MW22-02A/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;


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;
}

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