MW22-01A/BSP/Driver/as5047d/as5047d.c

#include "as5047d.h"
#include  <includes.h>

static BSP_OS_SEM ptz_hori_get_angle_mutex;//共享资源锁
static BSP_OS_SEM ptz_vert_get_angle_mutex;

#ifdef AS5047

static void as5047d_delay_nop(int as5047d_delay_time);
static unsigned int as5047d_Parity_bit_even(unsigned int package);
/// AS5047D短延时函数
///
/// 用于AS5047D的SPI通信短延时
/// @param delay_time 短延时时间长短    
/// @return 无 
/// @par   修改日志
///        杨鹏程于2017-09-06创建
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初始化
///
/// 初始化AS5047D
/// @param  无   
/// @return 无 
/// @par   修改日志
///        杨鹏程于2017-09-06创建
///        LH修改于2022.0525
void as5047d_init()
{
  //总线时钟使能
  rcu_periph_clock_enable(RCU_GPIOA);
  rcu_periph_clock_enable(RCU_GPIOC);
  rcu_periph_clock_enable(RCU_GPIOD);
  //水平PC10--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;
  
  
  
  //垂直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数据包奇偶校验(偶校验)
///
/// 计算数据包的奇偶校验(偶校验)
/// @param  package 需要计算的数据包   
/// @return 返回奇偶校验后的数据包 
/// @par   修改日志
///        杨鹏程于2017-09-06创建
static unsigned int as5047d_Parity_bit_even(unsigned int package)
{
  unsigned int temp = 0;
  char temp1 = 0;
  ///判断数据每一位是0还是1
  for(char i = 0; i < 15; i++)
  {
    temp = package & (1 << i);
    if(temp != 0)
    {
      ///如果位数值为1则相加
      temp1++;
    }
    temp = 0;
  }
  ///temp1如果为偶数
  if(temp1 % 2 == 0)
  {
    ///将奇偶效验位置为0
    package = package & 0X7FFF; //0111 1111 1111 1111
  }
  ///temp1如果为奇数
  else
  {
    ///将奇偶效验位置为1 
    package = package | 0X8000;//1000 0000 0000 0000
  }
  return package;
}
 


/// 设定数据包read/write的类型
///
/// 设定数据包read/write的类型
/// @param  package 需要设定的数据包   
/// @return 设定后的数据包 
/// @par   修改日志
///        杨鹏程于2017-09-07创建
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;  
}

/// 判断接收到的数据
///
/// 判断接收到的数据
/// @param  package 待判断的数据
/// @param  无
/// @return 返回判断结果
/// @par   修改日志
///        杨鹏程于2017-09-08创建
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;
  //首先判断数据包的偶校验码是否正确
  //效验码错误
  if(package != as5047d_Parity_bit_even(package))
  {
    temp1.parity_error_package = 1;
    temp1.Operation_Result = 0;
  }
  //效验码正确
  else
  {
    //判断返回数据包是否是回复的指令出错内容
    temp = package & AS5047D_JUDGE_RECEIVE_DATA;
    //回复指令出错内容
    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;
  //首先判断数据包的偶校验码是否正确
  //效验码错误
  if(package != as5047d_Parity_bit_even(package))
  {
    temp1.parity_error_package = 1;
    temp1.Operation_Result = 0;
  }
  //效验码正确
  else
  {
    //判断返回数据包是否是回复的指令出错内容
    temp = package & AS5047D_JUDGE_RECEIVE_DATA;
    //回复指令出错内容
    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;
}

/*********************************************************************/




/// 水平发送数据
///
/// 向as5047d发送数据
/// @param  无 
/// @return 返回接收到的数据
/// @par   修改日志
///        杨鹏程于2017-09-08创建
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;
  //返回的上一个指令回复的数据
  return temp2;
}

/// 水平接收数据
///
/// 接收as5047d返回的数据
/// @param  无 
/// @return 返回接收到的数据
/// @par   修改日志
///        杨鹏程于2017-09-07创建
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;
}


/// 水平发送读指令
///
/// 发送读取as5047d数据指令
/// @param  add 寄存器地址   
/// @return 发送过程中接收的数据 111 1111 1111 1111
/// @par   修改日志
///        杨鹏程于2017-09-07创建
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);
   //发送指令
  temp = as5047d_hori_send_package(add);
  //返回的上一个指令回复的数据
  return temp;
}


/// 水平读取as5047d寄存器中的值
///
/// 读取as5047d寄存器中的值
/// @param  add 寄存器地址 
/// @return 返回读取到的寄存器中的值
/// @par   修改日志
///        杨鹏程于2017-09-07创建
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);
  
