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V3.3.2

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新增zf_device_menc15a磁编码器外设驱动
        更改uart接收机部分语句
        修正SPI的16位通讯错位问题
This commit is contained in:
SEEKFREE_BUDING
2025-02-07 16:06:42 +08:00
parent 197916283e
commit 6d0a26bd9d
144 changed files with 4880 additions and 112 deletions
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4
Example/E06_exit_demo/libraries/doc/version.txt
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@@ -1,3 +1,7 @@
V3.3.2
<20><><EFBFBD><EFBFBD>zf_device_menc15a<35>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<20><><EFBFBD><EFBFBD>uart<72><74><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<20><><EFBFBD><EFBFBD>SPI<50><49>16λͨѶ<CDA8><D1B6>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
V3.3.1
<20>Ƴ<EFBFBD><C6B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ķ<EFBFBD><C4B6>Լ<EFBFBD><D4BC><EFBFBD>
<20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̹<EFBFBD><CCB9><EFBFBD>

1
Example/E06_exit_demo/libraries/zf_common/zf_common_headfile.h
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@@ -93,6 +93,7 @@
#include "zf_device_ips114.h"
#include "zf_device_ips200.h"
#include "zf_device_key.h"
#include "zf_device_menc15a.h"
#include "zf_device_mpu6050.h"
#include "zf_device_mt9v03x.h"
#include "zf_device_oled.h"

2
Example/E06_exit_demo/libraries/zf_components/seekfree_assistant_interface.c
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@@ -91,8 +91,10 @@ ZF_WEAK void seekfree_assistant_interface_init (seekfree_assistant_transfer_devi
{
case SEEKFREE_ASSISTANT_DEBUG_UART:
{
#if DEBUG_UART_USE_INTERRUPT == 1
seekfree_assistant_transfer_callback = debug_send_buffer;
seekfree_assistant_receive_callback = debug_read_ring_buffer;
#endif
}break;
case SEEKFREE_ASSISTANT_WIRELESS_UART:

188
Example/E06_exit_demo/libraries/zf_device/zf_device_menc15a.c Normal file
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@@ -0,0 +1,188 @@
/*********************************************************************************************************************
* CYT2BL3 Opensourec Library <20><><EFBFBD><EFBFBD> CYT2BL3 <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> CYT2BL3 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
*
* CYT2BL3 <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> IAR 9.40.1
* <20><><EFBFBD><EFBFBD>ƽ̨ CYT2BL3
* <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);
spi_write_8bit(MENC15A_2_SPI, 0x80);
spi_write_8bit(MENC15A_2_SPI, 0x21);
read_data = spi_read_8bit(MENC15A_2_SPI);
read_data = ((read_data << 8) | spi_read_8bit(MENC15A_2_SPI));
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;
}

