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QDAC-firmware/libraries/zf_device/zf_device_absolute_encoder.c

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2023-12-11 21:45:06 +08:00
/*********************************************************************************************************************
* CH32V307VCT6 Opensourec Library <EFBFBD><EFBFBD><EFBFBD><EFBFBD>CH32V307VCT6 <EFBFBD><EFBFBD>Դ<EFBFBD>⣩<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڹٷ<EFBFBD> SDK <EFBFBD>ӿڵĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD>
* Copyright (c) 2022 SEEKFREE <EFBFBD><EFBFBD><EFBFBD>ɿƼ<EFBFBD>
*
* <EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD>CH32V307VCT6 <EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* CH32V307VCT6 <EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><EFBFBD><EFBFBD><EFBFBD> GPL<EFBFBD><EFBFBD>GNU General Public License<EFBFBD><EFBFBD><EFBFBD><EFBFBD> GNUͨ<EFBFBD>ù<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <EFBFBD><EFBFBD> GPL <EFBFBD>ĵ<EFBFBD>3<EFBFBD>棨<EFBFBD><EFBFBD> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<EFBFBD><EFBFBD><EFBFBD>޸<EFBFBD><EFBFBD><EFBFBD>
*
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD>ķ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<EFBFBD>֤
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><EFBFBD>ʺ<EFBFBD><EFBFBD>ض<EFBFBD><EFBFBD><EFBFBD>;<EFBFBD>ı<EFBFBD>֤
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϸ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>μ<EFBFBD> GPL
*
* <EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬʱ<EFBFBD>յ<EFBFBD>һ<EFBFBD><EFBFBD> GPL <EFBFBD>ĸ<EFBFBD><EFBFBD><EFBFBD>
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><https://www.gnu.org/licenses/>
*
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD> GPL3.0 <EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤Э<EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD>İ汾
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӣ<EFBFBD>İ<EFBFBD><EFBFBD><EFBFBD> libraries/doc <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>µ<EFBFBD> GPL3_permission_statement.txt <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD>
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> libraries <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>µ<EFBFBD> LICENSE <EFBFBD>ļ<EFBFBD>
* <EFBFBD><EFBFBD>ӭ<EFBFBD><EFBFBD>λʹ<EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD>޸<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD>뱣<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɿƼ<EFBFBD><EFBFBD>İ<EFBFBD>Ȩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> zf_device_absolute_encoder
* <EFBFBD><EFBFBD>˾<EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD>ɶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɿƼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>޹<EFBFBD>˾
* <EFBFBD>汾<EFBFBD><EFBFBD>Ϣ <EFBFBD>鿴 libraries/doc <EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> version <EFBFBD>ļ<EFBFBD> <EFBFBD>汾˵<EFBFBD><EFBFBD>
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MounRiver Studio V1.8.1
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ̨ CH32V307VCT6
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> https://seekfree.taobao.com/
*
* <EFBFBD>޸ļ<EFBFBD>¼
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD>ע
* 2022-09-15 <EFBFBD><EFBFBD>W first version
********************************************************************************************************************/
/*********************************************************************************************************************
* <EFBFBD><EFBFBD><EFBFBD>߶<EFBFBD><EFBFBD><EFBFBD>:
* ------------------------------------
* ģ<EFBFBD><EFBFBD><EFBFBD>ܽ<EFBFBD> <EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD><EFBFBD>ܽ<EFBFBD>
* SCLK <EFBFBD>鿴 zf_device_absolute_encoder.h <EFBFBD><EFBFBD> ABSOLUTE_ENCODER_SCLK_PIN <EFBFBD>궨<EFBFBD><EFBFBD>
* MOSI <EFBFBD>鿴 zf_device_absolute_encoder.h <EFBFBD><EFBFBD> ABSOLUTE_ENCODER_MOSI_PIN <EFBFBD>궨<EFBFBD><EFBFBD>