  //发送读指令
  as5047d_hori_read_command(add);
  
  AS5047D_HORI_CSN_DISABLE;
  as5047d_delay_nop(4);
  AS5047D_HORI_CSN_ENABLE;
  as5047d_delay_nop(4);
  
  //读取上一条指令获得的数据
  temp = as5047d_hori_nop_command();
  
  AS5047D_HORI_CSN_DISABLE;
  return temp;
}


/// 水平发送写指令
///
/// 向as5047d发送写指令
/// @param  add 寄存器地址   
/// @return 发送过程中接收的数据 
/// @par   修改日志
///        杨鹏程于2017-09-08创建
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);
  //发送指令
  temp = as5047d_hori_send_package(add);
  //返回的上一个指令回复的数据
  return temp;
}

/// 水平发送NOP指令
///
/// 向as5047d发送NOP指令
/// @param  无
/// @return 发送过程中接收的数据 
/// @par   修改日志
///        杨鹏程于2017-09-08创建
unsigned int as5047d_hori_nop_command()
{
  unsigned int temp = 0;
  temp = as5047d_hori_send_package(AS5047D_NOP);
  //返回的上一个指令回复的数据
  return temp;
}

/// 水平清除错误标记指令
///
/// 向as5047d发送清除错误标记指令CLEAR ERROR FLAG command
/// @param  无
/// @return 1清除成功，0清除失败
/// @par    修改日志
///        杨鹏程于2017-09-08创建
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;
}

/// 水平发送写指令并读取返回的数据
///
/// 向as5047d发送写指令并读取返回的数据
/// @param  add 寄存器地址 
/// @param  data 需要写入的数据
/// @return 发送过程中接收的数据 
/// @par   修改日志
///        杨鹏程于2017-09-08创建
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);
    
    //发送写入指令
    as5047d_hori_write_command(add);
    //从新写入新的数据，并返回寄存器中旧的数据
    add = as5047d_command_type(data,AS5047D_WRITE_DATA);
    add = as5047d_Parity_bit_even(data);
    as5047d_hori_send_package(data);
    //接收寄存器中的新数据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
    {
      //判断写入的数据和最新返回的寄存器数据是否相同
      if((data & 0X3FFF) == (temp.package & 0X3FFF))
      {
        temp.Operation_Result = 1;
        break;
      }
      else
      {
        continue;
      }
    }
  }
  return temp;
}

/// 读取云台水平角度
///
/// 读取云台水平角度
/// @param  无
/// @param  无
/// @return 返回读取结果。-1读取失败，其他值读取成功
/// @par   修改日志
///        杨鹏程于2017-09-27创建
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));
  //读取角度数据
  temp = as5047d_hori_read_data(AS5047D_ANGLE);
  //判断接收到的数据是否正常
  temp1 = as5047d_hori_judge_receive_package(temp);
  //数据正确
  if(temp1.Operation_Result == 1)
  {
    angle = (temp & 0x3FFF) * 0.02197265625;//0.02197265625 = 360.0 / 16384.0
    angle1 = (unsigned int)(angle * 1000.0);//只保留小数点后3位
    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;
}


/************************************************************************/



/// 垂直发送数据
///
/// 向as5047d发送数据
/// @param  无 
/// @return 返回接收到的数据
/// @par   修改日志
///        杨鹏程于2017-09-08创建
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;
  //返回的上一个指令回复的数据
  return temp2;
}

/// 垂直接收数据
///
/// 接收as5047d返回的数据
/// @param  无 
/// @return 返回接收到的数据
/// @par   修改日志
///        杨鹏程于2017-09-07创建
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;
}


/// 垂直发送读指令
///
/// 发送读取as5047d数据指令
/// @param  add 寄存器地址   
/// @return 发送过程中接收的数据 111 1111 1111 1111
/// @par   修改日志
///        杨鹏程于2017-09-07创建
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);
   //发送指令
  temp = as5047d_vert_send_package(add);
  //返回的上一个指令回复的数据
  return temp;
}


/// 垂直读取as5047d寄存器中的值
///
/// 读取as5047d寄存器中的值
/// @param  add 寄存器地址 
/// @return 返回读取到的寄存器中的值
/// @par   修改日志
///        杨鹏程于2017-09-07创建
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);
  
  //发送读指令
  as5047d_vert_read_command(add);
  
  AS5047D_VERT_CSN_DISABLE;
  as5047d_delay_nop(4);
  AS5047D_VERT_CSN_ENABLE;
  as5047d_delay_nop(4);
  
