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MW22-02A/BSP/Driver/as5047d/as5047d.c

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汇源原始工程
2025-05-21 01:55:40 +00:00
#include "as5047d.h"
#include <includes.h>
static BSP_OS_SEM ptz_hori_get_angle_mutex;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
static BSP_OS_SEM ptz_vert_get_angle_mutex;
static void as5047d_delay_nop(int as5047d_delay_time);
static unsigned int as5047d_Parity_bit_even(unsigned int package);
/// AS5047D<37><44><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
///
/// <20><><EFBFBD><EFBFBD>AS5047D<37><44>SPIͨ<49>Ŷ<EFBFBD><C5B6><EFBFBD>ʱ
/// @param delay_time <20><><EFBFBD><EFBFBD>ʱʱ<CAB1>䳤<EFBFBD><E4B3A4>
/// @return <20><>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-06<30><36><EFBFBD><EFBFBD>
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<37><44>ʼ<EFBFBD><CABC>
///
/// <20><>ʼ<EFBFBD><CABC>AS5047D
/// @param <20><>
/// @return <20><>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-06<30><36><EFBFBD><EFBFBD>
/// LH<4C>޸<EFBFBD><DEB8><EFBFBD>2022.0525
void as5047d_init()
{
//<2F><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>ʹ<EFBFBD><CAB9>
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_GPIOC);
rcu_periph_clock_enable(RCU_GPIOD);
//ˮƽPC10--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;
//<2F><>ֱ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<37><44><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD>żУ<C5BC><D0A3>(żУ<C5BC><D0A3>)
///
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD><EFBFBD><EFBFBD>żУ<C5BC><D0A3>(żУ<C5BC><D0A3>)
/// @param package <20><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>
/// @return <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>żУ<C5BC><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-06<30><36><EFBFBD><EFBFBD>
static unsigned int as5047d_Parity_bit_even(unsigned int package)
{
unsigned int temp = 0;
char temp1 = 0;
///<2F>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD>ÿһλ<D2BB><CEBB>0<EFBFBD><30><EFBFBD><EFBFBD>1
for(char i = 0; i < 15; i++)
{
temp = package & (1 << i);
if(temp != 0)
{
///<2F><><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>ֵΪ1<CEAA><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
temp1++;
}
temp = 0;
}
///temp1<70><31><EFBFBD><EFBFBD>Ϊż<CEAA><C5BC>
if(temp1 % 2 == 0)
{
///<2F><><EFBFBD><EFBFBD>żЧ<C5BC><D0A7>λ<EFBFBD><CEBB>Ϊ0
package = package & 0X7FFF; //0111 1111 1111 1111
}
///temp1<70><31><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>
else
{
///<2F><><EFBFBD><EFBFBD>żЧ<C5BC><D0A7>λ<EFBFBD><CEBB>Ϊ1
package = package | 0X8000;//1000 0000 0000 0000
}
return package;
}
/// <20>趨<EFBFBD><E8B6A8><EFBFBD>ݰ<EFBFBD>read/write<74><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///
/// <20>趨<EFBFBD><E8B6A8><EFBFBD>ݰ<EFBFBD>read/write<74><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @param package <20><>Ҫ<EFBFBD>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>
/// @return <20>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-07<30><37><EFBFBD><EFBFBD>
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;
}
/// <20>жϽ<D0B6><CFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///
/// <20>жϽ<D0B6><CFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @param package <20><><EFBFBD>жϵ<D0B6><CFB5><EFBFBD><EFBFBD><EFBFBD>
/// @param <20><>
/// @return <20><><EFBFBD><EFBFBD><EFBFBD>жϽ<D0B6><CFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
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;
//<2F><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD>żУ<C5BC><D0A3><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>ȷ
//Ч<><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(package != as5047d_Parity_bit_even(package))
{
temp1.parity_error_package = 1;
temp1.Operation_Result = 0;
}
//Ч<><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ
else
{
//<2F>жϷ<D0B6><CFB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD><DDB0>Ƿ<EFBFBD><C7B7>ǻظ<C7BB><D8B8><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
temp = package & AS5047D_JUDGE_RECEIVE_DATA;
//<2F>ظ<EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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;
//<2F><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD>żУ<C5BC><D0A3><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>ȷ
//Ч<><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(package != as5047d_Parity_bit_even(package))
{
temp1.parity_error_package = 1;
temp1.Operation_Result = 0;
}
//Ч<><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ
else
{
//<2F>жϷ<D0B6><CFB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD><DDB0>Ƿ<EFBFBD><C7B7>ǻظ<C7BB><D8B8><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
temp = package & AS5047D_JUDGE_RECEIVE_DATA;
//<2F>ظ<EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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;
}
/*********************************************************************/
/// ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @param <20><>
/// @return <20><><EFBFBD>ؽ<EFBFBD><D8BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
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;
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp2;
}
/// ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///
/// <20><><EFBFBD><EFBFBD>as5047d<37><64><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
/// @param <20><>
/// @return <20><><EFBFBD>ؽ<EFBFBD><D8BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-07<30><37><EFBFBD><EFBFBD>
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;
}
/// ˮƽ<CBAE><C6BD><EFBFBD>Ͷ<EFBFBD>ָ<EFBFBD><D6B8>
///
/// <20><><EFBFBD>Ͷ<EFBFBD>ȡas5047d<37><64><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD> 111 1111 1111 1111
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-07<30><37><EFBFBD><EFBFBD>
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);
//<2F><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
temp = as5047d_hori_send_package(add);
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp;
}
/// ˮƽ<CBAE><C6BD>ȡas5047d<37>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>е<EFBFBD>ֵ
///
/// <20><>ȡas5047d<37>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>е<EFBFBD>ֵ
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @return <20><><EFBFBD>ض<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD>ļĴ<C4BC><C4B4><EFBFBD><EFBFBD>е<EFBFBD>ֵ
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-07<30><37><EFBFBD><EFBFBD>
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);
//<2F><><EFBFBD>Ͷ<EFBFBD>ָ<EFBFBD><D6B8>
as5047d_hori_read_command(add);
AS5047D_HORI_CSN_DISABLE;
as5047d_delay_nop(4);
AS5047D_HORI_CSN_ENABLE;
as5047d_delay_nop(4);
//<2F><>ȡ<EFBFBD><C8A1>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD>
temp = as5047d_hori_nop_command();
AS5047D_HORI_CSN_DISABLE;
return temp;
}
/// ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD>дָ<D0B4><D6B8>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD>дָ<D0B4><D6B8>
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
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);
//<2F><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
temp = as5047d_hori_send_package(add);
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp;
}
/// ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD>NOPָ<50><D6B8>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD>NOPָ<50><D6B8>
/// @param <20><>
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
unsigned int as5047d_hori_nop_command()
{
unsigned int temp = 0;
temp = as5047d_hori_send_package(AS5047D_NOP);
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp;
}
/// ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>CLEAR ERROR FLAG command
/// @param <20><>
/// @return 1<><31><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD><C9B9><EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
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;
}
/// ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD>дָ<D0B4><EFBFBD><EEB2A2>ȡ<EFBFBD><C8A1><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD>дָ<D0B4><EFBFBD><EEB2A2>ȡ<EFBFBD><C8A1><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @param data <20><>Ҫд<D2AA><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
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);
//<2F><><EFBFBD><EFBFBD>д<EFBFBD><D0B4>ָ<EFBFBD><D6B8>
as5047d_hori_write_command(add);
//<2F><><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD>µ<EFBFBD><C2B5><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ؼĴ<D8BC><C4B4><EFBFBD><EFBFBD>оɵ<D0BE><C9B5><EFBFBD><EFBFBD><EFBFBD>
add = as5047d_command_type(data,AS5047D_WRITE_DATA);
add = as5047d_Parity_bit_even(data);
as5047d_hori_send_package(data);
//<2F><><EFBFBD>ռĴ<D5BC><C4B4><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>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
{
//<2F>ж<EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݺ<EFBFBD><DDBA><EFBFBD><EFBFBD>·<EFBFBD><C2B7>صļĴ<C4BC><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>ͬ
if((data & 0X3FFF) == (temp.package & 0X3FFF))
{
temp.Operation_Result = 1;
break;
}
else
{
continue;
}
}
}
return temp;
}
/// <20><>ȡ<EFBFBD><C8A1>̨ˮƽ<CBAE>Ƕ<EFBFBD>
///
/// <20><>ȡ<EFBFBD><C8A1>̨ˮƽ<CBAE>Ƕ<EFBFBD>
/// @param <20><>
/// @param <20><>
/// @return <20><><EFBFBD>ض<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-1<><31>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>ȡ<EFBFBD>ɹ<EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-27<32><37><EFBFBD><EFBFBD>
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));
//<2F><>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
temp = as5047d_hori_read_data(AS5047D_ANGLE);
//<2F>жϽ<D0B6><CFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
temp1 = as5047d_hori_judge_receive_package(temp);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ
if(temp1.Operation_Result == 1)
{
