Chen Huan
/
MotorPID
闭环步进电机
as5047.cpp@0:5b4f19f8cd85, 2018-03-30 (annotated)
- Committer:
- heroistired
- Date:
- Fri Mar 30 12:03:12 2018 +0000
- Revision:
- 0:5b4f19f8cd85
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
heroistired | 0:5b4f19f8cd85 | 1 | #include "as5047.h" |
heroistired | 0:5b4f19f8cd85 | 2 | ////////////////////////////////////////////////////////////////////////////////// |
heroistired | 0:5b4f19f8cd85 | 3 | //功能:磁编码器spi方式驱动代码 |
heroistired | 0:5b4f19f8cd85 | 4 | //简介: |
heroistired | 0:5b4f19f8cd85 | 5 | //作者:陈欢 清华大学电机工程与应用电子技术系 |
heroistired | 0:5b4f19f8cd85 | 6 | //邮箱:heroistired@gmail.com OR h-che14@mails.stinghua.edu.cn |
heroistired | 0:5b4f19f8cd85 | 7 | ////////////////////////////////////////////////////////////////////////////////// |
heroistired | 0:5b4f19f8cd85 | 8 | |
heroistired | 0:5b4f19f8cd85 | 9 | void AS5047_Init(SPI *device, DigitalOut *cs) |
heroistired | 0:5b4f19f8cd85 | 10 | { |
heroistired | 0:5b4f19f8cd85 | 11 | cs->write(1); |
heroistired | 0:5b4f19f8cd85 | 12 | device->format(16,1); |
heroistired | 0:5b4f19f8cd85 | 13 | device->frequency(100000); |
heroistired | 0:5b4f19f8cd85 | 14 | } |
heroistired | 0:5b4f19f8cd85 | 15 | |
heroistired | 0:5b4f19f8cd85 | 16 | unsigned int AS5047_ReadData(SPI *device, DigitalOut *cs) |
heroistired | 0:5b4f19f8cd85 | 17 | { |
heroistired | 0:5b4f19f8cd85 | 18 | cs->write(0); |
heroistired | 0:5b4f19f8cd85 | 19 | int response = device->write(0xFFFF); |
heroistired | 0:5b4f19f8cd85 | 20 | response &= 0x3fff; |
heroistired | 0:5b4f19f8cd85 | 21 | cs->write(1); |
heroistired | 0:5b4f19f8cd85 | 22 | return response; |
heroistired | 0:5b4f19f8cd85 | 23 | } |