102
Example/E06_exit_demo/libraries/zf_device/zf_device_menc15a.h Normal file
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@@ -0,0 +1,102 @@
/*********************************************************************************************************************
* CYT2BL3 Opensourec Library <20><><EFBFBD><EFBFBD> CYT2BL3 <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> CYT2BL3 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
*
* CYT2BL3 <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> IAR 9.40.1
* <20><><EFBFBD><EFBFBD>ƽ̨ CYT2BL3
* <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>
* CLK <20>鿴 zf_device_menc15a.h <20><> MENC15A_CLK_PIN <20>궨<EFBFBD><EAB6A8>
* MOSI <20>鿴 zf_device_menc15a.h <20><> MENC15A_MOSI_PIN <20>궨<EFBFBD><EAB6A8>
* MISO <20>鿴 zf_device_menc15a.h <20><> MENC15A_MISO_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>
* ------------------------------------
********************************************************************************************************************/
#ifndef _zf_device_menc15a_h_
#define _zf_device_menc15a_h_
#include "zf_common_typedef.h"
//================================================<3D><><EFBFBD><EFBFBD> MENC15A <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>================================================
//====================================================Ӳ<><D3B2> SPI <20><><EFBFBD><EFBFBD>====================================================
#define MENC15A_1_SPI_SPEED (20 * 1000 * 1000) // <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD>1 Ӳ<><D3B2> SPI <20><><EFBFBD><EFBFBD>
#define MENC15A_1_SPI (SPI_0 ) // <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD>1 Ӳ<><D3B2> SPI <20><>
#define MENC15A_1_CLK_PIN (SPI0_SCLK_P20_11) // <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD>1 Ӳ<><D3B2> SPI SCK <20><><EFBFBD><EFBFBD>
#define MENC15A_1_MOSI_PIN (SPI0_MOSI_P20_14) // <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD>1 Ӳ<><D3B2> SPI MOSI <20><><EFBFBD><EFBFBD>
#define MENC15A_1_MISO_PIN (SPI0_MISO_P20_12) // <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD>1 Ӳ<><D3B2> SPI MISO <20><><EFBFBD><EFBFBD>
#define MENC15A_1_CS_PIN (P20_13) // <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD>1 CS Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD>
#define MENC15A_1_CS(x) ((x) ? (gpio_high(MENC15A_1_CS_PIN)) : (gpio_low(MENC15A_1_CS_PIN)))
#define MENC15A_2_SPI_SPEED (20 * 1000 * 1000) // <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD>2 Ӳ<><D3B2> SPI <20><><EFBFBD><EFBFBD>
#define MENC15A_2_SPI (SPI_0 ) // <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD>2 Ӳ<><D3B2> SPI <20><>
#define MENC15A_2_CLK_PIN (SPI0_SCLK_P20_11 ) // <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD>2 Ӳ<><D3B2> SPI SCK <20><><EFBFBD><EFBFBD>
#define MENC15A_2_MOSI_PIN (SPI0_MOSI_P20_14 ) // <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD>2 Ӳ<><D3B2> SPI MOSI <20><><EFBFBD><EFBFBD>
#define MENC15A_2_MISO_PIN (SPI0_MISO_P20_12 ) // <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD>2 Ӳ<><D3B2> SPI MISO <20><><EFBFBD><EFBFBD>
#define MENC15A_2_CS_PIN (P20_15) // <20>ű<EFBFBD><C5B1><EFBFBD><EFBFBD><EFBFBD>2 CS Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD>
#define MENC15A_2_CS(x) ((x) ? (gpio_high(MENC15A_2_CS_PIN)) : (gpio_low(MENC15A_2_CS_PIN)))
//====================================================Ӳ<><D3B2> SPI <20><><EFBFBD><EFBFBD>====================================================
// ö<>ٴű<D9B4><C5B1><EFBFBD>ģ<EFBFBD><C4A3>
typedef enum
{
menc15a_1_module,
menc15a_2_module,
}menc15a_module_enum;
//================================================<3D><><EFBFBD><EFBFBD> MENC15A <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>================================================
extern uint16 menc15a_absolute_data[2];
extern int16 menc15a_absolute_offset_data[2];
extern int16 menc15a_speed_data[2];
uint16 menc15a_get_absolute_data(menc15a_module_enum menc15a_module);
int16 menc15a_get_speed_data(menc15a_module_enum menc15a_module);
uint8 menc15a_init(void);
#endif

2
Example/E06_exit_demo/libraries/zf_device/zf_device_uart_receiver.c
View File

@@ -91,7 +91,7 @@ static void uart_receiver_analysis (uart_receiver_struct *remote_data,uint8 * bu
remote_data->channel[num++] = (buffer[5] >> 1 | buffer[6] << 7 ) & 0x07FF;
remote_data->channel[num++] = (buffer[6] >> 4 | buffer[7] << 4 ) & 0x07FF;
remote_data->channel[num++] = (buffer[7] >> 7 | buffer[8] << 1 | buffer[9] << 9 ) & 0x07FF;
remote_data->state = (SBUS_NORMAL_STATE == buffer[23]) ? 1 : 0;
remote_data->state = (SBUS_ABNORMAL_STATE == (buffer[23] & SBUS_ABNORMAL_STATE)) ? 0 : 1;
uart_receiver.finsh_flag = 1;
}

