V3.3.2

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

Example/E01_gpio_demo/libraries/doc/version.txt

@@ -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>

Example/E01_gpio_demo/libraries/zf_common/zf_common_headfile.h

@@ -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"

Example/E01_gpio_demo/libraries/zf_components/seekfree_assistant_interface.c

@@ -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:

Example/E01_gpio_demo/libraries/zf_device/zf_device_menc15a.c

@@ -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;
+}
+

Example/E01_gpio_demo/libraries/zf_device/zf_device_menc15a.h

@@ -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

Example/E01_gpio_demo/libraries/zf_device/zf_device_uart_receiver.c

@@ -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;
 }
 

Example/E01_gpio_demo/libraries/zf_device/zf_device_uart_receiver.h

@@ -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                 ( 0X04 )            // ʧ<EFBFBD><EFBFBD>״̬
-#define SBUS_ABNORMAL_STATE                 ( 0X0F )            // ʧ<><CAA7>״̬
 
 typedef struct
 {

Example/E01_gpio_demo/libraries/zf_device/外设文件说明.txt

@@ -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>״̬                             

Example/E01_gpio_demo/libraries/zf_driver/zf_driver_spi.c

@@ -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>
 

Example/E02_uart_demo/libraries/doc/version.txt

@@ -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>

Example/E02_uart_demo/libraries/zf_common/zf_common_headfile.h

@@ -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"

Example/E02_uart_demo/libraries/zf_components/seekfree_assistant_interface.c

@@ -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:

Example/E02_uart_demo/libraries/zf_device/zf_device_menc15a.c

@@ -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;
+}
+

Example/E02_uart_demo/libraries/zf_device/zf_device_menc15a.h

@@ -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

Example/E02_uart_demo/libraries/zf_device/zf_device_uart_receiver.c

@@ -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;
 }
 

Example/E02_uart_demo/libraries/zf_device/zf_device_uart_receiver.h

@@ -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                 ( 0X04 )            // ʧ<EFBFBD><EFBFBD>״̬
-#define SBUS_ABNORMAL_STATE                 ( 0X0F )            // ʧ<><CAA7>״̬
 
 typedef struct
 {

Example/E02_uart_demo/libraries/zf_device/外设文件说明.txt

@@ -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>״̬                             

Example/E02_uart_demo/libraries/zf_driver/zf_driver_spi.c

@@ -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>
 

Example/E03_adc_demo/libraries/doc/version.txt

@@ -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>

Example/E03_adc_demo/libraries/zf_common/zf_common_headfile.h

@@ -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"

Example/E03_adc_demo/libraries/zf_components/seekfree_assistant_interface.c

@@ -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:

Example/E03_adc_demo/libraries/zf_device/zf_device_menc15a.c

@@ -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;
+}
+

Example/E03_adc_demo/libraries/zf_device/zf_device_menc15a.h

@@ -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

Example/E03_adc_demo/libraries/zf_device/zf_device_uart_receiver.c

@@ -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;
 }
 

Example/E03_adc_demo/libraries/zf_device/zf_device_uart_receiver.h

@@ -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                 ( 0X04 )            // ʧ<EFBFBD><EFBFBD>״̬
-#define SBUS_ABNORMAL_STATE                 ( 0X0F )            // ʧ<><CAA7>״̬
 
 typedef struct
 {

Example/E03_adc_demo/libraries/zf_device/外设文件说明.txt

@@ -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>״̬                             

Example/E03_adc_demo/libraries/zf_driver/zf_driver_spi.c

@@ -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>
 

Example/E04_pwm_demo/libraries/doc/version.txt

@@ -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>

Example/E04_pwm_demo/libraries/zf_common/zf_common_headfile.h

@@ -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"

Example/E04_pwm_demo/libraries/zf_components/seekfree_assistant_interface.c

@@ -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:

Example/E04_pwm_demo/libraries/zf_device/zf_device_menc15a.c

@@ -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;
+}
+

Example/E04_pwm_demo/libraries/zf_device/zf_device_menc15a.h

@@ -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

Example/E04_pwm_demo/libraries/zf_device/zf_device_uart_receiver.c

@@ -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;
 }
 

Example/E04_pwm_demo/libraries/zf_device/zf_device_uart_receiver.h

@@ -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                 ( 0X04 )            // ʧ<EFBFBD><EFBFBD>״̬
-#define SBUS_ABNORMAL_STATE                 ( 0X0F )            // ʧ<><CAA7>״̬
 
 typedef struct
 {

Example/E04_pwm_demo/libraries/zf_device/外设文件说明.txt

@@ -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>״̬                             

Example/E04_pwm_demo/libraries/zf_driver/zf_driver_spi.c

@@ -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>
 

Example/E05_pit_demo/libraries/doc/version.txt

@@ -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>

Example/E05_pit_demo/libraries/zf_common/zf_common_headfile.h

@@ -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"

