init

TLE5012B/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.22)
+# Register library to the system
+add_library(TLE5012B INTERFACE)
+file(GLOB_RECURSE SOURCES "${CMAKE_CURRENT_LIST_DIR}/*.c")
+target_sources(TLE5012B INTERFACE ${SOURCES})
+target_include_directories(TLE5012B INTERFACE
+        include
+)

TLE5012B/TLE5012B.c

@@ -0,0 +1,41 @@
+//
+// Created by Wind on 2025/5/18.
+//
+
+#include "TLE5012B.h"
+
+#include "main.h"
+#include "spi.h"
+#include "arm_math.h"
+
+
+uint16_t SPIx_ReadWriteByte(uint16_t byte)
+{
+    uint16_t read_value = 0;
+    HAL_SPI_Transmit( &hspi3, (uint8_t *)(&byte), sizeof(byte)/sizeof(uint16_t), 0xff );
+    HAL_SPI_Transmit( &hspi3, (uint8_t *)(&read_value), sizeof(read_value)/sizeof(uint16_t), 0xff );
+    return read_value;
+}
+double ReadAngle(void)
+{
+    return ( ReadValue(READ_ANGLE_VALUE) * 360.0 / 0x10000 );
+}
+
+float ReadAngle_Rad(void)
+{
+    return ( (float)ReadValue(READ_ANGLE_VALUE) * 2.0f*PI / 0x10000 );
+}
+uint16_t ReadSpeed(void)
+{
+    return ReadValue(READ_SPEED_VALUE);
+}
+
+
+uint16_t ReadValue(uint16_t u16RegValue)
+{
+
+    uint16_t u16Data;
+    HAL_SPI_Transmit( &hspi3, (uint8_t *)(&u16RegValue), 1, 0xffff );
+    HAL_SPI_Receive( &hspi3,(uint8_t *)(&u16Data), 1, 0xffff );
+    return((u16Data & 0x7FFF )<<1);
+}

TLE5012B/include/TLE5012B.h

@@ -0,0 +1,46 @@
+//
+// Created by Wind on 2025/5/18.
+//
+
+#ifndef FOC_TLE5012B_H
+#define FOC_TLE5012B_H
+
+#include "main.h"
+#ifdef __cplusplus
+extern "C"{
+#endif
+
+//#define SPI_CS_ENABLE  HAL_GPIO_WritePin( TLE_CS_GPIO_Port, TLE_CS_Pin, GPIO_PIN_RESET)
+//#define SPI_CS_DISABLE HAL_GPIO_WritePin( TLE_CS_GPIO_Port, TLE_CS_Pin, GPIO_PIN_SET)
+/* SPI command for TLE5012 */
+#define READ_STATUS                                        0x8001
+#define READ_ANGLE_VALUE                0x8021
+#define READ_SPEED_VALUE                0x8031
+
+#define WRITE_MOD1_VALUE                0x5060                                                        //0_1010_0_000110_0001
+#define MOD1_VALUE        0x0001
+#define WRITE_MOD2_VALUE                0x5080                                                        //0_1010_0_001000_0001
+#define MOD2_VALUE        0x0801
+
+#define WRITE_MOD3_VALUE                0x5091                                                        //0_1010_0_001001_0001
+#define MOD3_VALUE        0x0000
+
+#define WRITE_MOD4_VALUE                0x50E0                                                        //0_1010_0_001110_0001
+#define MOD4_VALUE        0x0098
+#define WRITE_IFAB_VALUE                0x50B1
+#define IFAB_VALUE 0x000D
+/* Functionality mode */
+#define REFERESH_ANGLE                0
+
+void SPI_SendData16(uint16_t SendData);
+uint16_t SPI_ReadData16(void);
+double ReadAngle(void);
+float ReadAngle_Rad(void);
+uint16_t ReadSpeed(void);
+uint16_t ReadValue(uint16_t u16Value);
+uint16_t SPIx_ReadWriteByte(uint16_t byte);
+uint16_t TlE5012W_Reg(uint16_t Reg_CMD, uint16_t Reg_Data);
+#ifdef __cplusplus
+};
+#endif
+#endif //FOC_TLE5012B_H