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/*********************************************************************************************************************
* TC264 Opensourec Library <20><><EFBFBD><EFBFBD>TC264 <20><>Դ<EFBFBD>⣩<EFBFBD><E2A3A9>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ڹٷ<DAB9> SDK <20>ӿڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
* Copyright (c) 2022 SEEKFREE <20><><EFBFBD>ɿƼ<C9BF>
*
* <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD> TC264 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
*
* TC264 <20><>Դ<EFBFBD><D4B4> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNUͨ<55>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20><> GPL <20>ĵ<EFBFBD>3<EFBFBD>棨<EFBFBD><E6A3A8> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD>
*
* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><DCB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<CEB5>֤
* <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><D4BB>ʺ<EFBFBD><CABA>ض<EFBFBD><D8B6><EFBFBD>;<EFBFBD>ı<EFBFBD>֤
* <20><><EFBFBD><EFBFBD>ϸ<EFBFBD><CFB8><EFBFBD><EFBFBD><EFBFBD>μ<EFBFBD> GPL
*
* <20><>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>ͬʱ<CDAC>յ<EFBFBD>һ<EFBFBD><D2BB> GPL <20>ĸ<EFBFBD><C4B8><EFBFBD>
* <20><><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><https://www.gnu.org/licenses/>
*
* <20><><EFBFBD><EFBFBD>ע<EFBFBD><D7A2><EFBFBD><EFBFBD>
* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>ʹ<EFBFBD><CAB9> GPL3.0 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>֤Э<D6A4><D0AD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>İ汾
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӣ<EFBFBD>İ<EFBFBD><C4B0><EFBFBD> libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> GPL3_permission_statement.txt <20>ļ<EFBFBD><C4BC><EFBFBD>
* <20><><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD> libraries <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> LICENSE <20>ļ<EFBFBD>
* <20><>ӭ<EFBFBD><D3AD>λʹ<CEBB>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>뱣<EFBFBD><EBB1A3><EFBFBD><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC>İ<EFBFBD>Ȩ<EFBFBD><C8A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> zf_device_menc15a
* <20><>˾<EFBFBD><CBBE><EFBFBD><EFBFBD> <20>ɶ<EFBFBD><C9B6><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC><EFBFBD><EFBFBD>޹<EFBFBD>˾
* <20>汾<EFBFBD><E6B1BE>Ϣ <20>鿴 libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> version <20>ļ<EFBFBD> <20>汾˵<E6B1BE><CBB5>
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ADS v1.10.2
* <20><><EFBFBD><EFBFBD>ƽ̨ TC264D
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> https://seekfree.taobao.com/
*
* <20>޸ļ<DEB8>¼
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ע
* 2024-11-19 pudding first version
********************************************************************************************************************/
/*********************************************************************************************************************
* <20><><EFBFBD>߶<EFBFBD><DFB6>壺
* ------------------------------------
* ģ<><C4A3><EFBFBD>ܽ<EFBFBD> <20><>Ƭ<EFBFBD><C6AC><EFBFBD>ܽ<EFBFBD>
* // Ӳ<><D3B2> SPI <20><><EFBFBD><EFBFBD>
* SCL/SPC <20>鿴 zf_device_menc15a.h <20><> MENC15A_SPC_PIN <20>궨<EFBFBD><EAB6A8>
* SDA/DSI <20>鿴 zf_device_menc15a.h <20><> MENC15A_SDI_PIN <20>궨<EFBFBD><EAB6A8>
* SA0/SDO <20>鿴 zf_device_menc15a.h <20><> MENC15A_SDO_PIN <20>궨<EFBFBD><EAB6A8>
* CS <20>鿴 zf_device_menc15a.h <20><> MENC15A_CS_PIN <20>궨<EFBFBD><EAB6A8>
* VCC 3.3V<EFBFBD><EFBFBD>Դ
* GND <20><>Դ<EFBFBD><D4B4>
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* ------------------------------------
********************************************************************************************************************/
#include "zf_common_debug.h"
#include "zf_common_function.h"
#include "zf_device_config.h"
#include "zf_driver_delay.h"
#include "zf_driver_gpio.h"
#include "zf_driver_spi.h"
#include "zf_device_menc15a.h"
uint16 menc15a_absolute_data[2] = {0};
int16 menc15a_absolute_offset_data[2] = {0};
int16 menc15a_speed_data[2] = {0};
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תƫ<D7AA><C6AB>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> encoder_max <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>дʮ<D0B4><CAAE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> now_location <20><>ǰλ<C7B0><CEBB><EFBFBD><EFBFBD>Ϣ
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> last_location <20><>һ<EFBFBD>ε<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>Ϣ
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> int32 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><C6AB>ֵ
// ʹ<><CAB9>ʾ<EFBFBD><CABE> magnetic_encoder_get_offset();
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
static int32 magnetic_encoder_get_offset (int32 encoder_max, int32 now_location, int32 last_location)
{
int32 result_data = 0;
if((encoder_max / 2) < func_abs(now_location - last_location))
{
result_data = ((encoder_max / 2) < now_location ? (now_location - encoder_max - last_location) : (now_location + encoder_max - last_location));
}
else
{
result_data = (now_location - last_location);
}
return result_data;
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ȡ MENC15A <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD>ֵ <20>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> menc15a_module <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD> ģ<><C4A3><EFBFBD><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint16 <20><><EFBFBD><EFBFBD>ֵ <20>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
// ʹ<><CAB9>ʾ<EFBFBD><CABE> menc15a_1_get_absolute_data();
// <20><>ע<EFBFBD><D7A2>Ϣ ִ<>иú<D0B8><C3BA><EFBFBD><EFBFBD>󣬿<EFBFBD>ֱ<EFBFBD><D6B1>ʹ<EFBFBD>÷<EFBFBD><C3B7><EFBFBD>ֵ Ҳ<><D2B2><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD>ѯ<EFBFBD><D1AF>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
uint16 menc15a_get_absolute_data(menc15a_module_enum menc15a_module)
{
uint16 read_data = 0;
uint16 data_last = menc15a_absolute_data[menc15a_module];
if(menc15a_module == menc15a_1_module)
{
MENC15A_1_CS(0);
read_data = spi_read_16bit_register(MENC15A_1_SPI, 0x8021);
MENC15A_1_CS(1);
}
else
{
MENC15A_2_CS(0);
read_data = spi_read_16bit_register(MENC15A_2_SPI, 0x8021);
MENC15A_2_CS(1);
}
menc15a_absolute_data[menc15a_module] = (read_data & 0x7fff);
menc15a_absolute_offset_data[menc15a_module] = (int16)magnetic_encoder_get_offset(32768, menc15a_absolute_data[menc15a_module], data_last);
return menc15a_absolute_data[menc15a_module];
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ȡ MENC15A <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD> <20><> ת<><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> menc15a_module <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD> ģ<><C4A3><EFBFBD><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> int16 ת<><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(ÿ<><C3BF><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD> rad/s)
// ʹ<><CAB9>ʾ<EFBFBD><CABE> menc15a_1_get_speed_data();
// <20><>ע<EFBFBD><D7A2>Ϣ ִ<>иú<D0B8><C3BA><EFBFBD><EFBFBD>󣬿<EFBFBD>ֱ<EFBFBD><D6B1>ʹ<EFBFBD>÷<EFBFBD><C3B7><EFBFBD>ֵ Ҳ<><D2B2><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD>ѯ<EFBFBD><D1AF>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
int16 menc15a_get_speed_data(menc15a_module_enum menc15a_module)
{
int16 read_data = 0;
if(menc15a_module == menc15a_1_module)
{
MENC15A_1_CS(0);
read_data = spi_read_16bit_register(MENC15A_1_SPI, 0x8032);
MENC15A_1_CS(1);
}
else
{
MENC15A_2_CS(0);
read_data = spi_read_16bit_register(MENC15A_2_SPI, 0x8032);
MENC15A_2_CS(1);
}
read_data = (read_data & 0x7fff);
if(read_data > 16384)
{
read_data = read_data - 32768;
}
menc15a_speed_data[menc15a_module] = (int16)((float)read_data * 1.917476f);
return menc15a_speed_data[menc15a_module];
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʼ<EFBFBD><CABC> MENC15A
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint8 1-<2D><>ʼ<EFBFBD><CABC>ʧ<EFBFBD><CAA7> 0-<2D><>ʼ<EFBFBD><CABC><EFBFBD>ɹ<EFBFBD>
// ʹ<><CAB9>ʾ<EFBFBD><CABE> menc15a_init();
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
uint8 menc15a_init(void)
{
spi_init(MENC15A_1_SPI, SPI_MODE1, MENC15A_1_SPI_SPEED, MENC15A_1_CLK_PIN, MENC15A_1_MOSI_PIN, MENC15A_1_MISO_PIN, SPI_CS_NULL); // <20><><EFBFBD><EFBFBD> MENC15A-1 <20><> SPI<50>˿<EFBFBD>
gpio_init(MENC15A_1_CS_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL); // <20><><EFBFBD><EFBFBD> MENC15A-1 <20><> CS<43>˿<EFBFBD>
spi_init(MENC15A_2_SPI, SPI_MODE1, MENC15A_2_SPI_SPEED, MENC15A_2_CLK_PIN, MENC15A_2_MOSI_PIN, MENC15A_2_MISO_PIN, SPI_CS_NULL); // <20><><EFBFBD><EFBFBD> MENC15A-2 <20><> SPI<50>˿<EFBFBD>
gpio_init(MENC15A_2_CS_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL); // <20><><EFBFBD><EFBFBD> MENC15A-2 <20><> CS<43>˿<EFBFBD>
return 0;
}