3
Example/E06_exit_demo/libraries/zf_device/zf_device_uart_receiver.h
View File

@@ -55,8 +55,7 @@
#define REV_DATA_LEN ( 25 ) // SBUS֡<53><D6A1>
#define FRAME_STAR ( 0X0F ) // ֡ͷ<D6A1><CDB7>Ϣ
#define FRAME_END ( 0X00 ) // ֡β<D6A1><CEB2>Ϣ
#define SBUS_NORMAL_STATE ( 0X03 ) // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
#define SBUS_ABNORMAL_STATE ( 0X0F ) // ʧ<><CAA7>״̬
#define SBUS_ABNORMAL_STATE ( 0X04 ) // ʧ<EFBFBD><EFBFBD>״̬
typedef struct
{

2
Example/E06_exit_demo/libraries/zf_device/外设文件说明.txt
View File

@@ -88,6 +88,8 @@ zf_device_uart_receiver.h SUBS
zf_device_absolute_encoder.h 360<36><30> λ<>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD> mini <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ֱ<EFBFBD><D6B1>ʣ<EFBFBD>0.088<EFBFBD><EFBFBD>
zf_device_menc15a.h 15λ<35>߾<EFBFBD><DFBE>ȴű<C8B4><C5B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> λ<><CEBB>ʽ
zf_device_gnss.h GPS <20><> RTK <20><>λģ<CEBB><C4A3> ˫Ƶ<CBAB>߾<EFBFBD><DFBE>ȶ<EFBFBD>λģ<CEBB><C4A3> <20><><EFBFBD>׼<EFBFBD><D7BC><EFBFBD>λ
zf_device_key.h GPIO <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ڼ<EFBFBD><DABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>尴<EFBFBD><E5B0B4>״̬

8
Example/E06_exit_demo/libraries/zf_driver/zf_driver_spi.c
View File

@@ -766,11 +766,11 @@ uint16 spi_read_16bit_register (spi_index_enum spi_n, const uint16 register_name
IfxQspi_writeTransmitFifo(moudle, (uint8)((register_name & 0xFF00) >> 8)); // <20><><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD>뻺<EFBFBD><EBBBBA><EFBFBD><EFBFBD>
while(moudle->STATUS.B.RXFIFOLEVEL == 0); // <20>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
while(moudle->STATUS.B.RXFIFOLEVEL == 0); // <20>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>״η<D7B4><CEB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʱ<EFBFBD><CAB1><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
IfxQspi_writeTransmitFifo(moudle, (uint8)(register_name & 0x00FF)); // <20><><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD>뻺<EFBFBD><EBBBBA><EFBFBD><EFBFBD>
while(moudle->STATUS.B.RXFIFOLEVEL == 0); // <20>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
while(moudle->STATUS.B.RXFIFOLEVEL == 1); // <20>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ٴη<D9B4><CEB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʱ<EFBFBD><CAB1><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
spi_clear_fifo(moudle); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD>
@@ -818,11 +818,11 @@ void spi_read_16bit_registers (spi_index_enum spi_n, const uint16 register_name,
IfxQspi_writeTransmitFifo(moudle, (uint8)((register_name & 0xFF00) >> 8)); // <20><><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD>뻺<EFBFBD><EBBBBA><EFBFBD><EFBFBD>
while(moudle->STATUS.B.RXFIFOLEVEL == 0); // <20>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
while(moudle->STATUS.B.RXFIFOLEVEL == 0); // <20>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>״η<D7B4><CEB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʱ<EFBFBD><CAB1><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
IfxQspi_writeTransmitFifo(moudle, (uint8)(register_name & 0x00FF)); // <20><><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD>뻺<EFBFBD><EBBBBA><EFBFBD><EFBFBD>
while(moudle->STATUS.B.RXFIFOLEVEL == 0); // <20>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
while(moudle->STATUS.B.RXFIFOLEVEL == 1); // <20>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ٴη<D9B4><CEB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʱ<EFBFBD><CAB1><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
spi_clear_fifo(moudle); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD>