本帖最后由 feixiang20 于 2017-5-25 09:53 编辑 0 F7 e- D. p6 H- @5 a& k( @* H+ Q* [ 1.硬件:, I, L3 m6 ?8 H A. TLE5012bE1000 B. STM32F1036 y$ H9 ]: R7 G( l4 @ - ?4 D/ O1 p( R/ H+ z1 z6 e ]5 I 2.TLE5012B_E1000 接线说明: ! L/ f7 O% o4 \4 H& A% n* c1 z. _2 b; F 1:NC 2:SCK <= 120R => stm32f103 PA57 c( A) G# B& }0 l* Y+ H& m 3:CSQ (CS) <= 120R => stm32f103 PB0 4ATA <= 120R => stm32f103 PA6 DATA <= 120R => stm32f103 PA7+ K$ z8 z5 E( z# v/ { DATA <= 2.2K => Vdd 3.3V PS:因是三线 SPI , MOSI , MISO 并线使用 5:NC 6:Vdd 3.3V( f }4 a; F2 z2 o* a6 J 7:GND 8:NC8 A$ ?* d8 W! g3 `2 z/ E, L 3.源码说明: * |1 p6 R# D7 h2 e" W A. 初始化 SPI5012B_Init();7 J: e! L4 H8 k/ z8 Q B. 得到 0~359 角度 ReadAngle() 或 角速度 ReadSpeed()3 _" f3 t% C! M p4 c2 w % B' R/ C7 S( }/ M5 h+ \ |
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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
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//以下内容需按实际更改' A7 G+ \# b6 D8 f& `
#define SPI_TX_OFF {GPIOA->CRL&=0x0FFFFFFF;GPIOA->CRL|=0x40000000;}//把PA7(MOSI)配置成开漏--输入模式/ o' [ T/ ^. [' {* n# U4 L
#define SPI_TX_ON {GPIOA->CRL&=0x0FFFFFFF;GPIOA->CRL|=0xB0000000;}//把PA7(MOSI)配置成推挽--输出模式(50MHz). l+ X7 s" U4 E3 {: O
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#define GPIO_CS_Pin_Name GPIO_Pin_03 r, F: U& ?& O* G3 e W
#define GPIO_CS_Pin_Type GPIOB
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//以下内容一般不需变动
#define SPI_CS_ENABLE GPIO_ResetBits(GPIO_CS_Pin_Type, GPIO_CS_Pin_Name) //片选脚电平拉低$ `* A, u& H$ _$ v$ ?" A
#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
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//#define DATA_H GPIO_SetBits(GPIOA, GPIO_Pin_6) //PA6(MISO)电平拉高) _* U9 p4 F0 r- o: x
//#define DATA_L GPIO_ResetBits(GPIOA, GPIO_Pin_6) //PA6(MISO)电平拉低
//#define READ_DATA GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_6); B* T v$ |- f
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/* SPI command for TLE5012 */: E. g; H/ U) |- h* B1 U) S
#define READ_STATUS 0x8001 //8000
#define READ_ANGLE_VALUE 0x8021 //80201 }: u/ u# n& @
#define READ_SPEED_VALUE 0x8031 //8030
#define WRITE_MOD1_VALUE 0x5060 //0_1010_0_000110_0001' l7 q) l3 l* \: n" P: i
#define MOD1_VALUE 0x0001! y! ~# j' M! P, f* ?1 ]! t
#define WRITE_MOD2_VALUE 0x5080 //0_1010_0_001000_0001% i" D, J1 K9 R! e- T- W
#define MOD2_VALUE 0x0801
#define WRITE_MOD3_VALUE 0x5091 //0_1010_0_001001_0001
#define MOD3_VALUE 0x0000
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#define WRITE_MOD4_VALUE 0x50E0 //0_1010_0_001110_0001: @) Q( q& j/ X+ c Q- z
#define MOD4_VALUE 0x0098 //9bit 512
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#define WRITE_IFAB_VALUE 0x50B14 \% \% R0 a0 Z/ h/ e& O
#define IFAB_VALUE 0x000D# C7 [0 p; P% a' m* _ J, `
/* Functionality mode */9 t. Z( K" H! M2 l9 B
#define REFERESH_ANGLE 0
{
uint16_t retry = 0;
while( (SPI1->SR&1<<1) == 0 )//发送缓冲区非空
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if( ++retry > 200 )
return 0;//延迟一段时间后返回9 J# I# t: J) y, B2 f
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SPI1->DR = byte; //发送数据
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retry = 0;+ m3 y9 }' j$ S0 |