  //读取上一条指令获得的数据
  temp = as5047d_vert_nop_command();
  
  AS5047D_VERT_CSN_DISABLE;
  return temp;
}

/// 垂直发送写指令
///
/// 向as5047d发送写指令
/// @param  add 寄存器地址   
/// @return 发送过程中接收的数据 
/// @par   修改日志
///        杨鹏程于2017-09-08创建
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);
  //发送指令
  temp = as5047d_vert_send_package(add);
  //返回的上一个指令回复的数据
  return temp;
}

/// 垂直发送NOP指令
///
/// 向as5047d发送NOP指令
/// @param  无
/// @return 发送过程中接收的数据 
/// @par   修改日志
///        杨鹏程于2017-09-08创建
unsigned int as5047d_vert_nop_command()
{
  unsigned int temp = 0;
  temp = as5047d_vert_send_package(AS5047D_NOP);
  //返回的上一个指令回复的数据
  return temp;
}

/// 垂直清除错误标记指令
///
/// 向as5047d发送清除错误标记指令CLEAR ERROR FLAG command
/// @param  无
/// @return 1清除成功，0清除失败
/// @par    修改日志
///        杨鹏程于2017-09-08创建
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;
}

/// 垂直发送写指令并读取返回的数据
///
/// 向as5047d发送写指令并读取返回的数据
/// @param  add 寄存器地址 
/// @param  data 需要写入的数据
/// @return 发送过程中接收的数据 
/// @par   修改日志
///        杨鹏程于2017-09-08创建
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);
    
    //发送写入指令
    as5047d_vert_write_command(add);
    //从新写入新的数据，并返回寄存器中旧的数据
    add = as5047d_command_type(data,AS5047D_WRITE_DATA);
    add = as5047d_Parity_bit_even(data);
    as5047d_vert_send_package(data);
    //接收寄存器中的新数据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
    {
      //判断写入的数据和最新返回的寄存器数据是否相同
      if((data & 0X3FFF) == (temp.package & 0X3FFF))
      {
        temp.Operation_Result = 1;
        break;
      }
      else
      {
        continue;
      }
    }
  }
  return temp;
}

/// 读取云台垂直角度
///
/// 读取云台垂直角度
/// @param  无
/// @param  无
/// @return 返回读取结果。-1读取失败，其他值读取成功
/// @par   修改日志
///        杨鹏程于2017-09-27创建
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));
  //读取角度数据
  temp = as5047d_vert_read_data(AS5047D_ANGLE);
  //判断接收到的数据是否正常
  temp1 = as5047d_vert_judge_receive_package(temp);
  //数据正确
  if(temp1.Operation_Result == 1)
  {
    angle = (temp & 0x3FFF) * 0.02197265625;//0.02197265625 = 360.0 / 16384.0
    angle1 = (unsigned int)(angle * 1000.0);//只保留小数点后3位
    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;
}



/********************************************************************************/
/********************************************************************************/
/********************************************************************************/
//直接通过时钟读取角度
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;
}

//修改读取角度的方式，提升角度读取速度
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);
  
  //发送读指令
  temp = as5047d_hori_clk_read_angle();
  
  AS5047D_HORI_CSN_DISABLE;
  return temp;
}

//新的判断方式
As5047DJudgeReceivePackage as5047d_hori_judge_receive_package_a(unsigned int package)
{
  As5047DJudgeReceivePackage temp1;
  memset(&temp1,0,sizeof(temp1));
  
  temp1.package = package;
  temp1.Operation_Result = 1;
  //首先判断数据包的偶校验码是否正确
  //效验码错误
  if(package != as5047d_Parity_bit_even(package))
  {
    temp1.parity_error_package = 1;
    temp1.Operation_Result = 0;
  }
  return temp1;
}



//新的读取角度方式
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));
  //读取角度数据
  temp = as5047d_hori_read_data_a();
  //判断接收到的数据是否正常
  temp1 = as5047d_hori_judge_receive_package_a(temp);
  //数据正确
  if(temp1.Operation_Result == 1)
  {
    angle = (temp & 0x3FFF) * 0.02197265625;//0.02197265625 = 360.0 / 16384.0
    angle1 = (unsigned int)(angle * 1000.0);//只保留小数点后3位
    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;
}

/********************************************************************************/
/********************************************************************************/
/********************************************************************************/

//直接通过时钟读取角度
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;
}

//修改读取角度的方式，提升角度读取速度
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);
  
  //发送读指令
  temp = as5047d_vert_clk_read_angle();
  
