#include "tle5012b.h" #include "core_cmInstr.h" #include "gd32c10x_gpio.h" #include "gd32c10x_spi.h" #include "stdbool.h" #include "systick.h" #define SPI_TX_OFF() \ do { \ gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_5); \ } while(0) #define SPI_TX_ON() \ do { \ gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_5); \ } while(0) #define SPI_CS_ENABLE() gpio_bit_reset(GPIOA, GPIO_PIN_15) #define SPI_CS_DISABLE() gpio_bit_set(GPIOA, GPIO_PIN_15) /** * @brief SPI command definitions for TLI5012B sensor * @note All commands are 16-bit values following the TLI5012B protocol */ /* SPI operation types */ static constexpr uint16_t WRITE = 0; /**< SPI Write Operation */ static constexpr uint16_t READ = 1; /**< SPI Read Operation */ /* SPI communication constants */ static constexpr uint16_t DUMMY_BYTE = 0xFFFF; /**< Dummy byte for SPI read operations */ static constexpr uint16_t WR_REG = 0x0000; /**< Write command - MSB is 0 */ static constexpr uint16_t RD_REG = 0x8000; /**< Read command - MSB is 1 */ static constexpr uint16_t LockValue_LADDR = 0x0000; /**< Lock value for addresses 0x00-0x04 */ static constexpr uint16_t LockValue_HADDR = 0x5000; /**< Lock value for addresses 0x05-0x11 */ /* Update buffer access command */ static constexpr uint16_t UPD_CMD = 0x0400; /**< Update command - bit 10 is 1, access update buffer */ /* Read command values */ static constexpr uint16_t READ_STAT_VALUE = 0x8001; /**< Read status register */ static constexpr uint16_t READ_ACSTAT_VALUE = 0x8011; /**< Read activation status register */ static constexpr uint16_t READ_ANGLE_VALUE = 0x8021; /**< Read angle value register */ static constexpr uint16_t READ_SPEED_VALUE = 0x8031; /**< Read speed value register */ /* Write command values and their corresponding data */ static constexpr uint16_t WRITE_MOD1_VALUE = 0x5061; /**< Write to MOD1 register (0_1010_0_000110_0001) */ static constexpr uint16_t MOD1_VALUE = 0x0001; /**< MOD1 register configuration value */ static constexpr uint16_t WRITE_MOD2_VALUE = 0x5081; /**< Write to MOD2 register (0_1010_0_001000_0001) */ static constexpr uint16_t MOD2_VALUE = 0x0809; /**< MOD2 register configuration value */ static constexpr uint16_t WRITE_MOD3_VALUE = 0x5091; /**< Write to MOD3 register (0_1010_0_001001_0001) */ static constexpr uint16_t MOD3_VALUE = 0x0000; /**< MOD3 register configuration value */ static constexpr uint16_t WRITE_MOD4_VALUE = 0x50E1; /**< Write to MOD4 register (0_1010_0_001110_0001) */ static constexpr uint16_t MOD4_VALUE = 0x0080; /**< MOD4 register value: 12-bit 4096, absolute count disable 0x0080; enable 0x0000 */ /** * @brief Send or read half word through SPI * * @param[in] spi_periph SPI peripheral * @param[in] i_HalfWord data */ uint16_t spi_rw_half_word(uint32_t spi_periph, const uint16_t i_HalfWord) { uint32_t to; uint16_t data = 0xFFFF; bool ok = true; /* ---------- Send data ---------- */ to = 200; while ((RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_TBE)) && --to); if (to == 0) ok = false; if (ok) { if(RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_RBNE)) { (void)spi_i2s_data_receive(spi_periph); /* throw Dummy */ } spi_i2s_data_transmit(spi_periph, i_HalfWord); /* wait rx succ*/ to = 200; while ((RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_RBNE)) && --to); if (to == 0) ok = false; else data = spi_i2s_data_receive(spi_periph); /* throw Dummy */ } /* ---------- wait bsu idle ---------- */ if (ok) { to = 200; while ((SET == spi_i2s_flag_get(spi_periph, SPI_FLAG_TRANS)) \ && SET == spi_i2s_flag_get(spi_periph, SPI_FLAG_RBNE) && --to); if (to == 0) ok = false; } return ok ? data : 0xFFFF; } /** * @brief Write data to TLI5012B register * @param i_Cmd Command word to send * @param i_Data Data to write to register * @return Register response value, 0xFFFF if error * @note This function performs a complete SPI write transaction: */ uint16_t cdd_TLI5012_WriteReg(uint16_t i_Cmd, uint16_t i_Data) { uint16_t result = 0xFFFF; /* Default error code */ SPI_CS_ENABLE(); __NOP(); __NOP(); __NOP(); // 添加小延时确保CS稳定 