本帖最后由 feixiang20 于 2017-5-25 09:53 编辑 3 J% h2 ^- _# W9 N! C * ?- ]. |' m6 i5 U: R 1.硬件: ( j- M2 C2 F9 | D A. TLE5012bE1000 D8 B# @$ z; H5 y, J$ m% { 6 }$ I. z: d' C# O3 B7 \# R# F# w B. STM32F103: N, u% J1 h4 W. O( _# C% J 3 H/ A5 [: e! f 2.TLE5012B_E1000 接线说明: - ]; @* Q8 b3 L 1:NC& d2 o" v3 V- m0 E 2:SCK <= 120R => stm32f103 PA5 3:CSQ (CS) <= 120R => stm32f103 PB0( m, A) f: M! f 4ATA <= 120R => stm32f103 PA62 {9 r9 x1 J/ O0 a0 L6 l4 X) [ DATA <= 120R => stm32f103 PA7 DATA <= 2.2K => Vdd 3.3V PS:因是三线 SPI , MOSI , MISO 并线使用- ~1 ^2 W: H* A # F' d0 Z# `+ ~3 r( n* `' Z9 V# D 5:NC 6:Vdd 3.3V 7:GND N) F5 h1 a4 o( z1 v% M0 T 8:NC* _" v, Y+ X1 l# B; a( x 3.源码说明:7 g, `: y9 `0 T A. 初始化 SPI5012B_Init(); B. 得到 0~359 角度 ReadAngle() 或 角速度 ReadSpeed() 0 x( {7 b4 t, z) A0 m |
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//磁铁,请用“径向充磁”的圆磁铁,如 直径 10 x 厚 2mm
//SPI5012B_Init() 时钟需另外加上
//以下内容需按实际更改0 e: ^# a; q7 h
#define SPI_TX_OFF {GPIOA->CRL&=0x0FFFFFFF;GPIOA->CRL|=0x40000000;}//把PA7(MOSI)配置成开漏--输入模式
#define SPI_TX_ON {GPIOA->CRL&=0x0FFFFFFF;GPIOA->CRL|=0xB0000000;}//把PA7(MOSI)配置成推挽--输出模式(50MHz)$ i/ O) Z0 J, }" e, ], t7 U
#define GPIO_CS_Pin_Name GPIO_Pin_0
#define GPIO_CS_Pin_Type GPIOB4 Z# K2 ]7 k' U" G/ @
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//以下内容一般不需变动) `. P) ^; \+ T. P. j/ c% n
#define SPI_CS_ENABLE GPIO_ResetBits(GPIO_CS_Pin_Type, GPIO_CS_Pin_Name) //片选脚电平拉低; w, S- s" }) d. ^6 l
#define SPI_CS_DISABLE GPIO_SetBits(GPIO_CS_Pin_Type, GPIO_CS_Pin_Name) //片选脚电平拉高
//#define INDEX_ENABLE GPIO_SetBits(GPIOA, GPIO_Pin_4)/* for incremental signal index */
//#define CLK_H GPIO_SetBits(GPIOA, GPIO_Pin_5) //时钟脚PA5电平拉高
//#define CLK_L GPIO_ResetBits(GPIOA, GPIO_Pin_5) //时钟脚PA5电平拉低: Z Z1 @3 T3 P" P3 Y
//#define DATA_H GPIO_SetBits(GPIOA, GPIO_Pin_6) //PA6(MISO)电平拉高
//#define DATA_L GPIO_ResetBits(GPIOA, GPIO_Pin_6) //PA6(MISO)电平拉低
//#define READ_DATA GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_6)
/* SPI command for TLE5012 */9 O3 ]" W, O# y: Z2 N
#define READ_STATUS 0x8001 //8000
#define READ_ANGLE_VALUE 0x8021 //8020' D: P! X' h% W' N; q2 @
#define READ_SPEED_VALUE 0x8031 //8030
#define WRITE_MOD1_VALUE 0x5060 //0_1010_0_000110_0001/ A4 L! x5 k6 U! S: {% d( S
#define MOD1_VALUE 0x0001$ O5 |7 {0 D* i' k0 D5 Y6 a
#define WRITE_MOD2_VALUE 0x5080 //0_1010_0_001000_0001
#define MOD2_VALUE 0x0801
#define WRITE_MOD3_VALUE 0x5091 //0_1010_0_001001_00014 d6 C5 n0 U8 B g2 c) c- Z
#define MOD3_VALUE 0x0000
#define WRITE_MOD4_VALUE 0x50E0 //0_1010_0_001110_0001
#define MOD4_VALUE 0x0098 //9bit 512
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#define WRITE_IFAB_VALUE 0x50B11 o* {2 E# o) [3 W; W9 g& a. [% o& S N
#define IFAB_VALUE 0x000D$ U" Q- D/ w. y; ^. E' ~5 V
/* Functionality mode */! d" k' p) T- i7 R
#define REFERESH_ANGLE 0
{
uint16_t retry = 0;; W/ z8 O r$ ]
while( (SPI1->SR&1<<1) == 0 )//发送缓冲区非空9 S5 b$ b0 o1 q! ~3 N6 p7 `, `4 a/ |& I! B
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if( ++retry > 200 )
return 0;//延迟一段时间后返回
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SPI1->DR = byte; //发送数据
retry = 0;) Y' K5 L9 b- c; |
while( (SPI1->SR&1<<0) == 0 ) //接收缓冲区为空
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if( ++retry > 200 )