* MISO <EFBFBD>鿴 zf_device_absolute_encoder.h <EFBFBD><EFBFBD> ABSOLUTE_ENCODER_MISO_PIN <EFBFBD>궨<EFBFBD><EFBFBD>
* CS <EFBFBD>鿴 zf_device_absolute_encoder.h <EFBFBD><EFBFBD> ABSOLUTE_ENCODER_CS_PIN <EFBFBD>궨<EFBFBD><EFBFBD>
* VCC 3.3V<EFBFBD><EFBFBD>Դ
* GND <EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD>
* ------------------------------------
********************************************************************************************************************/
#include "zf_common_clock.h"
#include "zf_common_debug.h"
#include "zf_common_function.h"
#include "zf_driver_delay.h"
#include "zf_driver_soft_spi.h"
#include "zf_driver_spi.h"
#include "zf_device_absolute_encoder.h"
static int16 now_location = 0;
static int16 last_location = 0;
#if ABSOLUTE_ENCODER_USE_SOFT_SPI
static soft_spi_info_struct absolute_encoder_spi;
#define absolute_encoder_read() (soft_spi_read_8bit(&absolute_encoder_spi))
#define absolute_encoder_write(data) (soft_spi_write_8bit(&absolute_encoder_spi, (data)))
#else
#define absolute_encoder_read() (spi_read_8bit(ABSOLUTE_ENCODER_SPI))
#define absolute_encoder_write(data) (spi_write_8bit(ABSOLUTE_ENCODER_SPI, (data)))
#endif
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> reg <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> data <20><><EFBFBD><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> absolute_encoder_write_register(i + 1, dat[i]);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
static void absolute_encoder_write_register(uint8 reg, uint8 data)
{
ABSOLUTE_ENCODER_CSN(0); // Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1>
absolute_encoder_write(reg | ABSOLUTE_ENCODER_SPI_W); // <20>Ĵ<EFBFBD><C4B4><EFBFBD>
absolute_encoder_write(data); // <20><><EFBFBD><EFBFBD>
ABSOLUTE_ENCODER_CSN(1); // Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>
system_delay_us(1); // <20><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>
ABSOLUTE_ENCODER_CSN(0); // Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1>
absolute_encoder_read(); // <20><><EFBFBD><EFBFBD><EFBFBD>᷵<EFBFBD><E1B7B5>д<EFBFBD><D0B4><EFBFBD>Ƿ<EFBFBD><C7B7>ɹ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
absolute_encoder_read(); // <20><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>
ABSOLUTE_ENCODER_CSN(1); // Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD> <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> reg <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint8 <20><><EFBFBD><EFBFBD>
// ʹ<><CAB9>ʾ<EFBFBD><CABE> absolute_encoder_read_register(6);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
static uint8 absolute_encoder_read_register(uint8 reg)
{
uint8 data = 0;
ABSOLUTE_ENCODER_CSN(0); // Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1>
absolute_encoder_write(reg | ABSOLUTE_ENCODER_SPI_R); // <20>Ĵ<EFBFBD><C4B4><EFBFBD>
absolute_encoder_write(0x00); // ռλ
ABSOLUTE_ENCODER_CSN(1); // Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>
system_delay_us(1); // <20><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>
ABSOLUTE_ENCODER_CSN(0); // Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1>
data = absolute_encoder_read(); // <20><>ȡ<EFBFBD><C8A1>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
absolute_encoder_read(); // <20><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>
ABSOLUTE_ENCODER_CSN(1); // Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>
return data;
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint16 λ<><CEBB>ֵ
// ʹ<><CAB9>ʾ<EFBFBD><CABE> absolute_encoder_read_data();
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
static uint16 absolute_encoder_read_data (void)
{
uint16 data = 0;
ABSOLUTE_ENCODER_CSN(0); // Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1>
data = absolute_encoder_read(); // <20><>ȡ<EFBFBD>߰<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
data = (data & 0x00FF) << 8; // <20><><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
