_HORI_CSN_DISABLE;
return temp1;
}
/// ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD>дָ<D0B4><EFBFBD><EEB2A2>ȡ<EFBFBD><C8A1><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD>дָ<D0B4><EFBFBD><EEB2A2>ȡ<EFBFBD><C8A1><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @param data <20><>Ҫд<D2AA><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
As5047DJudgeReceivePackage as5047d_hori_write_data(unsigned int add,unsigned int data)
{
As5047DJudgeReceivePackage temp;
int i;
for(i = 0; i < AS5047D_WRITE_NUM; i++)
{
AS5047D_HORI_CSN_DISABLE;
as5047d_delay_nop(20);
AS5047D_HORI_CSN_ENABLE;
as5047d_delay_nop(20);
//<2F><><EFBFBD><EFBFBD>д<EFBFBD><D0B4>ָ<EFBFBD><D6B8>
as5047d_hori_write_command(add);
//<2F><><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD>µ<EFBFBD><C2B5><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ؼĴ<D8BC><C4B4><EFBFBD><EFBFBD>оɵ<D0BE><C9B5><EFBFBD><EFBFBD><EFBFBD>
add = as5047d_command_type(data,AS5047D_WRITE_DATA);
add = as5047d_Parity_bit_even(data);
as5047d_hori_send_package(data);
//<2F><><EFBFBD>ռĴ<D5BC><C4B4><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0X3FFF 0011 1111 1111 1111
temp.package = as5047d_hori_nop_command();
temp = as5047d_hori_judge_receive_package(temp.package);
as5047d_delay_nop(2);
AS5047D_HORI_CSN_DISABLE;
if(temp.Operation_Result != 1)
{
as5047d_hori_cef_command();
continue;
}
else
{
//<2F>ж<EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݺ<EFBFBD><DDBA><EFBFBD><EFBFBD>·<EFBFBD><C2B7>صļĴ<C4BC><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>ͬ
if((data & 0X3FFF) == (temp.package & 0X3FFF))
{
temp.Operation_Result = 1;
break;
}
else
{
continue;
}
}
}
return temp;
}
/// <20><>ȡ<EFBFBD><C8A1>̨ˮƽ<CBAE>Ƕ<EFBFBD>
///
/// <20><>ȡ<EFBFBD><C8A1>̨ˮƽ<CBAE>Ƕ<EFBFBD>
/// @param <20><>
/// @param <20><>
/// @return <20><><EFBFBD>ض<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-1<><31>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>ȡ<EFBFBD>ɹ<EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-27<32><37><EFBFBD><EFBFBD>
float as5047d_hori_get_angle()
{
BSP_OS_SemWait(&ptz_hori_get_angle_mutex, 0u);
float angle = 0;
unsigned int angle1 = 0;
unsigned int temp = 0;
As5047DJudgeReceivePackage temp1;
memset(&temp1, 0, sizeof(temp1));
//<2F><>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
temp = as5047d_hori_read_data(AS5047D_ANGLE);
//<2F>жϽ<D0B6><CFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
temp1 = as5047d_hori_judge_receive_package(temp);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ
if(temp1.Operation_Result == 1)
{
angle = (temp & 0x3FFF) * 0.02197265625;//0.02197265625 = 360.0 / 16384.0
angle1 = (unsigned int)(angle * 1000.0);//ֻ<><D6BB><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3λ
angle = (float)(angle1 / 1000.0);
BSP_OS_SemPost(&ptz_hori_get_angle_mutex);
return angle;
}
BSP_OS_SemPost(&ptz_hori_get_angle_mutex);
return -1;
}
/************************************************************************/
/// <20><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @param <20><>
/// @return <20><><EFBFBD>ؽ<EFBFBD><D8BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
unsigned int as5047d_vert_send_package(unsigned int package)
{
unsigned int temp = 0;
unsigned int temp1 = 0;
unsigned int temp2 = 0;
AS5047D_VERT_CLK_LOW;
AS5047D_VERT_MOSI_LOW;
as5047d_delay_nop(2);
for(int i = 15; i >= 0; i--)
{
AS5047D_VERT_CLK_LOW;
as5047d_delay_nop(2);
temp = package & (1 << i);
if(temp != 0)
{
AS5047D_VERT_MOSI_HIGH;
}
else
{
AS5047D_VERT_MOSI_LOW;
}
as5047d_delay_nop(2);
AS5047D_VERT_CLK_HIGH;
as5047d_delay_nop(2);
temp1 = AS5047D_VERT_MISO_READ;
temp2 = temp2 | (temp1 << i);
temp1 = 0;
temp = 0;
}
