166 lines
4.9 KiB
C
166 lines
4.9 KiB
C
#ifndef __AS5047D_H_
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#define __AS5047D_H_
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#include "gd32f4xx.h"
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///水平AS5047D端口
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///CSn
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///将AS5047D_HORI的CSn引脚置为高电平
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#define AS5047D_HORI_CSN_DISABLE (gpio_bit_set(GPIOA,GPIO_PIN_15))
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///将AS5047D_HORI的CSn引脚置为低电平
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#define AS5047D_HORI_CSN_ENABLE (gpio_bit_reset(GPIOA,GPIO_PIN_15))
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///CLK
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///将AS5047D_HORI的CLK引脚置为高电平
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#define AS5047D_HORI_CLK_HIGH (gpio_bit_set(GPIOC,GPIO_PIN_10))
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///将AS5047D_HORI的CLK引脚置为低电平
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#define AS5047D_HORI_CLK_LOW (gpio_bit_reset(GPIOC,GPIO_PIN_10))
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///MISO
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///AS5047D_HORI的MISO引脚相连的引脚的电平值
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#define AS5047D_HORI_MISO_READ (gpio_input_bit_get(GPIOC,GPIO_PIN_11))
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///MOSI
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///将AS5047D_HORI的MOSI引脚置为高电平
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#define AS5047D_HORI_MOSI_HIGH (gpio_bit_set(GPIOC,GPIO_PIN_12))
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///将AS5047D_HORI的MOSI引脚置为低电平
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#define AS5047D_HORI_MOSI_LOW (gpio_bit_reset(GPIOC,GPIO_PIN_12))
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///垂直AS5047D端口
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///垂直AS5047D_VERT芯片引脚控制
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///CSn
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///将AS5047D_VERT的CSn引脚置为高电平
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#define AS5047D_VERT_CSN_DISABLE (gpio_bit_set(GPIOD,GPIO_PIN_0))
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///将AS5047D_VERT的CSn引脚置为低电平
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#define AS5047D_VERT_CSN_ENABLE (gpio_bit_reset(GPIOD,GPIO_PIN_0))
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///CLK
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///将AS5047D_VERT的CLK引脚置为高电平
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#define AS5047D_VERT_CLK_HIGH (gpio_bit_set(GPIOD,GPIO_PIN_1))
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///将AS5047D_VERT的CLK引脚置为低电平
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#define AS5047D_VERT_CLK_LOW (gpio_bit_reset(GPIOD,GPIO_PIN_1))
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///MISO
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///读取与AS5047D_VERT的MISO引脚相连的引脚的电平值
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#define AS5047D_VERT_MISO_READ (gpio_input_bit_get(GPIOD,GPIO_PIN_2))
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///MOSI
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///将AS5047D_VERT的MOSI引脚置为高电平
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#define AS5047D_VERT_MOSI_HIGH (gpio_bit_set(GPIOD,GPIO_PIN_3))
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///将AS5047D_VERT的MOSI引脚置为低电平
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#define AS5047D_VERT_MOSI_LOW (gpio_bit_reset(GPIOD,GPIO_PIN_3))
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///AS5047D寄存器地址
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///NOP
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#define AS5047D_NOP 0x0000
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///Clear Error Flag
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#define AS5047D_CEF 0X0001
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///Programming Control
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#define AS5047D_PC 0X0003
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///OTP Register Zero Position Hi
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#define AS5047D_ORZPH 0X0016
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///OTP Register Zero Position Low 6 LSBs
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#define AS5047D_ORZPL 0X0017
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///Diagnostics + Automatic Gain Control (AGC)
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#define AS5047D_D_AGC 0X3FFD
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///Magnitude
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#define AS5047D_M 0X3FFE
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///Angle
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#define AS5047D_ANGLE 0X3FFF
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///清除错误标记CLEAR ERROR FLAG 0100 0000 0000 0001
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#define AS5047D_CLEAR_ERROR_FLAG 0X4001
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///AS5047D寄存器读写类型
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///读寄存器
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#define AS5047D_READ_COMMAND 0X4000
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///写寄存器
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#define AS5047D_WRITE_COMMAND 0XBFFF
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///写入数据
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#define AS5047D_WRITE_DATA 0X0001
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///判断接收数据
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#define AS5047D_JUDGE_RECEIVE_DATA 0X4000 // 0100 0000 0000 0000
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///寄存器连续读取的次数
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#define AS5047D_READ_NUM 3
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///寄存器连续写入的次数
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#define AS5047D_WRITE_NUM 3
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#define AS5047D_DIR_FWD 1 //磁编码器正向转动
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#define AS5047D_DIR_REV 0 //磁编码器反向转动
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///用于保存对接收数据的判断结果
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///
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///用于保存对接收数据的判断结果，并且详细保存出错的具体原因
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///_master表示as5047d对接收到的指令判断的结果，_slave表示K60对as5047d返回的数据包判断结果
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typedef struct _As5047DJudgeReceivePackage_
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{
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///接收到的数据包
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unsigned int package;
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///k60对AS5047D回复的数据进行判断
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///判断接收的数据包效验码是否正确,1错误，0正常
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unsigned char parity_error_package;
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///AS5047D对接收到的K60指令进行判断,指令有错时的回复结果
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///数据Error flag（EF）位，
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unsigned char error_flag_command;
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///校验错误，1错误，0正常
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unsigned char parity_error_command;
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///命令无效，1错误，0正常
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unsigned char command_invalid_command;
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///帧错误，1错误，0正常
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unsigned char framing_error_command;
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///数据操作是否成功，0不成功，1成功.即判断写入或者读取数据是否成功
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unsigned char Operation_Result;
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}As5047DJudgeReceivePackage;
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///函数声明
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void as5047d_init();
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As5047DJudgeReceivePackage as5047d_hori_judge_receive_package(unsigned int package);
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As5047DJudgeReceivePackage as5047d_vert_judge_receive_package(unsigned int package);
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unsigned int as5047d_command_type(unsigned int package, unsigned int type);
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unsigned int as5047d_hori_receive_package();
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unsigned int as5047d_hori_read_command(unsigned int add);
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unsigned int as5047d_hori_send_package(unsigned int package);
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unsigned int as5047d_hori_write_command(unsigned int add);
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unsigned int as5047d_hori_nop_command();
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As5047DJudgeReceivePackage as5047d_hori_write_data(unsigned int add,unsigned int data);
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unsigned int as5047d_hori_read_data(unsigned int add);
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float as5047d_hori_get_angle();
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unsigned int as5047d_hori_cef_command();
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unsigned int as5047d_vert_receive_package();
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unsigned int as5047d_vert_read_command(unsigned int add);
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unsigned int as5047d_vert_send_package(unsigned int package);
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unsigned int as5047d_vert_write_command(unsigned int add);
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unsigned int as5047d_vert_nop_command();
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As5047DJudgeReceivePackage as5047d_vert_write_data(unsigned int add,unsigned int data);
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unsigned int as5047d_vert_read_data(unsigned int add);
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float as5047d_vert_get_angle();
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unsigned int as5047d_vert_cef_command();
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float as5047d_hori_get_angle_a();
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float as5047d_vert_get_angle_a();
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#endif |