//
// 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);
}