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 */ __NOP();__NOP();__NOP();__NOP();__NOP();__NOP(); __NOP();__NOP();__NOP();__NOP();__NOP();__NOP(); // 增加延时 result = spi_rw_half_word(SPI0, DUMMY_BYTE); SPI_CS_DISABLE(); SPI_TX_ON(); /* Restore MOSI as output */ __NOP(); __NOP(); __NOP(); // 添加小延时确保CS稳定 return result; } /** * @brief Read data from TLI5012B register * @param i_Cmd Command word to send * @param i_Data Not used in read operation (kept for compatibility) * @return Register data value, 0xFFFF if error * @note This function performs a complete SPI read transaction: */ uint16_t cdd_TLI5012_ReadReg(uint16_t i_Cmd, uint16_t * const i_Data) { uint16_t result = 0xFFFF; /* Default error code */ SPI_CS_ENABLE(); __NOP(); __NOP(); __NOP(); // 添加小延时确保CS稳定 *i_Data = spi_rw_half_word(SPI0, i_Cmd); SPI_TX_OFF(); /* Configure MOSI as input to avoid conflicts */ __NOP();__NOP();__NOP();__NOP();__NOP();__NOP(); __NOP();__NOP();__NOP();__NOP();__NOP();__NOP(); // 增加延时 *i_Data = spi_rw_half_word(SPI0, DUMMY_BYTE); result = spi_rw_half_word(SPI0, DUMMY_BYTE); SPI_CS_DISABLE(); SPI_TX_ON(); /* Restore MOSI as output */ __NOP(); __NOP(); __NOP(); // 添加小延时确保CS稳定 return result; } void tle5012b_gpio_init(void) { rcu_periph_clock_enable(RCU_GPIOA); rcu_periph_clock_enable(RCU_GPIOB); rcu_periph_clock_enable(RCU_SPI0); rcu_periph_clock_enable(RCU_AF); /* 关闭 JTAG，仅保留 SWD（释放 PA15、PB3、PB4） */ gpio_pin_remap_config(GPIO_SWJ_SWDPENABLE_REMAP, ENABLE); /* -------- SPI0 全 remap：PB3/4/5 + PA15 -------- */ gpio_pin_remap_config(GPIO_SPI0_REMAP, ENABLE); /* PA15 → NSS, 推挽输出 */ gpio_init(GPIOA, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_15); /* PB3 → SCK, PB5 → MOSI, 推挽输出 */ gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_3 | GPIO_PIN_5); /* PB4 → MISO, 浮空输入 */ gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_4 | GPIO_PIN_10); } /** * @brief Initialize SPI module * * @details Configures SPI hardware and initializes necessary settings */ void tle5012b_spi_init(void) { spi_parameter_struct spi_init_str; spi_struct_para_init(&spi_init_str); /* SPI参数：16bit, 主机, 全双工, CPOL=0 CPHA=1, MSB first */ spi_init_str.device_mode = SPI_MASTER; spi_init_str.trans_mode = SPI_TRANSMODE_FULLDUPLEX; spi_init_str.frame_size = SPI_FRAMESIZE_16BIT; spi_init_str.clock_polarity_phase = SPI_CK_PL_HIGH_PH_2EDGE; spi_init_str.nss = SPI_NSS_SOFT; spi_init_str.endian = SPI_ENDIAN_MSB; spi_init_str.prescale = SPI_PSC_16; /* 8MHz @ 128MHz */ spi_init(SPI0, &spi_init_str); spi_nss_output_enable(SPI0); spi_nssp_mode_enable(SPI0); spi_enable(SPI0); } /** * @brief Initialize TLI5012B magnetic angle sensor * @note This function configures the sensor registers for proper operation * @return None */ void cdd_TLI5012_Init(void) { uint16_t u16Command = 0xFFFF; uint16_t u16Data = 0x0000; uint16_t u16Safe = 0x0000; /* ---------- Step 1: Read and configure STAT register ---------- */ /* Read STAT register to get current status */ u16Command = READ_STAT_VALUE; u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); printf("\r\n @Joe [TLI5012Init] [STAT] read u16Data: 0x%04X SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* Write STAT register, set Slave_Number = 00 */ u16Command = 0x0001; u16Data &= 0x9FFF; /* Clear bits 13-14 (Slave_Number) */ u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); printf("\r\n @Joe [TLI5012Init] [STAT] write u16Data: 0x%04X SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* Read STAT register again to verify write operation */ u16Command = READ_STAT_VALUE; u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); printf("\r\n @Joe [TLI5012Init] [STAT] read u16Data: 0x%04X SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* ---------- Step 2: Read ACSTAT register ---------- */ u16Command = READ_ACSTAT_VALUE; u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); printf("\r\n @Joe [TLI5012Init] read [ACSTAT]: 0x%04X SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* ---------- Step 3: Configure MOD1 register ---------- */ /* Read current MOD1 register value */ u16Command = RD_REG | WRITE_MOD1_VALUE; u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); printf("\r\n @Joe [TLI5012Init] read MOD1: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* Write MOD1 register with configuration value */ u16Command = WRITE_MOD1_VALUE; u16Data = MOD1_VALUE; u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); printf("\r\n @Joe [TLI5012Init] [MOD1] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* Verify MOD1 register write operation */ u16Command = RD_REG | WRITE_MOD1_VALUE; u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); printf("\r\n @Joe [TLI5012Init] read MOD1: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* ---------- Step 4: Configure MOD2 register ---------- */ /* Read current MOD2 register value */ u16Command = RD_REG | WRITE_MOD2_VALUE; u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); printf("\r\n @Joe [TLI5012Init] read MOD2: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* Write MOD2 register with configuration value */ u16Command = WRITE_MOD2_VALUE; u16Data = MOD2_VALUE; u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); printf("\r\n @Joe [TLI5012Init] [MOD2] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* Verify MOD2 register write operation */ u16Command = RD_REG | WRITE_MOD2_VALUE; u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); printf("\r\n @Joe [TLI5012Init] read MOD2: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* ---------- Step 5: Configure MOD3 register ---------- */ /* Read current MOD3 register value */ u16Command = RD_REG | WRITE_MOD3_VALUE; u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); printf("\r\n @Joe [TLI5012Init] read MOD3: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* Write MOD3 register with configuration value */ u16Command = WRITE_MOD3_VALUE; u16Data = MOD3_VALUE; u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); printf("\r\n @Joe [TLI5012Init] [MOD3] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* Verify MOD3 register write operation */ u16Command = RD_REG | WRITE_MOD3_VALUE; u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); printf("\r\n @Joe [TLI5012Init] read MOD3: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* ---------- Step 6: Configure MOD4 register ---------- */ /* Read current MOD4 register value */ u16Command = RD_REG | WRITE_MOD4_VALUE; u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); printf("\r\n @Joe [TLI5012Init] read MOD4: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* Write MOD4 register with configuration value */ u16Command = WRITE_MOD4_VALUE; u16Data = MOD4_VALUE; u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); printf("\r\n @Joe [TLI5012Init] [MOD4] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); /* Verify MOD4 register write operation */ u16Command = RD_REG | WRITE_MOD4_VALUE; u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); printf("\r\n @Joe [TLI5012Init] read MOD4: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); } void Test_TLI5012B(void) { uint16_t u16Command = 0xFFFF; uint16_t u16Data = 0x0000; uint16_t u16Safe = 0x0000; float angle = 0; u16Command = READ_ANGLE_VALUE; u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); // 输出原始读取的数据，用于诊断 printf("\r\n @Joe RAW AVAL = 0x%04X, SafeWord = 0x%04X \r\n", u16Data, u16Safe); // 检查是否有错误标志位 if (u16Safe != 0xFFFF && u16Safe != 0x0000) { printf("\r\n @Joe Warning: Non-ideal SafeWord detected \r\n"); } // 检查错误位（bit 15） if (u16Data & 0x8000) { printf("\r\n @Joe Error: Communication error detected (bit 15 set) \r\n"); } // 提取角度值(15位) u16Data = u16Data & 0x7FFF; printf ( "\r\n @Joe AVAL = 0x%04X, SafeWord = 0x%04X \r\n", u16Data, u16Safe); // 将15位角度值转换为角度(0-360度) // 0x7FFF = 32767 对应 360度 angle = ((float)u16Data * 360.0f) / 32767.0f; printf ( "\r\n @Joe angle = %f, AVL = %d \r\n", angle, (int16_t)u16Data); // 添加额外的传感器状态检查 uint16_t status_data, status_safe; u16Command = READ_STAT_VALUE; status_safe = cdd_TLI5012_ReadReg(u16Command, &status_data); printf("\r\n @Joe STATUS = 0x%04X, Status SafeWord = 0x%04X \r\n", status_data, status_safe); }