MA600角度傳感器STM32驅(qū)動(dòng)程序

ID:389519 · 發(fā)表于 2024-10-23 15:42

/* SPI1 init function */
void MX_SPI1_Init(void)
{

  /* USER CODE BEGIN SPI1_Init 0 */

  /* USER CODE END SPI1_Init 0 */

  LL_SPI_InitTypeDef SPI_InitStruct = {0};

  LL_GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* Peripheral clock enable */
  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_SPI1);

  LL_AHB2_GRP1_EnableClock(LL_AHB2_GRP1_PERIPH_GPIOA);
  /**SPI1 GPIO Configuration
  PA5 ------> SPI1_SCK
  PA6 ------> SPI1_MISO
  PA7 ------> SPI1_MOSI
  */
  GPIO_InitStruct.Pin = LL_GPIO_PIN_5;
  GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH;
  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
  GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
  GPIO_InitStruct.Alternate = LL_GPIO_AF_5;
  LL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  GPIO_InitStruct.Pin = LL_GPIO_PIN_6;
  GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH;
  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
  GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
  GPIO_InitStruct.Alternate = LL_GPIO_AF_5;
  LL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  GPIO_InitStruct.Pin = LL_GPIO_PIN_7;
  GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH;
  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
  GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
  GPIO_InitStruct.Alternate = LL_GPIO_AF_5;
  LL_GPIO_Init(GPIOA, &GPIO_InitStruct);

//  /* SPI1 interrupt Init */
//  NVIC_SetPriority(SPI1_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),1, 1));
//  NVIC_EnableIRQ(SPI1_IRQn);

  /* USER CODE BEGIN SPI1_Init 1 */

  /* USER CODE END SPI1_Init 1 */
  SPI_InitStruct.TransferDirection = LL_SPI_FULL_DUPLEX;
  SPI_InitStruct.Mode = LL_SPI_MODE_MASTER;
  SPI_InitStruct.DataWidth = LL_SPI_DATAWIDTH_16BIT;
  SPI_InitStruct.ClockPolarity = LL_SPI_POLARITY_LOW;
  SPI_InitStruct.ClockPhase = LL_SPI_PHASE_1EDGE;
  SPI_InitStruct.NSS = LL_SPI_NSS_SOFT;
  SPI_InitStruct.BaudRate = LL_SPI_BAUDRATEPRESCALER_DIV16;
  SPI_InitStruct.BitOrder = LL_SPI_MSB_FIRST;
  SPI_InitStruct.CRCCalculation = LL_SPI_CRCCALCULATION_DISABLE;
  SPI_InitStruct.CRCPoly = 7;
  LL_SPI_Init(SPI1, &SPI_InitStruct);
  LL_SPI_SetStandard(SPI1, LL_SPI_PROTOCOL_MOTOROLA);
  LL_SPI_DisableNSSPulseMgt(SPI1);
  /* USER CODE BEGIN SPI1_Init 2 */

  /* USER CODE END SPI1_Init 2 */

  /* USER CODE BEGIN SPI1_Init 2 */

  /* USER CODE END SPI1_Init 2 */

}

uint16_t MA600GQ_Read_Register(uint8_t Address)
{
uint16_t Register_Value;
uint16_t txData = 0xd200 + Address; // 0xd2 + 8-bit Reg. Address
uint16_t timeOut = 200;

MA600GQ_CS_Enable();

while(!LL_SPI_IsActiveFlag_TXE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
LL_SPI_TransmitData16(SPI1, txData);
timeOut = 2000;
while(LL_SPI_IsActiveFlag_BSY(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
timeOut = 2000;
while(!LL_SPI_IsActiveFlag_RXNE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
LL_SPI_ReceiveData16(SPI1);
MA600GQ_CS_Disable();
delay_us(1);
MA600GQ_CS_Enable();
txData = 0x0000;
while(!LL_SPI_IsActiveFlag_TXE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
LL_SPI_TransmitData16(SPI1, txData);
timeOut = 2000;
while(LL_SPI_IsActiveFlag_BSY(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
timeOut = 2000;
while(!LL_SPI_IsActiveFlag_RXNE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}