  AS5047D_VERT_CSN_DISABLE;
  return temp;
}

//新的判断方式
As5047DJudgeReceivePackage as5047d_vert_judge_receive_package_a(unsigned int package)
{
  As5047DJudgeReceivePackage temp1;
  memset(&temp1,0,sizeof(temp1));
  
  temp1.package = package;
  temp1.Operation_Result = 1;
  //首先判断数据包的偶校验码是否正确
  //效验码错误
  if(package != as5047d_Parity_bit_even(package))
  {
    temp1.parity_error_package = 1;
    temp1.Operation_Result = 0;
  }
  return temp1;
}

//新的读取角度方式
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));
  //读取角度数据
  temp = as5047d_vert_read_data_a();
  //判断接收到的数据是否正常
  temp1 = as5047d_vert_judge_receive_package_a(temp);
  //数据正确
  if(temp1.Operation_Result == 1)
  {
    angle = (temp & 0x3FFF) * 0.02197265625;//0.02197265625 = 360.0 / 16384.0
    angle1 = (unsigned int)(angle * 1000.0);//只保留小数点后3位
    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

/**
  * @brief  tmr3109初始化
  * @param  
  * @retval
  *
  */
static void tmr3109_init(void)
{
    //总线时钟使能
    rcu_periph_clock_enable(RCU_GPIOA);
    rcu_periph_clock_enable(RCU_GPIOC);
    rcu_periph_clock_enable(RCU_GPIOD);
    //水平PC10--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);
    
    TMR3109_HORI_CSN_DISABLE;
    TMR3109_HORI_CLK_LOW;
    TMR3109_HORI_MOSI_LOW;
    
    
    
    //垂直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);
    
    TMR3109_VERT_CSN_DISABLE;
    TMR3109_VERT_CLK_LOW;
    TMR3109_VERT_MOSI_LOW;
}

/**
  * @brief  tmr3109短延时函数,用于tmr3109的SPI通信短延时
  * @param  delay_time 短延时时间长短
  * @retval
  *
  */
static void tmr3109_delay_nop(int delay_time)
{
    for(int i = 0; i < delay_time; i ++)
    {
      asm("nop");
      asm("nop");
      asm("nop");
      asm("nop");
    }  
}

/**
  * @brief  将数据进行打包发送
  * @param  Op_code 功能码
  *         address 地址码
  *         idleBit 空闲码
  *         dataBit 数据位
  * @retval 打包的数据
  *
  */
unsigned int tmr3109_command_type(unsigned char Op_code, unsigned char address, unsigned char idleBit, unsigned short dataBit)
{
    return (unsigned int)((Op_code << 29) | (address << 21) | (idleBit << 16) | dataBit);
}

/**
  * @brief  校验tmr3109角度数据
  * @param  data 读取到的角度信息
  * @retval crc 校验后的值
  *
  */
// 多项式掩码 (x^4 + x^3 + x^2 + 1) -> 0b1101
#define CRC_POLY 0x0D
static unsigned char check_tmr3109_angle(unsigned int data_24bit)
{
    unsigned char crc = 0x03; // 初始值 0011

    uint8_t feedback;
    
    // 处理 24 位数据 (MSB first)
    for (int i = 23; i >= 0; i--) {
        // 获取当前位 (从最高位开始)
        uint8_t bit = (data_24bit >> i) & 0x01;
        
        // 计算反馈值 = CRC最高位 XOR 输入位
        feedback = (crc >> 3) ^ bit;
        
        // 左移寄存器 (丢弃最高位)
        crc = (crc << 1) & 0x0F;
        
        // 当反馈为1时，异或多项式
        if (feedback) {
            crc ^= CRC_POLY; // 异或多项式掩码 1101
        }
    }

    return crc;
}

/**
  * @brief  将数据发送发送到水平磁编
  * @param  package 要发送的数据
  * @retval 读取到的数据
  *
  */
unsigned int tmr3109_hori_send_package(unsigned int package)
{
    unsigned int temp = 0;
    unsigned int temp1 = 0;
    unsigned int temp2 = 0;

    TMR3109_HORI_CLK_LOW;
    TMR3109_HORI_MOSI_LOW;

    tmr3109_delay_nop(2);
    for(int i = 31; i >= 0; i--)
    {
        TMR3109_HORI_CLK_LOW;
        tmr3109_delay_nop(2);
        temp = package & (1 << i);
        if(temp != 0) {
            TMR3109_HORI_MOSI_HIGH;
        }
        else {
            TMR3109_HORI_MOSI_LOW;
        }
        tmr3109_delay_nop(2);
        
