71 lines
1.7 KiB
C
71 lines
1.7 KiB
C
#include "read_spi.h"
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float angle_encoder;
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volatile int32_t multi_turn_angle = 0;
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volatile uint16_t last_angle = 0;
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// 计算奇偶函数
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uint16_t Parity_bit_Calculate(uint16_t data_2_cal)
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{
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uint16_t parity_bit_value=0;
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while(data_2_cal != 0)
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{
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parity_bit_value ^= data_2_cal;
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data_2_cal >>=1;
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}
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return (parity_bit_value & 0x1);
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}
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// SPI发送读取函数
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uint16_t SPI_ReadWrite_OneByte(uint16_t _txdata)
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{
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//AS5407P_CS_L cs拉低
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AS5407P_CS_L();
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uint16_t rxdata;
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if(HAL_SPI_TransmitReceive(&hspi2,(uint8_t *)&_txdata,(uint8_t *)&rxdata,1,1000) !=HAL_OK)
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rxdata=0;
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//AS5407P_CS_H //cs拉高
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AS5407P_CS_H();
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return rxdata;
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}
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uint16_t AS5047_read(uint16_t add)
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{
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uint16_t data;
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add |= 0x4000; //读指令 bit14 置1
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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
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SPI_ReadWrite_OneByte(add); //发送一条指令，不管读回的数据
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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
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data &=0x3fff;
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return data;
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}
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void Encoder_Init(Encoder_t *ptr) {
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ptr->round_cnt = 0;
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ptr->ecd = AS5047_read(ANGLEUNC);
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ptr->last_ecd = ptr->ecd;
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ptr->offset_ecd = ptr->ecd;
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ptr->total_angle = 0.0;
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}
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void Update_Encoder(Encoder_t *ptr) {
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ptr->ecd = AS5047_read(ANGLEUNC);
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if (ptr->ecd - ptr->last_ecd > 4096) {
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ptr->round_cnt--;
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} else if (ptr->ecd - ptr->last_ecd < -4096) {
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ptr->round_cnt++;
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}
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ptr->total_angle = (double)((ptr->round_cnt * 8192 + ptr->ecd - ptr->offset_ecd) );
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ptr->last_ecd = ptr->ecd;
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}
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int32_t Get_Encoder_Rounds(Encoder_t *ptr) {
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return ptr->round_cnt;
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}
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double Get_Encoder_Angle(Encoder_t *ptr) {
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return ptr->total_angle;
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}
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