Example/E05_pit_demo/libraries/zf_components/seekfree_assistant_interface.c

@@ -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:

Example/E05_pit_demo/libraries/zf_device/zf_device_menc15a.c

@@ -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;
+}
+

Example/E05_pit_demo/libraries/zf_device/zf_device_menc15a.h

@@ -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

Example/E05_pit_demo/libraries/zf_device/zf_device_uart_receiver.c

@@ -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;
 }
 

Example/E05_pit_demo/libraries/zf_device/zf_device_uart_receiver.h

@@ -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                 ( 0X04 )            // ʧ<EFBFBD><EFBFBD>״̬
-#define SBUS_ABNORMAL_STATE                 ( 0X0F )            // ʧ<><CAA7>״̬
 
 typedef struct
 {

Example/E05_pit_demo/libraries/zf_device/外设文件说明.txt

@@ -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>״̬                             

Example/E05_pit_demo/libraries/zf_driver/zf_driver_spi.c

@@ -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>
 

Example/E06_exit_demo/libraries/doc/version.txt

@@ -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>

Example/E06_exit_demo/libraries/zf_common/zf_common_headfile.h

@@ -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"

Example/E06_exit_demo/libraries/zf_components/seekfree_assistant_interface.c

@@ -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:

Example/E06_exit_demo/libraries/zf_device/zf_device_menc15a.c

@@ -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;
+}
+

Example/E06_exit_demo/libraries/zf_device/zf_device_menc15a.h

@@ -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

Example/E06_exit_demo/libraries/zf_device/zf_device_uart_receiver.c

@@ -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;
 }
 

Example/E06_exit_demo/libraries/zf_device/zf_device_uart_receiver.h

@@ -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                 ( 0X04 )            // ʧ<EFBFBD><EFBFBD>״̬
-#define SBUS_ABNORMAL_STATE                 ( 0X0F )            // ʧ<><CAA7>״̬
 
 typedef struct
 {

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

@@ -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>״̬                             

Example/E06_exit_demo/libraries/zf_driver/zf_driver_spi.c

@@ -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>
 

Example/E07_encoder_demo/libraries/doc/version.txt

@@ -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>

Example/E07_encoder_demo/libraries/zf_common/zf_common_headfile.h

@@ -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"

Example/E07_encoder_demo/libraries/zf_components/seekfree_assistant_interface.c

@@ -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:

Example/E07_encoder_demo/libraries/zf_device/zf_device_menc15a.c

@@ -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;
+}
+

Example/E07_encoder_demo/libraries/zf_device/zf_device_menc15a.h

@@ -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

Example/E07_encoder_demo/libraries/zf_device/zf_device_uart_receiver.c

@@ -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;
 }
 

Example/E07_encoder_demo/libraries/zf_device/zf_device_uart_receiver.h

@@ -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                 ( 0X04 )            // ʧ<EFBFBD><EFBFBD>״̬
-#define SBUS_ABNORMAL_STATE                 ( 0X0F )            // ʧ<><CAA7>״̬
 
 typedef struct
 {

Example/E07_encoder_demo/libraries/zf_device/外设文件说明.txt

@@ -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>״̬                             

Example/E07_encoder_demo/libraries/zf_driver/zf_driver_spi.c

@@ -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>
 

Example/E08_eeprom_demo/libraries/doc/version.txt

@@ -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>

Example/E08_eeprom_demo/libraries/zf_common/zf_common_headfile.h

@@ -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"

Example/E08_eeprom_demo/libraries/zf_components/seekfree_assistant_interface.c

@@ -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:

Example/E08_eeprom_demo/libraries/zf_device/zf_device_menc15a.c

@@ -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;
+}
+

Example/E08_eeprom_demo/libraries/zf_device/zf_device_menc15a.h

@@ -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

Example/E08_eeprom_demo/libraries/zf_device/zf_device_uart_receiver.c

@@ -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;
 }
 

Example/E08_eeprom_demo/libraries/zf_device/zf_device_uart_receiver.h

@@ -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                 ( 0X04 )            // ʧ<EFBFBD><EFBFBD>״̬
-#define SBUS_ABNORMAL_STATE                 ( 0X0F )            // ʧ<><CAA7>״̬
 
 typedef struct
 {

Example/E08_eeprom_demo/libraries/zf_device/外设文件说明.txt

@@ -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>״̬                             

Example/E08_eeprom_demo/libraries/zf_driver/zf_driver_spi.c

@@ -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>
 

Example/E09_timer_demo/libraries/doc/version.txt

@@ -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>

Example/E09_timer_demo/libraries/zf_common/zf_common_headfile.h

@@ -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"

Example/E09_timer_demo/libraries/zf_components/seekfree_assistant_interface.c

@@ -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:

Example/E09_timer_demo/libraries/zf_device/zf_device_menc15a.c

@@ -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;
+}
+

Example/E09_timer_demo/libraries/zf_device/zf_device_menc15a.h

@@ -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

Example/E09_timer_demo/libraries/zf_device/zf_device_uart_receiver.c

@@ -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;
 }
 

Example/E09_timer_demo/libraries/zf_device/zf_device_uart_receiver.h

@@ -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                 ( 0X04 )            // ʧ<EFBFBD><EFBFBD>״̬
-#define SBUS_ABNORMAL_STATE                 ( 0X0F )            // ʧ<><CAA7>״̬
 
 typedef struct
 {

Example/E09_timer_demo/libraries/zf_device/外设文件说明.txt

@@ -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>״̬                             

Example/E09_timer_demo/libraries/zf_driver/zf_driver_spi.c

@@ -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>
 

Example/E10_printf_debug_log_demo/libraries/doc/version.txt

@@ -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>

Example/E10_printf_debug_log_demo/libraries/zf_common/zf_common_headfile.h

@@ -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"

Example/E10_printf_debug_log_demo/libraries/zf_components/seekfree_assistant_interface.c

@@ -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:

Example/E10_printf_debug_log_demo/libraries/zf_device/zf_device_menc15a.c

@@ -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;
+}
+

Example/E10_printf_debug_log_demo/libraries/zf_device/zf_device_menc15a.h

@@ -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

Example/E10_printf_debug_log_demo/libraries/zf_device/zf_device_uart_receiver.c

@@ -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;
 }
 

Example/E10_printf_debug_log_demo/libraries/zf_device/zf_device_uart_receiver.h

@@ -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                 ( 0X04 )            // ʧ<EFBFBD><EFBFBD>״̬
-#define SBUS_ABNORMAL_STATE                 ( 0X0F )            // ʧ<><CAA7>״̬
 
 typedef struct
 {

Example/E10_printf_debug_log_demo/libraries/zf_device/外设文件说明.txt

@@ -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>״̬                             

Example/E10_printf_debug_log_demo/libraries/zf_driver/zf_driver_spi.c

@@ -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>
 

Example/E11_interrupt_priority_set_demo/libraries/doc/version.txt

@@ -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>

Example/E11_interrupt_priority_set_demo/libraries/zf_common/zf_common_headfile.h

@@ -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"

Example/E11_interrupt_priority_set_demo/libraries/zf_components/seekfree_assistant_interface.c

@@ -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:

Example/E11_interrupt_priority_set_demo/libraries/zf_device/zf_device_menc15a.c

@@ -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;
+}
+

Example/E11_interrupt_priority_set_demo/libraries/zf_device/zf_device_menc15a.h

@@ -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

Example/E11_interrupt_priority_set_demo/libraries/zf_device/zf_device_uart_receiver.c

@@ -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;
 }
 

Example/E11_interrupt_priority_set_demo/libraries/zf_device/zf_device_uart_receiver.h

@@ -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                 ( 0X04 )            // ʧ<EFBFBD><EFBFBD>״̬
-#define SBUS_ABNORMAL_STATE                 ( 0X0F )            // ʧ<><CAA7>״̬
 
 typedef struct
 {

Example/E11_interrupt_priority_set_demo/libraries/zf_device/外设文件说明.txt

@@ -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>״̬                             

Example/E11_interrupt_priority_set_demo/libraries/zf_driver/zf_driver_spi.c

@@ -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>
 

Example/E12_cpu1_handles_interrupts_demo/libraries/doc/version.txt

@@ -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>