cbb
867a37ff79
refactor(device): 重构角度传感器模块并优化ADC电压计算 - 将 tle5012b 角度传感器相关文件重命名为 ang_sensor，统一接口命名 - 修正母线电压采样计算公式，增加 VCC_FACTOR 校正系数 - 移除 main.cpp 中重复和未使用的头文件引用 - 删除对旧角度传感器初始化函数的调用，改用新接口读取角度 ```
119 lines
3.2 KiB
C++
119 lines
3.2 KiB
C++
#include "ang_sensor.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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#include <cstdio>
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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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constexpr float ANGLE_FACTOR = 1.0f / 65536.0f * 360.0f;
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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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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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;
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if (to == 0)
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ok = false;
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if (ok) {
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if (RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_RBNE)) {
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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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;
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if (to == 0)
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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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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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;
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if (to == 0)
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ok = false;
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}
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return ok ? data : 0xFFFF;
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}
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void KHT7823_gpio_init(void) {
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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,
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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,
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GPIO_PIN_4 | GPIO_PIN_10 | GPIO_PIN_11);
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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 KHT7823_spi_init(void) {
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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=1 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 = 24; /* 5MHz @ 120MHz */
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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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void KHT7823_init(void) {
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KHT7823_gpio_init();
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KHT7823_spi_init();
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}
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float KHT7823_readAngle() {
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u16 u16Command = 0x0000; // 读取角度命令
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float ang = 0;
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SPI_CS_ENABLE();
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// 发送命令1，同时接收回答1
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u16 u16data = spi_rw_half_word(SPI0, u16Command);
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SPI_CS_DISABLE();
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ang = u16data * ANGLE_FACTOR;
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return ang;
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} |