AS5047D_VERT_CLK_LOW;
AS5047D_VERT_MOSI_LOW;
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp2;
}
/// <20><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///
/// <20><><EFBFBD><EFBFBD>as5047d<37><64><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
/// @param <20><>
/// @return <20><><EFBFBD>ؽ<EFBFBD><D8BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-07<30><37><EFBFBD><EFBFBD>
unsigned int as5047d_vert_receive_package()
{
unsigned int temp = 0;
unsigned int temp1 = 0;
AS5047D_VERT_CLK_LOW;
as5047d_delay_nop(2);
for(int j = 15; j >= 0; j--)
{
AS5047D_VERT_CLK_HIGH;
as5047d_delay_nop(2);
temp = AS5047D_VERT_MISO_READ;
temp1 = temp1 | (temp << j);
AS5047D_VERT_CLK_LOW;
as5047d_delay_nop(2);
temp = 0;
}
AS5047D_VERT_CLK_LOW;
return temp1;
}
/// <20><>ֱ<EFBFBD><D6B1><EFBFBD>Ͷ<EFBFBD>ָ<EFBFBD><D6B8>
///
/// <20><><EFBFBD>Ͷ<EFBFBD>ȡas5047d<37><64><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD> 111 1111 1111 1111
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-07<30><37><EFBFBD><EFBFBD>
unsigned int as5047d_vert_read_command(unsigned int add)
{
unsigned int temp = 0;
add = as5047d_command_type(add,AS5047D_READ_COMMAND);
add = as5047d_Parity_bit_even(add);
//<2F><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
temp = as5047d_vert_send_package(add);
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp;
}
/// <20><>ֱ<EFBFBD><D6B1>ȡas5047d<37>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>е<EFBFBD>ֵ
///
/// <20><>ȡas5047d<37>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>е<EFBFBD>ֵ
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @return <20><><EFBFBD>ض<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD>ļĴ<C4BC><C4B4><EFBFBD><EFBFBD>е<EFBFBD>ֵ
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-07<30><37><EFBFBD><EFBFBD>
unsigned int as5047d_vert_read_data(unsigned int add)
{
unsigned int temp = 0;
AS5047D_VERT_CSN_DISABLE;
as5047d_delay_nop(4);
AS5047D_VERT_CSN_ENABLE;
as5047d_delay_nop(4);
//<2F><><EFBFBD>Ͷ<EFBFBD>ָ<EFBFBD><D6B8>
as5047d_vert_read_command(add);
AS5047D_VERT_CSN_DISABLE;
as5047d_delay_nop(4);
AS5047D_VERT_CSN_ENABLE;
as5047d_delay_nop(4);
//<2F><>ȡ<EFBFBD><C8A1>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD>
temp = as5047d_vert_nop_command();
AS5047D_VERT_CSN_DISABLE;
return temp;
}
/// <20><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD>дָ<D0B4><D6B8>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD>дָ<D0B4><D6B8>
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
unsigned int as5047d_vert_write_command(unsigned int add)
{
unsigned int temp = 0;
add = as5047d_command_type(add,AS5047D_WRITE_COMMAND);
add = as5047d_Parity_bit_even(add);
//<2F><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
temp = as5047d_vert_send_package(add);
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp;
}
/// <20><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD>NOPָ<50><D6B8>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD>NOPָ<50><D6B8>
/// @param <20><>
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
unsigned int as5047d_vert_nop_command()
{
unsigned int temp = 0;
temp = as5047d_vert_send_package(AS5047D_NOP);
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp;
}
/// <20><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>CLEAR ERROR FLAG command
/// @param <20><>
/// @return 1<><31><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD><C9B9><EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
unsigned int as5047d_vert_cef_command()
{
unsigned int temp = 0;
unsigned int temp1 = 0;
AS5047D_VERT_CSN_DISABLE;
as5047d_delay_nop(4);
AS5047D_VERT_CSN_ENABLE;
as5047d_delay_nop(4);
temp = as5047d_Parity_bit_even(AS5047D_CLEAR_ERROR_FLAG);
