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