shoot/User/device/read_spi.c

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2025-03-12 23:04:18 +08:00
#include "read_spi.h"
float angle_encoder;
volatile int32_t multi_turn_angle = 0;
volatile uint16_t last_angle = 0;
// 计算奇偶函数
uint16_t Parity_bit_Calculate(uint16_t data_2_cal)
{
uint16_t parity_bit_value=0;
while(data_2_cal != 0)
{
parity_bit_value ^= data_2_cal;
data_2_cal >>=1;
}
return (parity_bit_value & 0x1);
}
// SPI发送读取函数
uint16_t SPI_ReadWrite_OneByte(uint16_t _txdata)
{
//AS5407P_CS_L cs拉低
AS5407P_CS_L();
uint16_t rxdata;
if(HAL_SPI_TransmitReceive(&hspi2,(uint8_t *)&_txdata,(uint8_t *)&rxdata,1,1000) !=HAL_OK)
rxdata=0;
//AS5407P_CS_H //cs拉高
AS5407P_CS_H();
return rxdata;
}
uint16_t AS5047_read(uint16_t add)
{
uint16_t data;
add |= 0x4000; //读指令 bit14 置1
if(Parity_bit_Calculate(add)==1) add=add|0x8000; //如果前15位 1的个数位偶数则Bit15 置1
SPI_ReadWrite_OneByte(add); //发送一条指令,不管读回的数据
data=SPI_ReadWrite_OneByte(NOP|0x4000); //发送一条空指令,读取上一次指令返回的数据
data &=0x3fff;
return data;
}
// void Update_MultiTurn_Angle(void)
// {
// uint16_t current_angle = AS5047_read(ANGLEUNC);
// int16_t angle_diff = current_angle - last_angle;
// // 检测角度跳变
// if (angle_diff > 8192) // 角度从低到高跳变
// {
// multi_turn_angle -= (16384 - angle_diff);
// }
// else if (angle_diff < -8192) // 角度从高到低跳变
// {
// multi_turn_angle += (16384 + angle_diff);
// }
// else
// {
// multi_turn_angle += angle_diff;
// }
// last_angle = current_angle;
// }
void Update_MultiTurn_Angle(void)
{
uint16_t current_angle = AS5047_read(ANGLEUNC);
int16_t angle_diff = current_angle - last_angle;
// 检测角度跳变
if (angle_diff > 8192) // 角度从低到高跳变
{
multi_turn_angle -= 1;
}
else if (angle_diff < -8192) // 角度从高到低跳变
{
multi_turn_angle += 1;
}
last_angle = current_angle;
}