        TMR3109_HORI_CLK_HIGH;
        tmr3109_delay_nop(2);
        
        temp1 = TMR3109_HORI_MISO_READ;
        temp2 = temp2 | (temp1 << i);
        
        temp1 = 0;
        temp  = 0;
    }

    TMR3109_HORI_CLK_LOW;
    TMR3109_HORI_MOSI_LOW;

    return temp2;
}

static volatile float vert_tmr3109_angle_actual;
static volatile float hori_tmr3109_angle_actual;
/**
  * @brief  读取水平转子的位置
  * @param  
  * @retval 位置
  *
  */
float read_horiTmr3109Angle(void)
{
    static float proportion = 360.0f / 8388608.0f;
    static unsigned int temp;
    static float angle;
    // static unsigned int temp1;


    // BSP_OS_SemWait(&ptz_hori_get_angle_mutex, 0u);
    // TMR3109_HORI_CSN_DISABLE;
    // tmr3109_delay_nop(4);
    TMR3109_HORI_CSN_ENABLE;
    tmr3109_delay_nop(20);

    temp = tmr3109_hori_send_package(tmr3109_command_type(0b011, 0, 0, 0));
    
    TMR3109_HORI_CSN_DISABLE;

    if (check_tmr3109_angle((temp >> 5) & 0b11111111111111111111111) == ((temp >> 1) & 0x0F)) {
        //crc校验成功        
        // pdebug(DEBUG_LEVEL_DEBUG, "crc check success\n");
        angle = (float)((temp >> 5) & 0b11111111111111111111111) * proportion;
        hori_tmr3109_angle_actual = 360.0 - angle;
        // BSP_OS_SemPost(&ptz_hori_get_angle_mutex);
        return hori_tmr3109_angle_actual;
    }

    // BSP_OS_SemPost(&ptz_hori_get_angle_mutex);
    return -1;
}

/**
  * @brief  将数据发送发送到俯仰磁编
  * @param  package 要发送的数据
  * @retval 读取到的数据
  *
  */
unsigned int tmr3109_vert_send_package(unsigned int package)
{
    unsigned int temp = 0;
    unsigned int temp1 = 0;
    unsigned int temp2 = 0;

    TMR3109_VERT_CLK_LOW;
    TMR3109_VERT_MOSI_LOW;

    tmr3109_delay_nop(2);
    for(int i = 31; i >= 0; i--)
    {
        TMR3109_VERT_CLK_LOW;
        tmr3109_delay_nop(2);
        temp = package & (1 << i);
        if(temp != 0) {
            TMR3109_VERT_MOSI_HIGH;
        }
        else {
            TMR3109_VERT_MOSI_LOW;
        }
        tmr3109_delay_nop(2);
        
        TMR3109_VERT_CLK_HIGH;
        tmr3109_delay_nop(2);
        
        temp1 = TMR3109_VERT_MISO_READ;
        temp2 = temp2 | (temp1 << i);
        
        temp1 = 0;
        temp  = 0;
    }

    TMR3109_VERT_CLK_LOW;
    TMR3109_VERT_MOSI_LOW;

    return temp2;
}

/**
  * @brief  读取俯仰转子的位置
  * @param  
  * @retval 位置
  *
  */
float read_vertTmr3109Angle(void)
{
    static float proportion = 360.0f / 8388608.0f;
    static unsigned int temp;
    static float angle;
    // static unsigned int temp1;

    // BSP_OS_SemWait(&ptz_vert_get_angle_mutex, 0u);
    TMR3109_VERT_CSN_ENABLE;
    tmr3109_delay_nop(20);

    temp = tmr3109_vert_send_package(tmr3109_command_type(0b011, 0, 0, 0));
    
    TMR3109_VERT_CSN_DISABLE;

    if (check_tmr3109_angle((temp >> 5) & 0b11111111111111111111111) == ((temp >> 1) & 0x0F)) {
        //crc校验成功
        // pdebug(DEBUG_LEVEL_DEBUG, "crc check success\n");
        angle = (float)((temp >> 5) & 0b11111111111111111111111) * proportion;
        vert_tmr3109_angle_actual = (360.0 - angle);

        // BSP_OS_SemPost(&ptz_vert_get_angle_mutex);
        return vert_tmr3109_angle_actual;
    }

    // BSP_OS_SemPost(&ptz_vert_get_angle_mutex);
    return -1;
}

void as5047d_init()
{
    tmr3109_init();
}

float as5047d_hori_get_angle_a()
{
    return read_horiTmr3109Angle();
}

float as5047d_vert_get_angle_a()
{
    return read_vertTmr3109Angle();
}







#endif