as5047d_vert_send_package(temp);
AS5047D_VERT_CSN_DISABLE;
as5047d_delay_nop(4);
AS5047D_VERT_CSN_ENABLE;
as5047d_delay_nop(4);
temp1 = as5047d_vert_nop_command();
AS5047D_VERT_CSN_DISABLE;
as5047d_delay_nop(4);
AS5047D_VERT_CSN_ENABLE;
as5047d_delay_nop(4);
temp1 = as5047d_vert_nop_command();
AS5047D_VERT_CSN_DISABLE;
return temp1;
}
/// <20><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD>дָ<D0B4><EFBFBD><EEB2A2>ȡ<EFBFBD><C8A1><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD>дָ<D0B4><EFBFBD><EEB2A2>ȡ<EFBFBD><C8A1><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @param data <20><>Ҫд<D2AA><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
As5047DJudgeReceivePackage as5047d_vert_write_data(unsigned int add,unsigned int data)
{
As5047DJudgeReceivePackage temp;
int i;
for(i = 0; i < AS5047D_WRITE_NUM; i++)
{
AS5047D_VERT_CSN_DISABLE;
as5047d_delay_nop(20);
AS5047D_VERT_CSN_ENABLE;
as5047d_delay_nop(20);
//<2F><><EFBFBD><EFBFBD>д<EFBFBD><D0B4>ָ<EFBFBD><D6B8>
as5047d_vert_write_command(add);
//<2F><><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD>µ<EFBFBD><C2B5><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ؼĴ<D8BC><C4B4><EFBFBD><EFBFBD>оɵ<D0BE><C9B5><EFBFBD><EFBFBD><EFBFBD>
add = as5047d_command_type(data,AS5047D_WRITE_DATA);
add = as5047d_Parity_bit_even(data);
as5047d_vert_send_package(data);
//<2F><><EFBFBD>ռĴ<D5BC><C4B4><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0X3FFF 0011 1111 1111 1111
temp.package = as5047d_vert_nop_command();
temp = as5047d_vert_judge_receive_package(temp.package);
as5047d_delay_nop(2);
AS5047D_VERT_CSN_DISABLE;
if(temp.Operation_Result != 1)
{
as5047d_vert_cef_command();
continue;
}
else
{
//<2F>ж<EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݺ<EFBFBD><DDBA><EFBFBD><EFBFBD>·<EFBFBD><C2B7>صļĴ<C4BC><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>ͬ
if((data & 0X3FFF) == (temp.package & 0X3FFF))
{
temp.Operation_Result = 1;
break;
}
else
{
continue;
}
}
}
return temp;
}
/// <20><>ȡ<EFBFBD><C8A1>̨<EFBFBD><CCA8>ֱ<EFBFBD>Ƕ<EFBFBD>
///
/// <20><>ȡ<EFBFBD><C8A1>̨<EFBFBD><CCA8>ֱ<EFBFBD>Ƕ<EFBFBD>
/// @param <20><>
/// @param <20><>
/// @return <20><><EFBFBD>ض<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-1<><31>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>ȡ<EFBFBD>ɹ<EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-27<32><37><EFBFBD><EFBFBD>
float as5047d_vert_get_angle()
{
BSP_OS_SemWait(&ptz_vert_get_angle_mutex, 0u);
float angle = 0;
unsigned int angle1 = 0;
unsigned int temp = 0;
As5047DJudgeReceivePackage temp1;
memset(&temp1, 0, sizeof(temp1));
//<2F><>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
temp = as5047d_vert_read_data(AS5047D_ANGLE);
//<2F>жϽ<D0B6><CFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
temp1 = as5047d_vert_judge_receive_package(temp);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ
if(temp1.Operation_Result == 1)
{
angle = (temp & 0x3FFF) * 0.02197265625;//0.02197265625 = 360.0 / 16384.0
angle1 = (unsigned int)(angle * 1000.0);//ֻ<><D6BB><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3λ
angle = (float)(angle1 / 1000.0);
BSP_OS_SemPost(&ptz_vert_get_angle_mutex);
return angle;
}
BSP_OS_SemPost(&ptz_vert_get_angle_mutex);
return -1;
}
/********************************************************************************/
/********************************************************************************/
/********************************************************************************/
//ֱ<><D6B1>ͨ<EFBFBD><CDA8>ʱ<EFBFBD>Ӷ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
unsigned int as5047d_hori_clk_read_angle()
{
unsigned int temp1 = 0;
unsigned int temp2 = 0;
