简介
- TLI5012B 是英飞凌（Infineon）出品的一款高精度角度传感器芯片，基于霍尔技术，常用于电机控制、角度编码器等场景。
- 本文基于GD32F303CCT6平台，使用SPI进行数据传输。
引脚配置
- 引脚配置如下：
- 此处使用软件片选，因为硬件片选不支持CPOL=0,CPHA=1下的自动操作。
使用了SPI0,配置如下
| 接口 | 信号 | MCU 引脚 | 复用模式 (GPIO 模式) | 方向* | 备注 |
|---|---|---|---|---|---|
| SPI0 (全remap) | NSS | PA15 | GPIO_MODE_OUT_PP | 输出 | 软件片选 |
| SCK | PB3 | GPIO_MODE_AF_PP | 输出 | 时钟：CPOL0 / CPHA1 | |
| MISO | PB4 | GPIO_MODE_IN_FLOATING | 输入 | 16bit 数据输入 | |
| MOSI | PB5 | GPIO_MODE_AF_PP | 输出 | 16bit 数据输出 |
代码如下：
#include "gd32f30x.h"
#define SPI0_INST SPI0
#define SPI0_SCK_PORT GPIOB
#define SPI0_SCK_PIN GPIO_PIN_3
#define SPI0_SCK_FUNC GPIO_MODE_AF_PP
#define SPI0_MOSI_PORT GPIOB
#define SPI0_MOSI_PIN GPIO_PIN_5
#define SPI0_MOSI_FUNC GPIO_MODE_AF_PP
#define SPI0_MISO_PORT GPIOB
#define SPI0_MISO_PIN GPIO_PIN_4
#define SPI0_MISO_FUNC GPIO_MODE_IN_FLOATING
#define SPI0_NSS_PORT GPIOA
#define SPI0_NSS_PIN GPIO_PIN_15
#define SPI0_NSS_FUNC GPIO_MODE_OUT_PP
void gpio_init(void)
{
rcu_periph_clock_enable(RCU_SPI0);
rcu_periph_clock_enable(RCU_SPI1);
/* 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(SPI0_NSS_PORT, SPI0_NSS_FUNC, GPIO_OSPEED_50MHZ, SPI0_NSS_PIN);
/* PB3 → SCK, PB5 → MOSI, 推挽输出 */
gpio_init(SPI0_SCK_PORT, SPI1_SCK_FUNC, GPIO_OSPEED_50MHZ, SPI0_SCK_PIN | SPI0_MOSI_PIN);
/* PB4 → MISO, 浮空输入 */
gpio_init(SPI0_MISO_PORT, SPI0_MISO_FUNC, GPIO_OSPEED_50MHZ, SPI0_MISO_PIN);
}
SPI配置
SPI配置如下：
/**
* @brief Initialize SPI module
*
* @details Configures SPI hardware and initializes necessary settings
*/
void 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=0 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_LOW_PH_2EDGE;
spi_init_str.nss = SPI_NSS_SOFT;
spi_init_str.endian = SPI_ENDIAN_MSB;
spi_init_str.prescale = SPI_PSC_16;
spi_init(SPI0_INST, &spi_init_str);
spi_nss_output_enable(SPI0_INST);
spi_nssp_mode_enable(SPI0_INST);
spi_enable(SPI0_INST);
}
/**
* @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;
}
TLI5012B相关函数
函数功能：初始化，获取传感器数据等。
/**
* @brief Initialize TLI5012B magnetic angle sensor
* @note This function configures the sensor registers for proper operation
* @return None
*/
void cdd_TLI5012_Init(void)
{
uint16_t u16Command = 0xFFFF;
uint16_t u16Data = 0x0000;
uint16_t u16Safe = 0x0000;
/* ---------- Step 1: Read and configure STAT register ---------- */
/* Read STAT register to get current status */
u16Command = READ_STAT_VALUE;
u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data);
printf("\r\n @Joe [TLI5012Init] [STAT] read u16Data: 0x%04X SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* Write STAT register, set Slave_Number = 00 */
u16Command = 0x0001;
u16Data &= 0x9FFF; /* Clear bits 13-14 (Slave_Number) */
u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data);
printf("\r\n @Joe [TLI5012Init] [STAT] write u16Data: 0x%04X SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* Read STAT register again to verify write operation */
u16Command = READ_STAT_VALUE;
u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data);
printf("\r\n @Joe [TLI5012Init] [STAT] read u16Data: 0x%04X SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* ---------- Step 2: Read ACSTAT register ---------- */
u16Command = READ_ACSTAT_VALUE;
u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data);
printf("\r\n @Joe [TLI5012Init] read [ACSTAT]: 0x%04X SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* ---------- Step 3: Configure MOD1 register ---------- */
/* Read current MOD1 register value */
u16Command = RD_REG | WRITE_MOD1_VALUE;
u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data);
printf("\r\n @Joe [TLI5012Init] read MOD1: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* Write MOD1 register with configuration value */
u16Command = WRITE_MOD1_VALUE;
u16Data = MOD1_VALUE;
u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data);
printf("\r\n @Joe [TLI5012Init] [MOD1] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* Verify MOD1 register write operation */