Register_Value = LL_SPI_ReceiveData16(SPI1);

MA600GQ_CS_Disable();

return Register_Value; // 獲取16位的角度數(shù)據(jù)
}
uint16_t MA600GQ_Write_Register(uint8_t Address,uint8_t Data)
{
uint16_t Register_Value;
uint16_t txData = 0xEA54; // 0xea54
uint16_t timeOut = 200;

MA600GQ_CS_Enable();
while(!LL_SPI_IsActiveFlag_TXE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
LL_SPI_TransmitData16(SPI1, txData);
timeOut = 2000;
while(LL_SPI_IsActiveFlag_BSY(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
timeOut = 2000;
while(!LL_SPI_IsActiveFlag_RXNE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
MA600GQ_CS_Disable();
LL_SPI_ReceiveData16(SPI1);
txData = (((uint16_t)Address)<<8) + Data;
timeOut = 2000;
MA600GQ_CS_Enable();
while(!LL_SPI_IsActiveFlag_TXE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
LL_SPI_TransmitData16(SPI1, txData);
timeOut = 2000;
while(LL_SPI_IsActiveFlag_BSY(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
timeOut = 2000;
while(!LL_SPI_IsActiveFlag_RXNE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
MA600GQ_CS_Disable();
LL_SPI_ReceiveData16(SPI1);
txData = 0x0000;
timeOut = 2000;
MA600GQ_CS_Enable();
while(!LL_SPI_IsActiveFlag_TXE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
LL_SPI_TransmitData16(SPI1, txData);
timeOut = 2000;
while(LL_SPI_IsActiveFlag_BSY(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
timeOut = 2000;
while(!LL_SPI_IsActiveFlag_RXNE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
Register_Value =  LL_SPI_ReceiveData16(SPI1)&0x00FF;
MA600GQ_CS_Disable();

return Register_Value; // 獲取16位的角度數(shù)據(jù)
}
int16_t MA600GQ_Read_Speed(void)
{

uint16_t txData = 0x0000;
uint16_t timeOut = 200;

MA600GQ_CS_Enable();

while(!LL_SPI_IsActiveFlag_TXE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
LL_SPI_TransmitData16(SPI1, txData);
timeOut = 2000;
while(LL_SPI_IsActiveFlag_BSY(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
timeOut = 2000;
while(!LL_SPI_IsActiveFlag_RXNE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
MA600GQ_angle_Value = LL_SPI_ReceiveData16(SPI1);
MA600GQ_angle_Value *= POLE_PAIR_NUM;
LL_SPI_TransmitData16(SPI1, txData);

timeOut = 2000;

while(LL_SPI_IsActiveFlag_BSY(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
timeOut = 2000;
while(!LL_SPI_IsActiveFlag_RXNE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}

MA600GQ_speed_Value = LL_SPI_ReceiveData16(SPI1);

MA600GQ_CS_Disable();

// return speed_Value ; // 獲取16位的角度數(shù)據(jù)

}
uint16_t MA600GQ_GetRawData(void)
{
uint16_t txData = 0x0000;
uint16_t timeOut = 2000;
MA600GQ_CS_Enable();
while(!LL_SPI_IsActiveFlag_TXE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
LL_SPI_TransmitData16(SPI1, txData);
timeOut = 2000;
while(LL_SPI_IsActiveFlag_BSY(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
timeOut = 2000;
while(!LL_SPI_IsActiveFlag_RXNE(SPI1)) // 檢查SPI發(fā)送緩存取是否為空
{
      if(timeOut-- == 0)
      {
         return 0; // 在超時(shí)時(shí)直接返回，避免繼續(xù)執(zhí)行后續(xù)代碼
      }
}
MA600GQ_angle_Value = LL_SPI_ReceiveData16(SPI1);
MA600GQ_angle_Value *= POLE_PAIR_NUM;
MA600GQ_CS_Disable();
}

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MA600角度傳感器STM32驅(qū)動(dòng)程序

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