本帖最后由 feixiang20 于 2017-5-25 09:53 编辑 . K# E7 F L9 n1 v+ F: Y: N1 X 1.硬件:0 k& ^$ w$ a! l5 {( r$ {% O5 _4 H, | A. TLE5012bE1000 B. STM32F103 6 v0 m9 ~5 a" t1 S3 I3 G2 H # ^, i3 R- Y9 U( [. m0 ]7 ` 2.TLE5012B_E1000 接线说明:. N% V/ Q n+ D" p, C! f0 m 1:NC 2:SCK <= 120R => stm32f103 PA5 W/ F# [9 u& x9 ^, |6 @ 3:CSQ (CS) <= 120R => stm32f103 PB0- p1 x- Q; V% s; R+ G& C% H, o6 i. l 4ATA <= 120R => stm32f103 PA6- J; F7 b& r' y' H% _ | DATA <= 120R => stm32f103 PA7/ Y+ h+ N/ M, c" Z7 y DATA <= 2.2K => Vdd 3.3V3 [/ o6 L+ R5 }7 d PS:因是三线 SPI , MOSI , MISO 并线使用- a( W r% d; Q$ A 5:NC 6:Vdd 3.3V 7:GND% \( B1 } i3 i8 R: |. ]3 ^0 L! H 8:NC 3.源码说明: A. 初始化 SPI5012B_Init(); B. 得到 0~359 角度 ReadAngle() 或 角速度 ReadSpeed()2 P+ z% B8 m/ s2 l! @6 t |
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//磁铁,请用“径向充磁”的圆磁铁,如 直径 10 x 厚 2mm p, a0 k% }# N4 F) a7 [
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//SPI5012B_Init() 时钟需另外加上
//以下内容需按实际更改
#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)
#define GPIO_CS_Pin_Name GPIO_Pin_0
#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" b$ |3 o L8 \, G" i$ _: Z
#define SPI_CS_DISABLE GPIO_SetBits(GPIO_CS_Pin_Type, GPIO_CS_Pin_Name) //片选脚电平拉高- [' U t6 `7 [4 S% R# |
//#define INDEX_ENABLE GPIO_SetBits(GPIOA, GPIO_Pin_4)/* for incremental signal index */" Z# k; R5 B5 L- Q) C- ^
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//#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% W2 K. w. c2 M) V2 n
//#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)
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/* SPI command for TLE5012 */
#define READ_STATUS 0x8001 //8000
#define READ_ANGLE_VALUE 0x8021 //8020
#define READ_SPEED_VALUE 0x8031 //8030. h, r8 M- |# v1 n* H+ c( R9 r
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#define WRITE_MOD1_VALUE 0x5060 //0_1010_0_000110_0001
#define MOD1_VALUE 0x0001
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#define WRITE_MOD2_VALUE 0x5080 //0_1010_0_001000_0001- y- e5 ?6 |) M' U, G
#define MOD2_VALUE 0x0801
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#define WRITE_MOD3_VALUE 0x5091 //0_1010_0_001001_00019 Y4 W: s" F# s
#define MOD3_VALUE 0x0000
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#define WRITE_MOD4_VALUE 0x50E0 //0_1010_0_001110_0001/ V' x, o# ?4 S& G% Z* b
#define MOD4_VALUE 0x0098 //9bit 512
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#define WRITE_IFAB_VALUE 0x50B1, A/ e5 w3 n: J$ U1 p
#define IFAB_VALUE 0x000D$ U# e+ M, [& I4 ^7 T1 y
/* Functionality mode */: `2 J3 H! y! `1 x! N; b3 [
#define REFERESH_ANGLE 0
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uint16_t retry = 0;9 a' J9 C8 [4 }( N0 t. ~
while( (SPI1->SR&1<<1) == 0 )//发送缓冲区非空1 `6 c# ~8 n s' H7 L
{
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
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retry = 0;8 i/ i4 d3 [, e# ^
while( (SPI1->SR&1<<0) == 0 ) //接收缓冲区为空
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if( ++retry > 200 ): H, y! H- I$ W! A6 @
return 0;//延迟一段时间后返回1 S$ S. u! t& y& y
}
return SPI1->DR; //读一下缓冲区,清标志
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//得到 0~359 度 N, f' Y6 i+ u( D
uint16_t ReadAngle(void)1 f' H5 O4 r) W( q
{
return ( ReadValue(READ_ANGLE_VALUE) * 360 / 0x10000 );$ p8 M# r0 A. c" t* c% v
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//得到角速度; z& g3 u1 i3 e0 q
uint16_t ReadSpeed(void)
{
return ReadValue(READ_SPEED_VALUE);% [" {4 x q9 U8 l8 m. M' W) Y
}
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uint16_t ReadValue(uint16_t u16RegValue)
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uint16_t u16Data;
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SPI_CS_ENABLE;5 n' L; n; B8 A& ^5 ]# h3 ^/ |6 o
SPIx_ReadWriteByte(u16RegValue);
SPI_TX_OFF;0 j- }" X) C) F( U
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//发送 0xFFFF 是无用的,可能是为了有时钟' s; o+ I' k R. O6 S) j# [. X
u16Data = ( SPIx_ReadWriteByte(0xffff) & 0x7FFF ) << 1;//0x12/0xff*100k* {; H4 y6 ?# M: x; s
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SPI_CS_DISABLE; E. M5 j# z" c/ P% v5 J. v' ~
SPI_TX_ON;
return(u16Data);$ I# a, f; @) R8 N2 ~ \/ n) ~( u# u
}
{
SPI_InitTypeDef SPI_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd( RCC_APB2Periph_SPI1,ENABLE );% ~. D: G0 h' E( C$ I# F5 ]
//以下二句,在它处声明,请增加使用
//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 _) _/ r3 I& l) E) E: N8 v
//GPIOB0 当成普通IO口进行操作
/*SPI: NSS,SCK,MISO and MOSI *// k' v' D9 d. {9 n
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;2 z& R7 i' R) |' q9 i
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//PA5--CLK--复用推挽
GPIO_Init(GPIOA, &GPIO_InitStructure);
//GPIO_StructInit(&GPIO_InitStructure); x/ R* \; b+ n8 p+ c/ N: ?; g
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/* Configure PA6 as encoder input */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;//PA6--MISO--输入
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* PA7*/# r, S, S# @) Z0 F- h8 ?4 O. I
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//PA7--MOSI--推挽输出2 ^9 E2 J' J/ C# d" h9 Y5 }
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_CS_Pin_Name;//PB0--CS--推挽输出
GPIO_Init(GPIO_CS_Pin_Type, &GPIO_InitStructure);
/**********SPI****************/
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;//SPI1--双线全双工!!8 l" w* f8 E# O H3 B1 q% x
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;6 k5 x' S2 s; p
SPI_InitStructure.SPI_DataSize = SPI_DataSize_16b;. U% b6 m7 ^* H7 u9 X
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;7 P( N* V+ y6 `6 F3 \; P
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;% \$ `5 b8 E" h5 ]( A4 H( S- Z( d( X2 s
SPI_InitStructure.SPI_CRCPolynomial = 7;$ J: P; |% G( H5 d
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SPI_Init(SPI1, &SPI_InitStructure);
SPI_Cmd(SPI1, ENABLE);
}
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谢谢分享!!!