u16Command = RD_REG | WRITE_MOD1_VALUE;
u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data);
printf("\r\n @Joe [TLI5012Init] read MOD1: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* ---------- Step 4: Configure MOD2 register ---------- */
/* Read current MOD2 register value */
u16Command = RD_REG | WRITE_MOD2_VALUE;
u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data);
printf("\r\n @Joe [TLI5012Init] read MOD2: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* Write MOD2 register with configuration value */
u16Command = WRITE_MOD2_VALUE;
u16Data = MOD2_VALUE;
u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data);
printf("\r\n @Joe [TLI5012Init] [MOD2] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* Verify MOD2 register write operation */
u16Command = RD_REG | WRITE_MOD2_VALUE;
u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data);
printf("\r\n @Joe [TLI5012Init] read MOD2: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* ---------- Step 5: Configure MOD3 register ---------- */
/* Read current MOD3 register value */
u16Command = RD_REG | WRITE_MOD3_VALUE;
u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data);
printf("\r\n @Joe [TLI5012Init] read MOD3: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* Write MOD3 register with configuration value */
u16Command = WRITE_MOD3_VALUE;
u16Data = MOD3_VALUE;
u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data);
printf("\r\n @Joe [TLI5012Init] [MOD3] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* Verify MOD3 register write operation */
u16Command = RD_REG | WRITE_MOD3_VALUE;
u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data);
printf("\r\n @Joe [TLI5012Init] read MOD3: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* Optional: Configure MOD3 register with SSC_OD = 1 (commented out) */
/*
u16Command = 0x5091;
u16Data |= 0x0004; // Set SSC_OD bit
u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data);
printf("\r\n @Joe [TLI5012Init] [MOD3] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe);
*/
/* ---------- Step 6: Configure MOD4 register ---------- */
/* Read current MOD4 register value */
u16Command = RD_REG | WRITE_MOD4_VALUE;
u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data);
printf("\r\n @Joe [TLI5012Init] read MOD4: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* Write MOD4 register with configuration value */
u16Command = WRITE_MOD4_VALUE;
u16Data = MOD4_VALUE;
u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data);
printf("\r\n @Joe [TLI5012Init] [MOD4] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe);
/* Verify MOD4 register write operation */
u16Command = RD_REG | WRITE_MOD4_VALUE;
u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data);
printf("\r\n @Joe [TLI5012Init] read MOD4: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe);
}
/**
* @brief Write data to TLI5012B register
* @param i_Cmd Command word to send
* @param i_Data Data to write to register
* @return Register response value, 0xFFFF if error
* @note This function performs a complete SPI write transaction:
*/
uint16_t cdd_TLI5012_WriteReg(uint16_t i_Cmd, uint16_t i_Data)
{
uint16_t result = 0xFFFF; /* Default error code */
SPI_CS_ENABLE();
result = spi_rw_half_word(U1_SPI0_INST, i_Cmd);
result = spi_rw_half_word(U1_SPI0_INST, i_Data);
SPI_TX_OFF(); /* Configure MOSI as input to avoid conflicts */
result = spi_rw_half_word(U1_SPI0_INST, DUMMY_BYTE);
SPI_CS_DISABLE();
SPI_TX_ON(); /* Restore MOSI as output */
return result;
}
/**
* @brief Read data from TLI5012B register
* @param i_Cmd Command word to send
* @param i_Data Not used in read operation (kept for compatibility)
* @return Register data value, 0xFFFF if error
* @note This function performs a complete SPI read transaction:
*/
uint16_t cdd_TLI5012_ReadReg(uint16_t i_Cmd, uint16_t * cosnt i_Data)
{
uint16_t result = 0xFFFF; /* Default error code */
