#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 Encoder_Init(Encoder_t *ptr) { ptr->round_cnt = 0; ptr->ecd = AS5047_read(ANGLEUNC); ptr->last_ecd = ptr->ecd; ptr->offset_ecd = ptr->ecd; ptr->total_angle = 0.0; } void Update_Encoder(Encoder_t *ptr) { ptr->ecd = AS5047_read(ANGLEUNC); if (ptr->ecd - ptr->last_ecd > 4096) { ptr->round_cnt--; } else if (ptr->ecd - ptr->last_ecd < -4096) { ptr->round_cnt++; } ptr->total_angle = (double)((ptr->round_cnt * 8192 + ptr->ecd - ptr->offset_ecd) ); ptr->last_ecd = ptr->ecd; } int32_t Get_Encoder_Rounds(Encoder_t *ptr) { return ptr->round_cnt; } double Get_Encoder_Angle(Encoder_t *ptr) { return ptr->total_angle; }