data |= absolute_encoder_read(); // <20><>ȡ<EFBFBD>Ͱ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
ABSOLUTE_ENCODER_CSN(1); // Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>
return data;
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD> <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint8 <20>Լ<EFBFBD>״̬
// ʹ<><CAB9>ʾ<EFBFBD><CABE> absolute_encoder_self_check();
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
static uint8 absolute_encoder_self_check (void)
{
uint8 i = 0, return_state = 0;
uint8 dat[6] = {0, 0, 0, 0xC0, 0xFF, 0x1C};
uint16 time_count = 0;
while(0x1C != absolute_encoder_read_register(6)) // <20><>ȡ״̬<D7B4>Ĵ<EFBFBD><C4B4><EFBFBD>
{
for(i = 0; i < 6; i ++)
{
absolute_encoder_write_register(i + 1, dat[i]); // д<><D0B4>Ĭ<EFBFBD><C4AC><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><C3B2><EFBFBD>
system_delay_ms(1);
}
if(time_count ++ > ABSOLUTE_ENCODER_TIMEOUT_COUNT) // <20>ȴ<EFBFBD><C8B4><EFBFBD>ʱ
{
return_state = 1;
break;
}
}
return return_state;
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1>ǰ<EFBFBD>Ƕ<EFBFBD>ֵ
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> int16 <20>Ƕ<EFBFBD>ֵ
// ʹ<><CAB9>ʾ<EFBFBD><CABE> absolute_encoder_get_location();
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
int16 absolute_encoder_get_location (void)
{
last_location = now_location;
now_location = absolute_encoder_read_data() >> 4;
return now_location;
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD>λ<EFBFBD>õ<EFBFBD>ƫ<EFBFBD><C6AB>ֵ
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> int16 ƫ<><C6AB>ֵ
// ʹ<><CAB9>ʾ<EFBFBD><CABE> absolute_encoder_get_offset();
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
int16 absolute_encoder_get_offset (void)
{
int16 result_data = 0;
if(func_abs(now_location - last_location) > 2048)
{
result_data = (now_location > 2048 ? (now_location - 4096 - last_location) : (now_location + 4096 - last_location));
}
else
{
result_data = (now_location - last_location);
}
return result_data;
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint8 <20><>ʼ<EFBFBD><CABC>״̬ 0-<2D>ɹ<EFBFBD> 1-ʧ<><CAA7>
// ʹ<><CAB9>ʾ<EFBFBD><CABE> absolute_encoder_init();
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
uint8 absolute_encoder_init (void)
{
uint8 return_state = 0;
uint16 zero_position = ABSOLUTE_ENCODER_DEFAULT_ZERO;
#if ABSOLUTE_ENCODER_USE_SOFT_SPI
soft_spi_init(&absolute_encoder_spi, 0, ABSOLUTE_ENCODER_SOFT_SPI_DELAY, ABSOLUTE_ENCODER_SCLK_PIN, ABSOLUTE_ENCODER_MOSI_PIN, ABSOLUTE_ENCODER_MISO_PIN, SOFT_SPI_PIN_NULL);
#else
spi_init(ABSOLUTE_ENCODER_SPI, SPI_MODE0, ABSOLUTE_ENCODER_SPI_SPEED, ABSOLUTE_ENCODER_SCLK_PIN, ABSOLUTE_ENCODER_MOSI_PIN, ABSOLUTE_ENCODER_MISO_PIN, SPI_CS_NULL);
#endif
gpio_init(ABSOLUTE_ENCODER_CS_PIN, GPO, GPIO_LOW, GPO_PUSH_PULL);
do
{
if(absolute_encoder_self_check())
{
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD><EFBFBD>Ϣ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><>ô<EFBFBD><C3B4><EFBFBD>Ǿ<EFBFBD><C7BE><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD><D4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>˳<EFBFBD><CBB3><EFBFBD>
// <20><><EFBFBD><EFBFBD>һ<EFBFBD>½<EFBFBD><C2BD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܾ<EFBFBD><DCBE>ǻ<EFBFBD><C7BB><EFBFBD>
return_state = 1;
zf_log(0, "absolute encoder init errror.");
break;
}
absolute_encoder_write_register(ABSOLUTE_ENCODER_DIR_REG, 0x00); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD> <20><>ת<EFBFBD><D7AA>ֵ<EFBFBD><D6B5>С<EFBFBD><D0A1>0x00 <20><>ת<EFBFBD><D7AA>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0x80
zero_position = (uint16)(4096 - zero_position);
zero_position = zero_position << 4;
absolute_encoder_write_register(ABSOLUTE_ENCODER_ZERO_L_REG, (uint8)zero_position); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
absolute_encoder_write_register(ABSOLUTE_ENCODER_ZERO_H_REG, zero_position >> 8);
}while(0);
return return_state;
}
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