SPI更新

Robot_V2/main.cpp

@@ -3,6 +3,7 @@
 #include "Filter.h"
 #include "Timer.h"
 #include "adc.h"
+#include "device/tle5012b.h"
 #include "initial.h"
 #include "sys/initial.h"
 #include "systick.h"
@@ -26,9 +27,7 @@ int main(void) {
 
 	tle5012b_gpio_init();	// TLI5012B初始化
 	tle5012b_spi_init();
-	// cdd_TLI5012_Init();
-
-
+	cdd_TLI5012_Init();     // 初始化TLE5012B传感器
 
 	watchdog_init(1000);
 	// 初始化CAN回环测试
@@ -38,7 +37,7 @@ int main(void) {
         fwdgt_counter_reload();
 
 		// can_loopback_test();
-		// /* value print */
+		/* value print */
 		// printf(" the temperature data is %2.2f degrees Celsius\r\n",
 		// 	   get_mcu_temp());
 		// printf(" the drv_temperature data is %2.2f degrees Celsius\r\n",
@@ -47,11 +46,13 @@ int main(void) {
 		// printf(" the V current data is %2.2f mA\r\n",get_current('V'));
 		// printf(" the W current data is %2.2f mA\r\n",get_current('W'));
 		// printf(" the VBUS is %2.2f V\r\n",get_vbus_voltage());
-		// printf("\n----------------------------------------------------\n");
+		// printf(" the angle is %2.2f\r\n", tle5012b_read());
+
+		printf("\n----------------------------------------------------\n");
 		
-		delay_1ms(200);
+		delay_1ms(700);
 		// TLI5012B测试
-		// Test_TLI5012B();
+		Test_TLI5012B();
 
 		Set_Pwm(0, 1500);
 	}