AS5047D_HORI_CLK_LOW;
AS5047D_HORI_MOSI_HIGH;
as5047d_delay_nop(2);
for(int i = 15; i >= 0; i--)
{
AS5047D_HORI_CLK_LOW;
as5047d_delay_nop(2);
AS5047D_HORI_CLK_HIGH;
as5047d_delay_nop(2);
temp1 = AS5047D_HORI_MISO_READ;
temp2 = temp2 | (temp1 << i);
temp1 = 0;
}
AS5047D_HORI_CLK_LOW;
return temp2;
}
//<2F>޸Ķ<DEB8>ȡ<EFBFBD>Ƕȵķ<C8B5>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȶ<C7B6>ȡ<EFBFBD>ٶ<EFBFBD>
unsigned int as5047d_hori_read_data_a()
{
unsigned int temp = 0;
AS5047D_HORI_CSN_DISABLE;
as5047d_delay_nop(4);
AS5047D_HORI_CSN_ENABLE;
as5047d_delay_nop(4);
//<2F><><EFBFBD>Ͷ<EFBFBD>ָ<EFBFBD><D6B8>
temp = as5047d_hori_clk_read_angle();
AS5047D_HORI_CSN_DISABLE;
return temp;
}
//<2F>µ<EFBFBD><C2B5>жϷ<D0B6>ʽ
As5047DJudgeReceivePackage as5047d_hori_judge_receive_package_a(unsigned int package)
{
As5047DJudgeReceivePackage temp1;
memset(&temp1,0,sizeof(temp1));
temp1.package = package;
temp1.Operation_Result = 1;
//<2F><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD>żУ<C5BC><D0A3><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>ȷ
//Ч<><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(package != as5047d_Parity_bit_even(package))
{
temp1.parity_error_package = 1;
temp1.Operation_Result = 0;
}
return temp1;
}
//<2F>µĶ<C2B5>ȡ<EFBFBD>Ƕȷ<C7B6>ʽ
float as5047d_hori_get_angle_a()
{
BSP_OS_SemWait(&ptz_hori_get_angle_mutex, 0u);
float angle = 0;
unsigned int angle1 = 0;
unsigned int temp = 0;
As5047DJudgeReceivePackage temp1;
memset(&temp1, 0, sizeof(temp1));
//<2F><>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
temp = as5047d_hori_read_data_a();
//<2F>жϽ<D0B6><CFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
temp1 = as5047d_hori_judge_receive_package_a(temp);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ
if(temp1.Operation_Result == 1)
{
angle = (temp & 0x3FFF) * 0.02197265625;//0.02197265625 = 360.0 / 16384.0
angle1 = (unsigned int)(angle * 1000.0);//ֻ<><D6BB><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3λ
angle = (float)(angle1 / 1000.0);
BSP_OS_SemPost(&ptz_hori_get_angle_mutex);
return angle;
}
BSP_OS_SemPost(&ptz_hori_get_angle_mutex);
return -1;
}
/********************************************************************************/
/********************************************************************************/
/********************************************************************************/
//ֱ<><D6B1>ͨ<EFBFBD><CDA8>ʱ<EFBFBD>Ӷ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
unsigned int as5047d_vert_clk_read_angle()
{
unsigned int temp1 = 0;
unsigned int temp2 = 0;
AS5047D_VERT_CLK_LOW;
AS5047D_VERT_MOSI_HIGH;
as5047d_delay_nop(2);
for(int i = 15; i >= 0; i--)
{
AS5047D_VERT_CLK_LOW;
as5047d_delay_nop(2);
AS5047D_VERT_CLK_HIGH;
as5047d_delay_nop(2);
temp1 = AS5047D_VERT_MISO_READ;
temp2 = temp2 | (temp1 << i);
temp1 = 0;
}
AS5047D_VERT_CLK_LOW;
return temp2;
}
//<2F>޸Ķ<DEB8>ȡ<EFBFBD>Ƕȵķ<C8B5>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȶ<C7B6>ȡ<EFBFBD>ٶ<EFBFBD>
unsigned int as5047d_vert_read_data_a()
{
unsigned int temp = 0;
AS5047D_VERT_CSN_DISABLE;
as5047d_delay_nop(4);
AS5047D_VERT_CSN_ENABLE;
as5047d_delay_nop(4);
//<2F><><EFBFBD>Ͷ<EFBFBD>ָ<EFBFBD><D6B8>
temp = as5047d_vert_clk_read_angle();
AS5047D_VERT_CSN_DISABLE;
return temp;
}
//<2F>µ<EFBFBD><C2B5>жϷ<D0B6>ʽ
As5047DJudgeReceivePackage as5047d_vert_judge_receive_package_a(unsigned int package)
{
As5047DJudgeReceivePackage temp1;
memset(&temp1,0,sizeof(temp1));
temp1.package = package;
temp1.Operation_Result = 1;
//<2F><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD>żУ<C5BC><D0A3><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>ȷ
//Ч<><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(package != as5047d_Parity_bit_even(package))
