Motor_v2/Robot_V2/device/ang_sensor.cpp

#include "ang_sensor.h"
#include "gd32c10x_gpio.h"
#include "gd32c10x_spi.h"

#define SPI_CS_ENABLE() gpio_bit_reset(GPIOA, GPIO_PIN_15)
#define SPI_CS_DISABLE() gpio_bit_set(GPIOA, GPIO_PIN_15)
constexpr float ANGLE_FACTOR = 1.0f / 65536.0f * 360.0f;

/**
 * @brief Send or read half word through SPI
 *
 * @param[in] spi_periph SPI peripheral
 * @param[in] i_HalfWord data
 */
uint16_t spi_rw_half_word(uint32_t spi_periph, const uint16_t i_HalfWord) {
	uint32_t to;
	uint16_t data = 0xFFFF;
	bool ok = true;

	/* ---------- Send data ---------- */
	to = 200;
	while ((RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_TBE)) && --to)
		;
	if (to == 0)
		ok = false;

	if (ok) {
		if (RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_RBNE)) {
			(void)spi_i2s_data_receive(spi_periph); /* throw Dummy */
		}
		spi_i2s_data_transmit(spi_periph, i_HalfWord);
		/* wait rx succ*/
		to = 200;
		while ((RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_RBNE)) && --to)
			;
		if (to == 0)
			ok = false;
		else
			data = spi_i2s_data_receive(spi_periph); /* throw Dummy */
	}

	/* ---------- wait bsu idle ---------- */
	if (ok) {
		to = 200;
		while ((SET == spi_i2s_flag_get(spi_periph, SPI_FLAG_TRANS)) &&
			   SET == spi_i2s_flag_get(spi_periph, SPI_FLAG_RBNE) && --to)
			;
		if (to == 0)
			ok = false;
	}

	return ok ? data : 0xFFFF;
}

void KHT7823_gpio_init(void) {
	rcu_periph_clock_enable(RCU_GPIOA);
	rcu_periph_clock_enable(RCU_GPIOB);
	rcu_periph_clock_enable(RCU_SPI0);
	rcu_periph_clock_enable(RCU_AF);
	/* 关闭 JTAG，仅保留 SWD（释放 PA15、PB3、PB4） */
	gpio_pin_remap_config(GPIO_SWJ_SWDPENABLE_REMAP, ENABLE);

	/* -------- SPI0 全 remap：PB3/4/5 + PA15 -------- */
	gpio_pin_remap_config(GPIO_SPI0_REMAP, ENABLE);
	/* PA15 → NSS, 推挽输出 */
	gpio_init(GPIOA, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_15);
	/* PB3 → SCK, PB5 → MOSI, 推挽输出 */
	gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ,
			  GPIO_PIN_3 | GPIO_PIN_5);
	/* PB4 → MISO, 浮空输入 */
	gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ,
			  GPIO_PIN_4 | GPIO_PIN_10 | GPIO_PIN_11);
}
/**
 * @brief Initialize SPI module
 *
 * @details Configures SPI hardware and initializes necessary settings
 */
void KHT7823_spi_init(void) {
	spi_parameter_struct spi_init_str;
	spi_struct_para_init(&spi_init_str);

	/* SPI参数：16bit, 主机, 全双工, CPOL=1 CPHA=1, MSB first */
	spi_init_str.device_mode = SPI_MASTER;
	spi_init_str.trans_mode = SPI_TRANSMODE_FULLDUPLEX;
	spi_init_str.frame_size = SPI_FRAMESIZE_16BIT;
	spi_init_str.clock_polarity_phase = SPI_CK_PL_HIGH_PH_2EDGE;
	spi_init_str.nss = SPI_NSS_SOFT;
	spi_init_str.endian = SPI_ENDIAN_MSB;
	
	spi_init_str.prescale = 24; /* 5MHz @ 120MHz */
	spi_init(SPI0, &spi_init_str);
	spi_nss_output_enable(SPI0);
	spi_nssp_mode_enable(SPI0);
	spi_enable(SPI0);
}

void KHT7823_init(void) {
	KHT7823_gpio_init();
	KHT7823_spi_init();
}

float KHT7823_readAngle() {
	u16 u16Command = 0x0000; // 读取角度命令

	float ang = 0;
	SPI_CS_ENABLE();
	// 发送命令1，同时接收回答1
	u16 u16data = spi_rw_half_word(SPI0, u16Command);
	SPI_CS_DISABLE();

	ang = u16data * ANGLE_FACTOR;

	return ang;
}