while( (SPI1->SR&1<<0) == 0 ) //接收缓冲区为空
{
if( ++retry > 200 )
return 0;//延迟一段时间后返回' H" R6 k% \, U2 b$ N" a
}
return SPI1->DR; //读一下缓冲区,清标志! m, Y8 H+ [. W
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//得到 0~359 度# J5 K& y4 k3 P/ z6 s) r( X4 n8 y5 m, ~
uint16_t ReadAngle(void); J6 Z6 Q, N7 L, G7 k
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return ( ReadValue(READ_ANGLE_VALUE) * 360 / 0x10000 );+ h# G# s: y1 [* g m4 D# S# L8 f
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//得到角速度
uint16_t ReadSpeed(void)2 x5 t7 f$ \, T' S. F
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return ReadValue(READ_SPEED_VALUE);
}
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uint16_t ReadValue(uint16_t u16RegValue)
{
uint16_t u16Data;1 a' A, \ Z1 x
SPI_CS_ENABLE;
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SPIx_ReadWriteByte(u16RegValue);& d8 M5 p% t5 [0 W- U
SPI_TX_OFF;$ R2 c4 ?4 t6 I* }- t. C
//发送 0xFFFF 是无用的,可能是为了有时钟 E+ } B$ C8 y- A
u16Data = ( SPIx_ReadWriteByte(0xffff) & 0x7FFF ) << 1;//0x12/0xff*100k
SPI_CS_DISABLE;
SPI_TX_ON;$ w; s$ o, Z1 b
return(u16Data);
}
{
SPI_InitTypeDef SPI_InitStructure;! S/ d- _% T0 z" u2 T1 w! h! Q
GPIO_InitTypeDef GPIO_InitStructure;6 p \' [5 I& V( J/ n/ ]# O( ?
RCC_APB2PeriphClockCmd( RCC_APB2Periph_SPI1,ENABLE );
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//以下二句,在它处声明,请增加使用& A2 l: `& f6 g( Z6 b
//RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD |RCC_APB2Periph_AFIO, ENABLE);, g6 B7 A# F# F" q
//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
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/*SPI: NSS,SCK,MISO and MOSI */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;3 Y2 N4 o* t9 W) y2 a" e
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//PA5--CLK--复用推挽
GPIO_Init(GPIOA, &GPIO_InitStructure);. j4 B6 l6 L; k& k- U( `- H
//GPIO_StructInit(&GPIO_InitStructure);
/* Configure PA6 as encoder input */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;/ r, ^- X! ?( m% i; ~
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;//PA6--MISO--输入
GPIO_Init(GPIOA, &GPIO_InitStructure);% k0 T# q/ `/ R
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/* PA7*// N5 @3 @5 @ ~" F
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//PA7--MOSI--推挽输出# N5 E; `3 V$ H& g
GPIO_Init(GPIOA, &GPIO_InitStructure);0 H. ~; r! u, A* X
GPIO_InitStructure.GPIO_Pin = GPIO_CS_Pin_Name;//PB0--CS--推挽输出2 a. V- l' M, D# d m: X
GPIO_Init(GPIO_CS_Pin_Type, &GPIO_InitStructure);7 n* t# K9 u& O; Y1 K; [1 y
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/**********SPI****************/
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;//SPI1--双线全双工!!$ L( ]. u! Q& ~" \: h
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_16b; u* i# R6 p9 N5 ?$ c
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;) u* F6 V) _0 I/ {
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;$ [" p! M" R6 O( m7 N- _5 z: }4 C
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_Init(SPI1, &SPI_InitStructure);
SPI_Cmd(SPI1, ENABLE);; s- I$ ]7 ^# L% B
}
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谢谢分享!!!