{
temp1.parity_error_package = 1;
temp1.Operation_Result = 0;
}
return temp1;
}
//<2F>µĶ<C2B5>ȡ<EFBFBD>Ƕȷ<C7B6>ʽ
float as5047d_vert_get_angle_a()
{
BSP_OS_SemWait(&ptz_vert_get_angle_mutex, 0u);
float angle = 0;
unsigned int angle1 = 0;
unsigned int temp = 0;
As5047DJudgeReceivePackage temp1;
memset(&temp1, 0, sizeof(temp1));
//<2F><>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
temp = as5047d_vert_read_data_a();
//<2F>жϽ<D0B6><CFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
temp1 = as5047d_vert_judge_receive_package_a(temp);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ
if(temp1.Operation_Result == 1)
{
angle = (temp & 0x3FFF) * 0.02197265625;//0.02197265625 = 360.0 / 16384.0
angle1 = (unsigned int)(angle * 1000.0);//ֻ<><D6BB><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3λ
angle = (float)(angle1 / 1000.0);
BSP_OS_SemPost(&ptz_vert_get_angle_mutex);
return angle;
}
BSP_OS_SemPost(&ptz_vert_get_angle_mutex);
return -1;
}
#endif
/********************************************************************************/
/********************************************************************************/
/********************************************************************************/
#ifdef TMR3109
//TMR3109 <20><><EFBFBD><EFBFBD><EFBFBD>붨<EFBFBD><EBB6A8>
#define TMR3109_OPCODE_WRITE_EEPROM 0x01 //001 дEEPROM
#define TMR3109_OPCODE_WRITE_REGISTER 0x05 //101 д<>Ĵ<EFBFBD><C4B4><EFBFBD>
#define TMR3109_OPCODE_READ_REGISTER 0x06 //110 <20><><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define TMR3109_OPCODE_CHANGE_MODE 0x07 //111 ģʽ<C4A3>л<EFBFBD>
#define TMR3109_OPCODE_READ_ANGLE 0x03 //011 <20><><EFBFBD>Ƕ<EFBFBD>
//TMR3109<30>豸<EFBFBD>ṹ<EFBFBD><E1B9B9>
typedef struct{
uint8_t device_id; //<2F>豸<EFBFBD><E8B1B8>ַ
uint32_t spi_periph; //SPI<50><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ
uint32_t cs_pin; //Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD>
uint32_t cs_gpio_periph; //Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ
}TMR3109_Device;
//<2F>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD>ݽṹ<DDBD><E1B9B9>
typedef struct{
uint32_t angle_raw; //23λԭʼ<D4AD>Ƕ<EFBFBD>ֵ
float angle_degree; //<2F>Ƕ<EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
uint8_t crc; //CRCУ<43><D0A3><EFBFBD><EFBFBD>
uint8_t error; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
bool is_valid; //<2F>Ƿ<EFBFBD><C7B7><EFBFBD>Ч
}TMR3109_AngleData;
//TMR3109<30>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
TMR3109_Device tmr3109_dev1 = {
.device_id = 1,
.spi_periph = SPI2,
.cs_pin = GPIO_PIN_15,
.cs_gpio_periph = GPIOA,
};
TMR3109_Device tmr3109_dev2 = {
.device_id = 2,
.spi_periph = SPI4,
.cs_pin = GPIO_PIN_11,
.cs_gpio_periph = GPIOE,
};
TMR3109_AngleData hori_angle_data = {0};
TMR3109_AngleData vert_angle_data = {0};
//<2F>ݶ<EFBFBD>΢<EFBFBD>뼶<EFBFBD>ӳٺ<D3B3><D9BA><EFBFBD>(<28><><EFBFBD><EFBFBD>SysTick)(<28><><EFBFBD><EFBFBD>ɾ<EFBFBD><C9BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӳٺ<D3B3><D9BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊͳһ<CDB3>ĺ<EFBFBD><C4BA><EFBFBD>)
void delay_us(uint32_t us)
{
uint32_t start, now, delta, reload, us_tick;
start = SysTick->VAL;
reload = SysTick->LOAD;
us_tick = SystemCoreClock / 1000000UL;
do {
now = SysTick->VAL;
delta = start > now? start - now : reload + start - now;
} while (delta < us_tick * us);
}
//TMR3109<30><39>ʼ<EFBFBD><CABC>
void TMR3109_Init(void)
{
//<2F><>ʼ<EFBFBD><CABC>SPI2<49><32>U33<33><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_GPIOC);
rcu_periph_clock_enable(RCU_SPI2);
//<2F><><EFBFBD><EFBFBD>SPI2<49><32><EFBFBD><EFBFBD>