return 0;//延迟一段时间后返回! B* D. Z3 x3 E" D- I) H. K) i
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return SPI1->DR; //读一下缓冲区,清标志
}! G+ w. k7 Z( `- [ M
//得到 0~359 度+ }- g) n8 F( q9 p, g1 L3 v
uint16_t ReadAngle(void)3 o% N% ~2 T1 f* v9 `
{
return ( ReadValue(READ_ANGLE_VALUE) * 360 / 0x10000 );/ L; L! P$ O! O7 O2 U! p+ @6 M4 X
}
//得到角速度
uint16_t ReadSpeed(void)5 d) K! ]6 e( ~4 R
{
return ReadValue(READ_SPEED_VALUE);3 S/ ?% L. Y6 Y8 n' Y& B; ~
}
uint16_t ReadValue(uint16_t u16RegValue)
{
uint16_t u16Data;" l0 X3 H6 h5 E$ E# o: q
SPI_CS_ENABLE;
SPIx_ReadWriteByte(u16RegValue);, o8 j, h5 n5 ^5 G! ]3 B% w2 U
SPI_TX_OFF;
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//发送 0xFFFF 是无用的,可能是为了有时钟1 G6 Z) q6 T7 u X" V c8 b- B
u16Data = ( SPIx_ReadWriteByte(0xffff) & 0x7FFF ) << 1;//0x12/0xff*100k
SPI_CS_DISABLE;3 s6 T& B# T, r s6 S7 r6 C1 r
SPI_TX_ON;
return(u16Data);
}
{
SPI_InitTypeDef SPI_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;! C- V1 \ l: F) a( l3 a
RCC_APB2PeriphClockCmd( RCC_APB2Periph_SPI1,ENABLE );
//以下二句,在它处声明,请增加使用" M3 N4 L" W5 Y9 P& k0 {
//RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD |RCC_APB2Periph_AFIO, ENABLE);
//GPIO_PinRemapConfig(GPIO_Remap_SWJ_Disable,ENABLE);//使JTDO、JTDI、JTCK 当成普通IO口进行操作
//GPIOB0 当成普通IO口进行操作
/*SPI: NSS,SCK,MISO and MOSI */) F( f! H( ` N# x7 I
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;! D! A% S$ t8 |5 z& a% d& q
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;3 a! Y# \$ ?7 u
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//PA5--CLK--复用推挽$ v/ S9 D) y3 }* e. \- N k( c, e
GPIO_Init(GPIOA, &GPIO_InitStructure);/ B# {0 d$ z1 v0 T7 r6 [( {
//GPIO_StructInit(&GPIO_InitStructure);
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/* Configure PA6 as encoder input */% i6 y5 \0 t8 `6 ]8 `
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;6 m# }1 X7 O! {0 Z3 B9 r# n
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;//PA6--MISO--输入
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* PA7*/' `0 A" ?* }2 y( b0 k
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;. h8 y, c, ?6 c, `4 @
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//PA7--MOSI--推挽输出- v" m+ X9 n# w& U9 H
GPIO_Init(GPIOA, &GPIO_InitStructure);& p4 E% s$ s& V _
GPIO_InitStructure.GPIO_Pin = GPIO_CS_Pin_Name;//PB0--CS--推挽输出4 M+ ~3 l' u* t z* `. G* O4 f2 o
GPIO_Init(GPIO_CS_Pin_Type, &GPIO_InitStructure);8 E' y4 m& c2 h* V
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/**********SPI****************/
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;//SPI1--双线全双工!!& L9 R% L9 G7 ]$ w
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_16b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;* r: A" x) C8 @- p# F& A
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;: ^' n% W/ H% E8 W0 K$ R4 Y
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;8 s- n5 C' a; z5 C3 A
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;- e/ `# f9 [. @0 B7 ?$ t
SPI_InitStructure.SPI_CRCPolynomial = 7;2 r9 X) @8 c9 n2 r$ I" E
SPI_Init(SPI1, &SPI_InitStructure);
SPI_Cmd(SPI1, ENABLE);0 J! K( W& G |# I- O0 ~
}
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谢谢分享!!!