angle = (temp & 0x3FFF) * 0.02197265625;//0.02197265625 = 360.0 / 16384.0
angle1 = (unsigned int)(angle * 1000.0);//ֻ<><D6BB><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3λ
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;
}
/************************************************************************/
/// <20><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @param <20><>
/// @return <20><><EFBFBD>ؽ<EFBFBD><D8BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
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;
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp2;
}
/// <20><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
///
/// <20><><EFBFBD><EFBFBD>as5047d<37><64><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
/// @param <20><>
/// @return <20><><EFBFBD>ؽ<EFBFBD><D8BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-07<30><37><EFBFBD><EFBFBD>
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;
}
/// <20><>ֱ<EFBFBD><D6B1><EFBFBD>Ͷ<EFBFBD>ָ<EFBFBD><D6B8>
///
/// <20><><EFBFBD>Ͷ<EFBFBD>ȡas5047d<37><64><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD> 111 1111 1111 1111
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-07<30><37><EFBFBD><EFBFBD>
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);
//<2F><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
temp = as5047d_vert_send_package(add);
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp;
}
/// <20><>ֱ<EFBFBD><D6B1>ȡas5047d<37>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>е<EFBFBD>ֵ
///
/// <20><>ȡas5047d<37>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>е<EFBFBD>ֵ
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @return <20><><EFBFBD>ض<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD>ļĴ<C4BC><C4B4><EFBFBD><EFBFBD>е<EFBFBD>ֵ
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-07<30><37><EFBFBD><EFBFBD>
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);
//<2F><><EFBFBD>Ͷ<EFBFBD>ָ<EFBFBD><D6B8>
as5047d_vert_read_command(add);
AS5047D_VERT_CSN_DISABLE;
as5047d_delay_nop(4);
AS5047D_VERT_CSN_ENABLE;
as5047d_delay_nop(4);
//<2F><>ȡ<EFBFBD><C8A1>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD>
temp = as5047d_vert_nop_command();
AS5047D_VERT_CSN_DISABLE;
return temp;
}
/// <20><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD>дָ<D0B4><D6B8>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD>дָ<D0B4><D6B8>
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
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);
//<2F><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
temp = as5047d_vert_send_package(add);
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp;
}
/// <20><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD>NOPָ<50><D6B8>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD>NOPָ<50><D6B8>
/// @param <20><>
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
unsigned int as5047d_vert_nop_command()
{
unsigned int temp = 0;
temp = as5047d_vert_send_package(AS5047D_NOP);
//<2F><><EFBFBD>ص<EFBFBD><D8B5><EFBFBD>һ<EFBFBD><D2BB>ָ<EFBFBD><D6B8><EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return temp;
}
/// <20><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>CLEAR ERROR FLAG command
/// @param <20><>
/// @return 1<><31><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD><C9B9><EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
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;
}
/// <20><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD>дָ<D0B4><EFBFBD><EEB2A2>ȡ<EFBFBD><C8A1><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
///
/// <20><>as5047d<37><64><EFBFBD><EFBFBD>дָ<D0B4><EFBFBD><EEB2A2>ȡ<EFBFBD><C8A1><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
/// @param add <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
/// @param data <20><>Ҫд<D2AA><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @return <20><><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD>н<EFBFBD><D0BD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-08<30><38><EFBFBD><EFBFBD>
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);
//<2F><><EFBFBD><EFBFBD>д<EFBFBD><D0B4>ָ<EFBFBD><D6B8>
as5047d_vert_write_command(add);
//<2F><><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD>µ<EFBFBD><C2B5><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ؼĴ<D8BC><C4B4><EFBFBD><EFBFBD>оɵ<D0BE><C9B5><EFBFBD><EFBFBD><EFBFBD>
add = as5047d_command_type(data,AS5047D_WRITE_DATA);
add = as5047d_Parity_bit_even(data);
as5047d_vert_send_package(data);
//<2F><><EFBFBD>ռĴ<D5BC><C4B4><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>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
{
//<2F>ж<EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݺ<EFBFBD><DDBA><EFBFBD><EFBFBD>·<EFBFBD><C2B7>صļĴ<C4BC><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>ͬ
if((data & 0X3FFF) == (temp.package & 0X3FFF))
{
temp.Operation_Result = 1;
break;
}
else
{
continue;
}
}
}
return temp;
}
/// <20><>ȡ<EFBFBD><C8A1>̨<EFBFBD><CCA8>ֱ<EFBFBD>Ƕ<EFBFBD>
///
/// <20><>ȡ<EFBFBD><C8A1>̨<EFBFBD><CCA8>ֱ<EFBFBD>Ƕ<EFBFBD>
/// @param <20><>
/// @param <20><>
/// @return <20><><EFBFBD>ض<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-1<><31>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>ȡ<EFBFBD>ɹ<EFBFBD>
/// @par <20>޸<EFBFBD><DEB8><EFBFBD>־
/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2017-09-27<32><37><EFBFBD><EFBFBD>
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));
//<2F><>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
temp = as5047d_vert_read_data(AS5047D_ANGLE);
//<2F>жϽ<D0B6><CFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
temp1 = as5047d_vert_judge_receive_package(temp);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ
if(temp1.Operation_Result == 1)
{
angle = (temp & 0x3FFF) * 0.02197265625;//0.02197265625 = 360.0 / 16384.0
angle1 = (unsigned int)(angle * 1000.0);//ֻ<><D6BB><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3λ
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;
}
/********************************************************************************/
/********************************************************************************/
/********************************************************************************/
//ֱ<><D6B1>ͨ<EFBFBD><CDA8>ʱ<EFBFBD>Ӷ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
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;
}
//<2F>޸Ķ<DEB8>ȡ<EFBFBD>Ƕȵķ<C8B5>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȶ<C7B6>ȡ<EFBFBD>ٶ<EFBFBD>
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);
//<2F><><EFBFBD>Ͷ<EFBFBD>ָ<EFBFBD><D6B8>
temp = as5047d_hori_clk_read_angle();
AS5047D_HORI_CSN_DISABLE;
return temp;
}
//<2F>µ<EFBFBD><C2B5>жϷ<D0B6>ʽ
As5047DJudgeReceivePackage as5047d_hori_judge_receive_package_a(unsigned int package)
{
As5047DJudgeReceivePackage temp1;
memset(&temp1,0,sizeof(temp1));
temp1.package = package;
temp1.Operation_Result = 1;
//<2F><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD>żУ<C5BC><D0A3><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>ȷ
//Ч<><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(package != as5047d_Parity_bit_even(package))
{
temp1.parity_error_package = 1;
temp1.Operation_Result = 0;
}
return temp1;
}
//<2F>µĶ<C2B5>ȡ<EFBFBD>Ƕȷ<C7B6>ʽ
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));
//<2F><>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
temp = as5047d_hori_read_data_a();
//<2F>жϽ<D0B6><CFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
temp1 = as5047d_hori_judge_receive_package_a(temp);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ
if(temp1.Operation_Result == 1)
{
angle = (temp & 0x3FFF) * 0.02197265625;//0.02197265625 = 360.0 / 16384.0
angle1 = (unsigned int)(angle * 1000.0);//ֻ<><D6BB><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3λ
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;
}
/********************************************************************************/
/********************************************************************************/
/********************************************************************************/
//ֱ<><D6B1>ͨ<EFBFBD><CDA8>ʱ<EFBFBD>Ӷ<EFBFBD>ȡ<EFBFBD>Ƕ<EFBFBD>
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;
}
//<2F>޸Ķ<DEB8>ȡ<EFBFBD>Ƕȵķ<C8B5>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕȶ<C7B6>ȡ<EFBFBD>ٶ<EFBFBD>
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);
//<2F><><EFBFBD>Ͷ<EFBFBD>ָ<EFBFBD><D6B8>
temp = as5047d_vert_clk_read_angle();
AS5047D_VERT_CSN_DISABLE;
return temp;
}
//<2F>µ<EFBFBD><C2B5>жϷ<D0B6>ʽ
As5047DJudgeReceivePackage as5047d_vert_judge_receive_package_a(unsigned int package)
{
As5047DJudgeReceivePackage temp1;
memset(&temp1,0,sizeof(temp1));
temp1.package = package;
temp1.Operation_Result = 1;
//<2F><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD>żУ<C5BC><D0A3><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>ȷ
//Ч<><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(package != as5047d_Parity_bit_even(package))
{
temp1.parity_error_package = 1;
temp1.Operation_Result = 0;
}
return temp1;
}
//<2F>µĶ<C2B5>ȡ<EFBFBD>Ƕȷ<C7B6>ʽ
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));
//<2F><>ȡ<EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
temp = as5047d_vert_read_data_a();
//<2F>жϽ<D0B6><CFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
temp1 = as5047d_vert_judge_receive_package_a(temp);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ
if(temp1.Operation_Result == 1)
{
angle = (temp & 0x3FFF) * 0.02197265625;//0.02197265625 = 360.0 / 16384.0
angle1 = (unsigned int)(angle * 1000.0);//ֻ<><D6BB><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3λ
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;
}
/********************************************************************************/
/********************************************************************************/
/********************************************************************************/