gpio_af_set(GPIOC, GPIO_AF_6, GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12); //PC10,11,12<31><32><EFBFBD><EFBFBD>ΪSPI2
gpio_mode_set(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12);
gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_10 | /*GPIO_PIN_11 | */GPIO_PIN_12); //ע<><D7A2>һ<EFBFBD><D2BB>MISO<53><4F><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<C4A3><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܻ<EFBFBD><DCBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD>CS<43><53><EFBFBD><EFBFBD>
gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_15);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_15);
gpio_bit_set(GPIOA, GPIO_PIN_15); //Ĭ<><C4AC>CS<43><53><EFBFBD>Ÿߵ<C5B8>ƽ
//<2F><><EFBFBD><EFBFBD>SPI2<49><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>8MHz<48><7A><EFBFBD>ݶ<EFBFBD>5MHz<48><7A><EFBFBD>ң<EFBFBD>
spi_parameter_struct spi_init_struct;
spi_struct_para_init(&spi_init_struct);
spi_init_struct.trans_mode = SPI_TRANSMODE_FULLDUPLEX;
spi_init_struct.device_mode = SPI_MASTER;
spi_init_struct.frame_size = SPI_FRAMESIZE_16BIT; //16λ֡<CEBB><D6A1>
spi_init_struct.clock_polarity_phase = SPI_CK_PL_LOW_PH_2EDGE; //ʱ<>Ӽ<EFBFBD><D3BC><EFBFBD>Ϊ<EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD>λΪ<CEBB>ڶ<EFBFBD><DAB6><EFBFBD>Ե(<28>½<EFBFBD><C2BD><EFBFBD>)
spi_init_struct.nss = SPI_NSS_SOFT; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
spi_init_struct.prescale = SPI_PSC_16; //ʱ<><CAB1>Ԥ<EFBFBD><D4A4>Ƶϵ<C6B5><CFB5>Ϊ16(5MHz<48><7A><EFBFBD><EFBFBD>)
spi_init_struct.endian = SPI_ENDIAN_MSB; //<2F><>λ<EFBFBD>ȳ<EFBFBD>
spi_init(SPI2, &spi_init_struct);
spi_enable(SPI2);
//<2F><>ʼ<EFBFBD><CABC>SPI4<49><34>U32<33><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
rcu_periph_clock_enable(RCU_GPIOE);
rcu_periph_clock_enable(RCU_SPI4);
//<2F><><EFBFBD><EFBFBD>SPI4<49><34><EFBFBD><EFBFBD>
gpio_af_set(GPIOE, GPIO_AF_6, GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14); //PE12,13,14<31><34><EFBFBD><EFBFBD>ΪSPI4
gpio_mode_set(GPIOE, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14);
gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14); //ע<><D7A2>һ<EFBFBD><D2BB>MISO<53><4F><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<C4A3><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܻ<EFBFBD><DCBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD>CS<43><53><EFBFBD><EFBFBD>
gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_11);
gpio_bit_set(GPIOE, GPIO_PIN_11); //Ĭ<><C4AC>CS<43><53><EFBFBD>Ÿߵ<C5B8>ƽ
//<2F><><EFBFBD><EFBFBD>SPI4<49><34><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>8MHz<48><7A><EFBFBD>ݶ<EFBFBD>5MHz<48><7A><EFBFBD>ң<EFBFBD>
spi_parameter_struct spi_init_struct2;
spi_struct_para_init(&spi_init_struct2);
spi_init_struct2.trans_mode = SPI_TRANSMODE_FULLDUPLEX;
spi_init_struct2.device_mode = SPI_MASTER;
spi_init_struct2.frame_size = SPI_FRAMESIZE_16BIT; //16λ֡<CEBB><D6A1>
spi_init_struct2.clock_polarity_phase = SPI_CK_PL_LOW_PH_2EDGE; //ʱ<>Ӽ<EFBFBD><D3BC><EFBFBD>Ϊ<EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD>λΪ<CEBB>ڶ<EFBFBD><DAB6><EFBFBD>Ե(<28>½<EFBFBD><C2BD><EFBFBD>)
spi_init_struct2.nss = SPI_NSS_SOFT; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
spi_init_struct2.prescale = SPI_PSC_16; //ʱ<><CAB1>Ԥ<EFBFBD><D4A4>Ƶϵ<C6B5><CFB5>Ϊ16(5MHz<48><7A><EFBFBD><EFBFBD>)
spi_init_struct2.endian = SPI_ENDIAN_MSB; //<2F><>λ<EFBFBD>ȳ<EFBFBD>
spi_init(SPI4, &spi_init_struct2);
spi_enable(SPI4);
//<2F><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>ӳ<EFBFBD>
}
void as5047d_init()
{
TMR3109_Init();
}
// SPI<50><49><EFBFBD>ͽ<EFBFBD><CDBD><EFBFBD>32λ<32><CEBB><EFBFBD><EFBFBD>(GD32<33><32>SPIֻ֧<D6BB><D6A7>8λ<38><CEBB>16λ<36><CEBB><EFBFBD>䣬<EFBFBD><E4A3AC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD>η<EFBFBD><CEB7><EFBFBD>)
