#include "as5047d.h" #include static BSP_OS_SEM ptz_hori_get_angle_mutex;//共享资源锁 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; } /********************************************************************************/ /********************************************************************************/ /********************************************************************************/