[嵌入式]STM32驱动_AS5600磁编码器

as5600.h

??as5600.h如下：

#ifndef __AS5600__
#define __AS5600__
#include "sys.h"

#define Slave_Addr                0x36
#define Write_Bit                 0
#define Read_Bit                  1
#define Angle_Hight_Register_Addr 0x0C
#define Angle_Low_Register_Addr   0x0D

void AS5600_Init ( void );
u16 AS5600_Read_Len ( u8 addr, u8 reg, u8 len, u8 *buf );
float Get_Angle ( void );

#endif

as5600.c

??as5600.c如下：

#include "as5600.h"
#include "myiic.h"
#include "delay.h"

void AS5600_Init ( void ) {
    IIC_Init();
}

u16 AS5600_Read_Len ( u8 addr, u8 reg, u8 len, u8 *buf ) {
    IIC_Start();
    IIC_Send_Byte ( ( addr << 1 ) | Write_Bit );

    if ( IIC_Wait_Ack() ) {
        IIC_Stop();
        return 1;
    }

    IIC_Send_Byte ( reg );
    IIC_Wait_Ack();
    IIC_Start();
    IIC_Send_Byte ( ( addr << 1 ) | Read_Bit ); // 发送器件地址 + 读命令
    IIC_Wait_Ack(); // 等待应答

    while ( len ) {
        if ( len == 1 ) {
            *buf = IIC_Read_Byte ( 0 ); // 读数据，发送nACK
        } else {
            *buf = IIC_Read_Byte ( 1 ) & 0x001f; // 读数据，发送ACK
        }

        len--;
        buf++;
    }

    IIC_Stop();
    return 0;
}

float Get_Angle ( void ) {
    u8 buf[2] = {0};
    u8 i = 0;
    float temp = 0;
    float temp1 = 0.0;

    for ( i = 0; i < 20; i++ ) { // 软件滤波
        AS5600_Read_Len ( Slave_Addr, Angle_Hight_Register_Addr, 2, buf );
        temp1 += ( ( buf[0] << 8 ) | buf[1] );
        delay_ms ( 5 );
    }

    temp = temp1 / 20;
    return temp / 4096 * 360;
}

myiic.h

??myiic.h如下：

#ifndef __I2C_H
#define __I2C_H
#include "sys.h"

#define IIC_SCL   PAout(11)
#define IIC_SDA   PAout(12)
#define READ_SDA  PAin(12)

void IIC_Init ( void );
void SDA_IN ( void );
void SDA_OUT ( void );
void IIC_Start ( void );
void IIC_Stop ( void );
u8 IIC_Wait_Ack ( void );
void IIC_Ack ( void );
void IIC_NAck ( void );
void IIC_Send_Byte ( u8 txd );
u8 IIC_Read_Byte ( u8 ack );

#endif

myiic.c

??myiic.c如下：

#include "myiic.h"
#include "delay.h"

void IIC_Init ( void ) {
    GPIO_InitTypeDef GPIO_Init_Structure;
    RCC_APB2PeriphClockCmd ( RCC_APB2Periph_GPIOA, ENABLE );
    GPIO_Init_Structure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
    GPIO_Init_Structure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_Init_Structure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init ( GPIOA, &GPIO_Init_Structure );
    GPIO_SetBits ( GPIOA, GPIO_Pin_11 | GPIO_Pin_12 );
}

void SDA_IN ( void ) {
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init ( GPIOA, &GPIO_InitStructure );
}

void SDA_OUT ( void ) {
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init ( GPIOA, &GPIO_InitStructure );
}

void IIC_Start ( void ) {
    SDA_OUT();
    IIC_SDA = 1;
    IIC_SCL = 1;
    delay_us ( 5 );
    IIC_SDA = 0;
    delay_us ( 5 );
    IIC_SCL = 0;
}

void IIC_Stop ( void ) {
    SDA_OUT();
    IIC_SDA = 0;
    IIC_SCL = 1;
    delay_us ( 5 );
    IIC_SDA = 1;
    delay_us ( 5 );
}

void IIC_Ack ( void ) {
    IIC_SCL = 0;
    SDA_OUT();
    IIC_SDA = 0;
    delay_us ( 5 );
    IIC_SCL = 1;
    delay_us ( 5 );
    IIC_SCL = 0;
}

void IIC_NAck ( void ) {
    IIC_SCL = 0;
    SDA_OUT();
    IIC_SDA = 1;
    delay_us ( 5 );
    IIC_SCL = 1;
    delay_us ( 5 );
    IIC_SCL = 0;
}

u8 IIC_Wait_Ack ( void ) {
    u8 ucErrTime = 0;
    IIC_SDA = 1;
    delay_us ( 5 );
    SDA_IN();
    IIC_SCL = 1;
    delay_us ( 5 );

    while ( READ_SDA ) {
        ucErrTime++;

        if ( ucErrTime > 250 ) {
            return 1;
        }
    }

    IIC_SCL = 0;
    return 0;
}


void IIC_Send_Byte ( u8 txd ) {
    u8 t;
    SDA_OUT();
    IIC_SCL = 0;

    for ( t = 0; t < 8; t++ ) {
        IIC_SDA = ( txd & 0x80 ) >> 7;

        if ( ( txd & 0x80 ) >> 7 ) {
            IIC_SDA = 1;
        } else {
            IIC_SDA = 0;
        }

        txd <<= 1;
        delay_us ( 5 );
        IIC_SCL = 1;
        delay_us ( 5 );
        IIC_SCL = 0;
        delay_us ( 5 );
    }
}

u8 IIC_Read_Byte ( u8 ack ) {
    unsigned char i, receive = 0;
    SDA_IN();

    for ( i = 0; i < 8; i++ ) {
        IIC_SCL = 0;
        delay_us ( 5 );
        IIC_SCL = 1;
        receive <<= 1;

        if ( READ_SDA ) {
            receive++;
        }

        delay_us ( 5 );
    }

    if ( !ack ) {
        IIC_NAck();
    } else {
        IIC_Ack();
        
    }

    return receive;
}

main.c

??main.c如下：

#include "delay.h"
#include "sys.h"
#include "usart.h"
#include "led.h"
#include "as5600.h"

int main ( void ) {
    SystemInit();
    delay_init ( 72 );
    NVIC_Configuration();
    uart_init ( 9600 );
    LED_Init();
    AS5600_Init();

    while ( 1 ) {
        float Core_Angle = Get_Angle(); // 读取AS5600磁芯角度
        printf ( "磁芯角度是%6.2f\r\n", Core_Angle );
        LED1 = !LED1;
        delay_ms ( 500 );
    }
}