static uint32_t spi_transfer_32bit(uint32_t spi_periph, uint32_t data)
{
uint16_t temp_high, temp_low;
uint32_t received_data = 0;
uint32_t start_tick;
const uint32_t timeout_ticks = 10; // 10ms<6D><73>ʱ
// <20><>ȡҪ<C8A1><D2AA><EFBFBD>͵<EFBFBD>32λ<32><CEBB><EFBFBD>ݵĸ<DDB5>16λ<36>͵<EFBFBD>16λ
temp_high = (uint16_t)(data >> 16); // <20><>16λ
temp_low = (uint16_t)(data & 0xFFFF); // <20><>16λ
// 1. <20>ȷ<EFBFBD><C8B7>͸<EFBFBD>16λ<36><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1>16λ<36><CEBB>Ӧ
start_tick = OSTimeGet();
while(RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_TBE));
{
//<2F><>ʱ<EFBFBD>ж<EFBFBD>
if (OSTimeGet() - start_tick > timeout_ticks) {
// <20><><EFBFBD><EFBFBD>SPI<50><49><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ʹ<EFBFBD><CAB9><EFBFBD>ĸ<EFBFBD>Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD>
if (spi_periph == SPI2) {
gpio_bit_set(GPIOA, GPIO_PIN_15); // tmr3109_dev1 CS<43><53><EFBFBD><EFBFBD>
} else if (spi_periph == SPI4) {
gpio_bit_set(GPIOE, GPIO_PIN_11); // tmr3109_dev2 CS<43><53><EFBFBD><EFBFBD>
}
return 0xFFFFFFFF;
}
}
spi_i2s_data_transmit(spi_periph, temp_high);
start_tick = OSTimeGet();
while(RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_RBNE));
{
if (OSTimeGet() - start_tick > timeout_ticks) {
if (spi_periph == SPI2) {
gpio_bit_set(GPIOA, GPIO_PIN_15);
} else if (spi_periph == SPI4) {
gpio_bit_set(GPIOE, GPIO_PIN_11);
}
return 0xFFFFFFFF;
}
}
received_data = (uint32_t)spi_i2s_data_receive(spi_periph) << 16; // <20>洢<EFBFBD><E6B4A2><EFBFBD><EFBFBD>16λ
// 2. <20><><EFBFBD><EFBFBD><EFBFBD>ŷ<EFBFBD><C5B7>͵<EFBFBD>16λ<36><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1>16λ<36><CEBB>Ӧ
start_tick = OSTimeGet();
while(RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_TBE));
{
if (OSTimeGet() - start_tick > timeout_ticks) {
if (spi_periph == SPI2) {
gpio_bit_set(GPIOA, GPIO_PIN_15);
} else if (spi_periph == SPI4) {
gpio_bit_set(GPIOE, GPIO_PIN_11);
}
return 0xFFFFFFFF;
}
}
spi_i2s_data_transmit(spi_periph, temp_low);
start_tick = OSTimeGet();
while(RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_RBNE));
{
if (OSTimeGet() - start_tick > timeout_ticks) {
if (spi_periph == SPI2) {
gpio_bit_set(GPIOA, GPIO_PIN_15);
} else if (spi_periph == SPI4) {
gpio_bit_set(GPIOE, GPIO_PIN_11);
}
return 0xFFFFFFFF;
}
}
received_data |= spi_i2s_data_receive(spi_periph); // <20>洢<EFBFBD><E6B4A2><EFBFBD><EFBFBD>16λ
return received_data;
}
//<2F><><EFBFBD><EFBFBD>CS<43><53><EFBFBD><EFBFBD>
static void set_cs(TMR3109_Device* dev, bool state)
{
if(state)
{
gpio_bit_set(dev->cs_gpio_periph, dev->cs_pin);
}
else
{
gpio_bit_reset(dev->cs_gpio_periph, dev->cs_pin);
}
}
/**
* @brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD>TMR3109<EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD>CRC4У<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param angle_data 23λ<EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @return 4λCRCУ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*/
uint8_t TMR3109_CalculateCRC(uint32_t angle_data_23bit)
{
// <20><><EFBFBD><EFBFBD>ʽ: x^4 + x^3 + x^2 + 1 = 0b1101 = 0x0D
const uint8_t polynomial = 0x0D;
// <20><>ʼֵ: 0b0011 = 0x3
uint8_t crc = 0x3;
// <20><><EFBFBD><EFBFBD>24λ<34><CEBB><EFBFBD><EFBFBD>: 1λ0 + 23λ<33>Ƕ<EFBFBD>ֵ
uint32_t data = angle_data_23bit; // <20><>23λ<33>ǽǶ<C7BD>ֵ
// <20><><EFBFBD><EFBFBD>λ<EFBFBD>Ѿ<EFBFBD><D1BE><EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD>Ϊangle_data_23bitֻ<74><D6BB>23λ<33><CEBB>
// <20><><EFBFBD><EFBFBD>24λ<34><CEBB><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>ʼ<EFBFBD><CABC>
