本帖最后由 feixiang20 于 2017-5-25 09:53 编辑 4 ~' s b4 k* x; a7 g8 @( v& I! a& [ 1.硬件:: F% q: @2 {1 M 5 z; b5 z) @. Q& w: C* ]+ P A. TLE5012bE10009 m- E7 x' I8 {$ I% D' L+ h B. STM32F103 8 c6 _+ V4 G/ C6 d0 ~& C2 @- G1 D ; y* Y8 e& f' X! G6 t 2.TLE5012B_E1000 接线说明: 1:NC 2:SCK <= 120R => stm32f103 PA56 _3 r1 I1 k9 y: i& M 3:CSQ (CS) <= 120R => stm32f103 PB0 4ATA <= 120R => stm32f103 PA6, I0 c4 J0 h+ h DATA <= 120R => stm32f103 PA7 DATA <= 2.2K => Vdd 3.3V a% h2 [+ l* K% |" ?3 ]! C; V PS:因是三线 SPI , MOSI , MISO 并线使用- g' o) j. w) J5 P 2 i1 r- o& d/ D8 n$ Q4 r 5:NC 6:Vdd 3.3V8 I0 ~: s( q( i" D 7:GND 8:NC" {. S- c Y/ m: T 3.源码说明:9 |0 b1 A# ?8 ]8 X5 x/ [* e A. 初始化 SPI5012B_Init();* k8 S, j8 l8 y! b" \ B. 得到 0~359 角度 ReadAngle() 或 角速度 ReadSpeed() # E' D% J. m+ @: ] _; W: H |
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//磁铁,请用“径向充磁”的圆磁铁,如 直径 10 x 厚 2mm, y* D8 V0 c0 J' r
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//SPI5012B_Init() 时钟需另外加上
//以下内容需按实际更改/ D0 H( {; z, L( @) \. U
#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)0 c' t) }+ k: T$ m0 d
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#define GPIO_CS_Pin_Name GPIO_Pin_06 x) X: K- a C4 `! ]- u
#define GPIO_CS_Pin_Type GPIOB
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//以下内容一般不需变动- j" N" S0 S) ~
#define SPI_CS_ENABLE GPIO_ResetBits(GPIO_CS_Pin_Type, GPIO_CS_Pin_Name) //片选脚电平拉低
#define SPI_CS_DISABLE GPIO_SetBits(GPIO_CS_Pin_Type, GPIO_CS_Pin_Name) //片选脚电平拉高& l; `8 y1 W5 w
//#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. Q8 v9 ^+ e2 {$ q; o* B7 e: b* ~
//#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) q2 t w, n+ s/ }# T4 C
//#define DATA_L GPIO_ResetBits(GPIOA, GPIO_Pin_6) //PA6(MISO)电平拉低. ?6 c% g& p+ ^+ \4 J' C8 R( ~
//#define READ_DATA GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_6). |9 I8 Y8 U. l9 Q ]
/* SPI command for TLE5012 */5 \7 T4 J: h5 r' S- C4 ^( i) g
#define READ_STATUS 0x8001 //8000
#define READ_ANGLE_VALUE 0x8021 //80202 y1 H* K* Q' `1 Q
#define READ_SPEED_VALUE 0x8031 //80300 Z2 A8 ^; t7 @8 @1 T, D
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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! w; J+ d0 h) P/ ^1 n& }
#define MOD2_VALUE 0x0801% E- E" t, s/ a) O
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#define WRITE_MOD3_VALUE 0x5091 //0_1010_0_001001_0001/ w* ~% c* ^: C& {3 z2 y8 T2 [- E4 r
#define MOD3_VALUE 0x0000
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#define WRITE_MOD4_VALUE 0x50E0 //0_1010_0_001110_0001
#define MOD4_VALUE 0x0098 //9bit 512
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#define WRITE_IFAB_VALUE 0x50B13 _7 ~4 k) K8 g& D t6 c
#define IFAB_VALUE 0x000D
/* Functionality mode */% i D7 N7 W. w. Q( x* ^/ \3 t! Y) Q
#define REFERESH_ANGLE 0
{
uint16_t retry = 0;
while( (SPI1->SR&1<<1) == 0 )//发送缓冲区非空% M$ q2 T: ]' H( s& K+ ?, e4 t
{
if( ++retry > 200 )1 U# w, l8 e0 \: t" |
return 0;//延迟一段时间后返回
}
SPI1->DR = byte; //发送数据
retry = 0;
while( (SPI1->SR&1<<0) == 0 ) //接收缓冲区为空( @3 H/ P+ a; A1 P' ^. ?
