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SPI更新

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This commit is contained in:
cbb
2025-10-09 21:09:33 +08:00
parent d755715363
commit 2d807260c5
2 changed files with 32 additions and 29 deletions
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Robot_V2/device/tle5012b.cpp
+24 -22
View File
@@ -1,4 +1,5 @@
#include "tle5012b.h" #include "tle5012b.h"
#include "gd32c10x_gpio.h"
#include "stdbool.h" #include "stdbool.h"
#define SPI_TX_OFF() \ #define SPI_TX_OFF() \
@@ -88,7 +89,7 @@ uint16_t spi_rw_half_word(uint32_t spi_periph, const uint16_t i_HalfWord)
data = spi_i2s_data_receive(spi_periph); /* throw Dummy */ data = spi_i2s_data_receive(spi_periph); /* throw Dummy */
} }
/* ---------- wait bsu idle ---------- */ /* ---------- wait bus idle ---------- */
if (ok) if (ok)
{ {
to = 200; to = 200;
@@ -110,12 +111,12 @@ uint16_t cdd_TLI5012_WriteReg(uint16_t i_Cmd, uint16_t i_Data)
{ {
uint16_t result = 0xFFFF; /* Default error code */ uint16_t result = 0xFFFF; /* Default error code */
SPI_CS_ENABLE(); SPI_CS_ENABLE();
result = spi_rw_half_word(SPI2, i_Cmd); SPI_TX_ON();
result = spi_rw_half_word(SPI2, i_Data); result = spi_rw_half_word(SPI0, i_Cmd);
result = spi_rw_half_word(SPI0, i_Data);
SPI_TX_OFF(); /* Configure MOSI as input to avoid conflicts */ SPI_TX_OFF(); /* Configure MOSI as input to avoid conflicts */
result = spi_rw_half_word(SPI2, DUMMY_BYTE); // result = spi_rw_half_word(SPI0, result);
SPI_CS_DISABLE(); SPI_CS_DISABLE();
SPI_TX_ON(); /* Restore MOSI as output */
return result; return result;
} }
@@ -130,29 +131,30 @@ uint16_t cdd_TLI5012_ReadReg(uint16_t i_Cmd, uint16_t * const i_Data)
{ {
uint16_t result = 0xFFFF; /* Default error code */ uint16_t result = 0xFFFF; /* Default error code */
SPI_CS_ENABLE(); SPI_CS_ENABLE();
*i_Data = spi_rw_half_word(SPI2, i_Cmd); SPI_TX_ON();
*i_Data = spi_rw_half_word(SPI0, i_Cmd);
SPI_TX_OFF(); /* Configure MOSI as input to avoid conflicts */ SPI_TX_OFF(); /* Configure MOSI as input to avoid conflicts */
*i_Data = spi_rw_half_word(SPI2, DUMMY_BYTE); // *i_Data = spi_rw_half_word(SPI0, DUMMY_BYTE);
result = spi_rw_half_word(SPI2, DUMMY_BYTE); result = spi_rw_half_word(SPI0, result);
SPI_CS_DISABLE(); SPI_CS_DISABLE();
SPI_TX_ON(); /* Restore MOSI as output */
return result; return result;
} }
void tle5012b_gpio_init(void) void tle5012b_gpio_init(void)
{ {
rcu_periph_clock_enable(RCU_SPI2); rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_GPIOB);
rcu_periph_clock_enable(RCU_SPI0);
rcu_periph_clock_enable(RCU_AF);
/* JTAG-DP disabled and SW-DP enabled, so SPI0 can use PB3 and PB4 */
gpio_pin_remap_config(GPIO_SWJ_SWDPENABLE_REMAP, ENABLE); gpio_pin_remap_config(GPIO_SWJ_SWDPENABLE_REMAP, ENABLE);
/*pin configuration: PA15 CS */ gpio_pin_remap_config(GPIO_SPI0_REMAP, ENABLE);
rcu_periph_clock_enable(RCU_GPIOA); /* SPI0 GPIO config: NSS/PA15, SCK/PB3, MOSI/PB5 */
gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_15); gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_15);
/*rcu_periph_clock_enable*/
rcu_periph_clock_enable(RCU_GPIOB);
/* PB3 SCLK, PB5 MOSI, */
gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_3 | GPIO_PIN_5); gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_3 | GPIO_PIN_5);
/* PB4 MISO, */ /* SPI0 GPIO config: MISO/PB4 */
gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_4); gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_4);
} }
@@ -166,7 +168,7 @@ void tle5012b_spi_init(void)
spi_parameter_struct spi_init_str; spi_parameter_struct spi_init_str;
spi_struct_para_init(&spi_init_str); spi_struct_para_init(&spi_init_str);
/* SPI2 parameter config */ /* SPI0 parameter config */
spi_init_str.device_mode = SPI_MASTER; spi_init_str.device_mode = SPI_MASTER;
spi_init_str.trans_mode = SPI_TRANSMODE_FULLDUPLEX; spi_init_str.trans_mode = SPI_TRANSMODE_FULLDUPLEX;
spi_init_str.frame_size = SPI_FRAMESIZE_16BIT; spi_init_str.frame_size = SPI_FRAMESIZE_16BIT;
@@ -174,11 +176,11 @@ void tle5012b_spi_init(void)
spi_init_str.nss = SPI_NSS_SOFT; spi_init_str.nss = SPI_NSS_SOFT;
spi_init_str.endian = SPI_ENDIAN_MSB; spi_init_str.endian = SPI_ENDIAN_MSB;
spi_init_str.prescale = SPI_PSC_16; spi_init_str.prescale = SPI_PSC_128;
spi_init(SPI2, &spi_init_str); spi_init(SPI0, &spi_init_str);
spi_nss_output_enable(SPI2); spi_nss_output_enable(SPI0);
spi_nssp_mode_enable(SPI2); spi_nssp_mode_enable(SPI0);
spi_enable(SPI2); spi_enable(SPI0);
} }
Robot_V2/main.cpp
+8 -7
View File
@@ -3,6 +3,7 @@
#include "Filter.h" #include "Filter.h"
#include "Timer.h" #include "Timer.h"
#include "adc.h" #include "adc.h"
#include "device/tle5012b.h"
#include "initial.h" #include "initial.h"
#include "sys/initial.h" #include "sys/initial.h"
#include "systick.h" #include "systick.h"
@@ -26,9 +27,7 @@ int main(void) {
tle5012b_gpio_init(); // TLI5012B初始化 tle5012b_gpio_init(); // TLI5012B初始化
tle5012b_spi_init(); tle5012b_spi_init();
// cdd_TLI5012_Init(); cdd_TLI5012_Init(); // 初始化TLE5012B传感器
watchdog_init(1000); watchdog_init(1000);
// 初始化CAN回环测试 // 初始化CAN回环测试
@@ -38,7 +37,7 @@ int main(void) {
fwdgt_counter_reload(); fwdgt_counter_reload();
// can_loopback_test(); // can_loopback_test();
// /* value print */ /* value print */
// printf(" the temperature data is %2.2f degrees Celsius\r\n", // printf(" the temperature data is %2.2f degrees Celsius\r\n",
// get_mcu_temp()); // get_mcu_temp());
// printf(" the drv_temperature data is %2.2f degrees Celsius\r\n", // 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 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 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(" 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 // TLI5012B测试
// Test_TLI5012B(); Test_TLI5012B();
Set_Pwm(0, 1500); Set_Pwm(0, 1500);
} }