2025-03-12 23:04:18 +08:00
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#ifndef _READ_SPI_H_
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#define _READ_SPI_H_
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#include "spi.h"
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#include "gpio.h"
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#include "struct_typedef.h"
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// AS5047p ??
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#define NOP 0x0000
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#define ERRFL 0x0001
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#define PROG 0x0003
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#define DIAAGC 0x3FFC
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#define MAG 0x3FFD
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#define ANGLEUNC 0x3FFE
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#define ANGLECOM 0x3FFF
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#define ZPOSM 0x0016
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#define ZPOSL 0x0017
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#define SETTINGS1 0x0018
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#define SETTINGS2 0x0019
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2025-03-14 20:44:39 +08:00
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typedef struct {
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int32_t round_cnt;
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uint16_t ecd;
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uint16_t last_ecd;
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uint16_t offset_ecd;
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double total_angle;
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} Encoder_t;
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2025-03-12 23:04:18 +08:00
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#define AS5407P_CS_H() \
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HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET)
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#define AS5407P_CS_L() \
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HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_RESET)
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uint16_t Parity_bit_Calculate(uint16_t data_2_cal);
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uint16_t SPI_ReadWrite_OneByte(uint16_t _txdata);
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uint16_t AS5047_read(uint16_t add);
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2025-03-14 20:44:39 +08:00
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void Encoder_Init(Encoder_t *ptr);
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void Update_Encoder(Encoder_t *ptr);
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int32_t Get_Encoder_Rounds(Encoder_t *ptr);
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double Get_Encoder_Angle(Encoder_t *ptr);
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2025-03-12 23:04:18 +08:00
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#endif
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