76 lines
2.3 KiB
C
76 lines
2.3 KiB
C
#include "Int_Encoder.h"
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// 函数：调整ABZ输出分辨率，step为分辨率
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void Int_Encoder_set_resolution(uint16_t step)
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{
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HAL_GPIO_WritePin(ENCODER1_EN_GPIO_Port, ENCODER1_EN_Pin, GPIO_PIN_SET); // 给芯片上电
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HAL_GPIO_WritePin(ENCODER_MODE_GPIO_Port, ENCODER_MODE_Pin, GPIO_PIN_SET); // 切换到I2C模式
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// 配置I2C
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Dri_I2C_Init();
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// 按照手册给指定寄存器发送指定数据
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Dri_I2C_Start();
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Dri_I2C_WriteAddr(ENCODER_I2C_ADDR_WRITE); // 发送从机地址
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Dri_I2C_WriteReg(0x09, 0xB3);
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Dri_I2C_WriteReg(0x0A, 0x05);
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Dri_I2C_Stop();
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HAL_Delay(1000); // 等待EEPROM编程完成
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// 按照手册给芯片重新上电
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HAL_GPIO_WritePin(ENCODER1_EN_GPIO_Port, ENCODER1_EN_Pin, GPIO_PIN_RESET);
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HAL_Delay(100);
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HAL_GPIO_WritePin(ENCODER1_EN_GPIO_Port, ENCODER1_EN_Pin, GPIO_PIN_SET);
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// ABZ_RES一共十位，低8位在0x31寄存器中，高两位在0x30寄存器中的最低两位
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// 读取ABZ_RES高两位所在寄存器的数据，保留不能修改的bits
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uint8_t data = Dri_I2C_ReadReg(ENCODER_I2C_ADDR_READ, ENCODER_ABZ_RES_H);
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// debug_printf("read data = 0x%02x", data);
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uint8_t step_h = step >> 8;
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// 需要写入高两位
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for (uint8_t i = 0; i < 2; i++)
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{
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if (step_h & (1 << i))
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data |= (1 << i);
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else
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data &= ~(1 << i);
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}
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// debug_printf("write data = 0x%02x", data);
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HAL_Delay(1000);
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Dri_I2C_Start();
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Dri_I2C_WriteAddr(ENCODER_I2C_ADDR_WRITE);
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Dri_I2C_WriteReg(ENCODER_ABZ_RES_H, data);
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Dri_I2C_Stop();
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Dri_I2C_Start();
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Dri_I2C_WriteAddr(ENCODER_I2C_ADDR_WRITE);
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Dri_I2C_WriteReg(ENCODER_ABZ_RES_L, step & 0xFF);
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Dri_I2C_Stop();
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}
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void Int_Encoder_start(void)
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{
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// 初始化编码器的引脚(之前用作软件I2C)
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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GPIO_InitStruct.Pin = ENCODER1_A_Pin | ENCODER1_B_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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}
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void Int_Encoder_Init(void)
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{
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DWT_init();
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Int_Encoder_set_resolution(0x03FF);
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Int_Encoder_start();
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HAL_TIM_Base_Start_IT(&htim12);
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}
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