for (int i = 23; i >= 0; i--) {
// <20><><EFBFBD><EFBFBD>CRC<52><43><EFBFBD><EFBFBD>λ
uint8_t crc_msb = (crc >> 3) & 0x1;
// <20><>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>λ
uint8_t data_bit = (data >> i) & 0x1;
// CRC<52><43><EFBFBD><EFBFBD>1λ<31><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>0
crc = (crc << 1) & 0x0F;
// <20><><EFBFBD><EFBFBD>CRC<52><43><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ1<CEAA><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD>
if (crc_msb ^ data_bit) {
crc ^= polynomial;
}
}
return crc & 0x0F; // ȷ<><C8B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>4λ
}
/**
* @brief <EFBFBD><EFBFBD>֤TMR3109<EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD>CRC
* @param angle_data_23bit 23λ<EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param received_crc <EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD>4λCRC
* @return true<EFBFBD><EFBFBD>ʾCRCУ<EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>
*/
bool TMR3109_CheckCRC(uint32_t angle_data_23bit, uint8_t received_crc)
{
uint8_t calculated_crc = TMR3109_CalculateCRC(angle_data_23bit);
return (calculated_crc == received_crc);
}
//<2F><><EFBFBD>Ƕ<EFBFBD>
bool TMR3109_ReadAngle(TMR3109_Device* dev, TMR3109_AngleData* angle_data)
{
if(dev == NULL || angle_data == NULL) return false;
//<2F><><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><20><><EFBFBD><EFBFBD><EFBFBD>루3bit<69><74>+<2B><>ַ<EFBFBD><D6B7>8bit<69><74>+<2B><><EFBFBD>У<EFBFBD>5bit<69><74>+<2B><><EFBFBD>ݣ<EFBFBD>16bit<69><74>
uint32_t tx_data = (TMR3109_OPCODE_READ_ANGLE << 29)| (0X00 << 21) | (0X00 << 16) | (0X00 << 0) ;
set_cs(dev, false); //ʹ<><CAB9>CS
delay_us(20); //SPI<50><49><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1> <20>Ż<EFBFBD><C5BB><EFBFBD>
//<2F><><EFBFBD><EFBFBD>32λ<32><CEBB><EFBFBD>ݲ<EFBFBD><DDB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ
uint32_t rx_data = spi_transfer_32bit(dev->spi_periph, tx_data);
set_cs(dev, true); //<2F><><EFBFBD><EFBFBD>Ƭѡ
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD>
//d27~d5: 23λ<33>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD>ݣ<EFBFBD>d4~d1: CRCУ<43><D0A3><EFBFBD>룬d0: errorλ
angle_data->angle_raw = (rx_data >> 5) & 0X7FFFFF; //ȡ23λ<33>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
angle_data->crc = (rx_data >> 1) & 0X0F; //ȡ4λCRCУ<43><D0A3><EFBFBD><EFBFBD>
angle_data->error = rx_data & 0X01; //ȡ1λerrorλ
//<2F><><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD>ֵ((<28><>_{i=0}^{23} Angle<i> * 2^i) / 8388608 * 360)
angle_data->angle_degree = (angle_data->angle_raw * 360.0f) / 8388608.0f;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>У<EFBFBD><D0A3>(<28><><EFBFBD><EFBFBD>CRCУ<43><D0A3>)
bool crc_valid = TMR3109_CheckCRC(angle_data->angle_raw, angle_data->crc);
// angle_data->is_valid = 0/*(angle_data->error == 0)*/; //ע<><D7A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>errorλ<72><CEBB><EFBFBD><EFBFBD><EFBFBD>⣬<EFBFBD>ֲ<EFBFBD>û<EFBFBD>ҵ<EFBFBD>errorλ<72>ľ<EFBFBD><C4BE>嶨<EFBFBD><E5B6A8>
angle_data->is_valid = crc_valid;
//CRC<52><43><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD>߼<EFBFBD><DFBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// if(!crc_valid) {
// //CRCУ<43><D0A3>ʧ<EFBFBD>ܣ<EFBFBD><DCA3><EFBFBD>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
// //...
// }
return angle_data->is_valid;
}
float as5047d_hori_get_angle_a()
{
if (TMR3109_ReadAngle(&tmr3109_dev1, &hori_angle_data)) {
return hori_angle_data.angle_degree;
}
return 0.0f;
}
float as5047d_vert_get_angle_a()
{
if (TMR3109_ReadAngle(&tmr3109_dev2, &vert_angle_data)) {
return vert_angle_data.angle_degree;
}
return 0.0f;
}
#endif