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if( ++retry > 200 )4 _% `6 {7 m" Y
return 0;//延迟一段时间后返回: Y k2 O- [, G$ p& ]7 v$ V t
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return SPI1->DR; //读一下缓冲区,清标志
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//得到 0~359 度- p+ z7 f: t) \) y" r" y8 E L
uint16_t ReadAngle(void)9 P% a- e2 S5 z1 @* V. F B2 W/ P
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return ( ReadValue(READ_ANGLE_VALUE) * 360 / 0x10000 );
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//得到角速度9 @ a5 f( `! i4 C& U7 G Y
uint16_t ReadSpeed(void)
{
return ReadValue(READ_SPEED_VALUE);
}
uint16_t ReadValue(uint16_t u16RegValue)
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uint16_t u16Data;
SPI_CS_ENABLE;, y4 l- I+ Q, p( v
SPIx_ReadWriteByte(u16RegValue);
SPI_TX_OFF;* O5 K5 O' O& e" x+ o( ]: ]6 M
//发送 0xFFFF 是无用的,可能是为了有时钟
u16Data = ( SPIx_ReadWriteByte(0xffff) & 0x7FFF ) << 1;//0x12/0xff*100k
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SPI_CS_DISABLE;
SPI_TX_ON;$ ~6 m3 k; n% d& Y8 i
return(u16Data);, a9 V1 C4 x8 ~: s" _. X
}
{
SPI_InitTypeDef SPI_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
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RCC_APB2PeriphClockCmd( RCC_APB2Periph_SPI1,ENABLE );
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//以下二句,在它处声明,请增加使用3 P! O' F( g9 S5 j6 |- F+ M
//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( \7 F" A5 G) S+ q* N2 R
//GPIOB0 当成普通IO口进行操作" f: F% j* N% i1 d! q
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/*SPI: NSS,SCK,MISO and MOSI */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;2 v2 A: m3 x! T
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//PA5--CLK--复用推挽
GPIO_Init(GPIOA, &GPIO_InitStructure);
//GPIO_StructInit(&GPIO_InitStructure);
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/* Configure PA6 as encoder input */3 J! a' _2 u. h
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;6 ]4 X* N# `9 E; @+ o
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;//PA6--MISO--输入& u7 H7 W- L2 w* w# c- H
GPIO_Init(GPIOA, &GPIO_InitStructure);( v/ T& b% b, Q+ `" t: e
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/* PA7*/% Q( s0 w8 m; V' a; S* w
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//PA7--MOSI--推挽输出7 r6 V f7 ]0 `5 U8 ^
GPIO_Init(GPIOA, &GPIO_InitStructure); w% ]2 J7 x# Y- \1 j7 a4 g5 h& n
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GPIO_InitStructure.GPIO_Pin = GPIO_CS_Pin_Name;//PB0--CS--推挽输出; E# @2 U7 E7 T0 T
GPIO_Init(GPIO_CS_Pin_Type, &GPIO_InitStructure);. d* I8 q9 v x# D" s g
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/**********SPI****************/, s2 y9 t2 s7 J. n# J
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;//SPI1--双线全双工!!
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_16b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;& y" @' N/ i5 O E
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;# H; }% x1 S1 b8 f) c( x
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SPI_Init(SPI1, &SPI_InitStructure);
SPI_Cmd(SPI1, ENABLE);
}
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谢谢分享!!!