SPI_CS_ENABLE();
*i_Data = spi_rw_half_word(U1_SPI0_INST, i_Cmd);
SPI_TX_OFF(); /* Configure MOSI as input to avoid conflicts */
*i_Data = spi_rw_half_word(U1_SPI0_INST, DUMMY_BYTE);
result = spi_rw_half_word(U1_SPI0_INST, DUMMY_BYTE);
SPI_CS_DISABLE();
SPI_TX_ON(); /* Restore MOSI as output */
return result;
}
void Test_TLI5012B(void)
{
uint16_t u16Command = 0xFFFF;
uint16_t u16Data = 0x0000;
uint16_t u16Safe = 0x0000;
float angle = 0;
u16Command = READ_ANGLE_VALUE;
u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data);
u16Data = u16Data & 0x7FFF;
printf ( "\r\n @Joe AVAL = 0x%04X, SafeWord = 0x%04X \r\n", u16Data, u16Safe);
// angle = 360*( ((int16_t)(u16Data << 1)) >> 1)/32768;
angle = ( 360*( ( (int16_t)(u16Data << 1) ) >> 1 ) ) >> 15;
printf ( "\r\n @Joe angle = %f, AVAL = %d \r\n", angle, (((int16_t)(u16Data << 1)) >> 1));
}
补充一些宏定义:
#define SPI_TX_OFF() \
do { \
gpio_init(SPI0_MOSI_PORT, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, SPI0_MOSI_PIN); \
} while(0);
#define SPI_TX_ON() \
do { \
gpio_init(SPI0_MOSI_PORT, SPI0_MOSI_FUNC, GPIO_OSPEED_50MHZ, SPI0_MOSI_PIN); \
} while(0);
#define SPI_CS_ENABLE() gpio_bit_reset(U1_SPI0_NSS_PORT, U1_SPI0_NSS_PIN)
#define SPI_CS_DISABLE() gpio_bit_set(U1_SPI0_NSS_PORT, U1_SPI0_NSS_PIN)
/**
* @brief SPI command definitions for TLI5012B sensor
* @note All commands are 16-bit values following the TLI5012B protocol
*/
/* SPI operation types */
#define WRITE 0 /**< SPI Write Operation */
#define READ 1 /**< SPI Read Operation */
/* SPI communication constants */
#define DUMMY_BYTE 0xFFFF /**< Dummy byte for SPI read operations */
#define WR_REG 0x0000 /**< Write command - MSB is 0 */
#define RD_REG 0x8000 /**< Read command - MSB is 1 */
#define LockValue_LADDR 0x0000 /**< Lock value for addresses 0x00-0x04 */
#define LockValue_HADDR 0x5000 /**< Lock value for addresses 0x05-0x11 */
/* Update buffer access command */
#define UPD_CMD 0x0400 /**< Update command - bit 10 is 1, access update buffer */
/* Read command values */
#define READ_STAT_VALUE 0x8001 /**< Read status register */
#define READ_ACSTAT_VALUE 0x8011 /**< Read activation status register */
#define READ_ANGLE_VALUE 0x8021 /**< Read angle value register */
#define READ_SPEED_VALUE 0x8031 /**< Read speed value register */
/* Write command values and their corresponding data */
#define WRITE_MOD1_VALUE 0x5061 /**< Write to MOD1 register (0_1010_0_000110_0001) */
#define MOD1_VALUE 0x0001 /**< MOD1 register configuration value */
#define WRITE_MOD2_VALUE 0x5081 /**< Write to MOD2 register (0_1010_0_001000_0001) */
#define MOD2_VALUE 0x0809 /**< MOD2 register configuration value */
#define WRITE_MOD3_VALUE 0x5091 /**< Write to MOD3 register (0_1010_0_001001_0001) */
#define MOD3_VALUE 0x0000 /**< MOD3 register configuration value */
#define WRITE_MOD4_VALUE 0x50E1 /**< Write to MOD4 register (0_1010_0_001110_0001) */
#define MOD4_VALUE \
0x0080 /**< MOD4 register value: 12-bit 4096, absolute count disable 0x0080; \
enable 0x0000 */
#define WRITE_IFAB_VALUE 0x50B1 /**< Write to IFAB register */
#define IFAB_VALUE 0x000D /**< IFAB register configuration value */
/**
* @brief TLE5012 register address definitions
* @note Register addresses are 4-bit values (0x00-0x11, 0x20)
*/
/* Status and data registers (0x00-0x04) */
#define STAT_ADDR 0x00 /**< STATus register */
#define ACSTAT_ADDR 0x01 /**< ACtivation STATus register */
#define AVAL_ADDR 0x02 /**< Angle VALue register */
#define ASPD_ADDR 0x03 /**< Angle SPeeD register */
#define AREV_ADDR 0x04 /**< Angle REVolution register */
/* Configuration registers (0x05-0x0E) */
#define FSYNC_ADDR 0x05 /**< Frame SYNChronization register */
#define MOD_1_ADDR 0x06 /**< Interface MODe1 register */
#define SIL_ADDR 0x07 /**< SIL register */
#define MOD_2_ADDR 0x08 /**< Interface MODe2 register */
#define MOD_3_ADDR 0x09 /**< Interface MODe3 register */
#define OFFX_ADDR 0x0A /**< OFFset X register */
#define OFFY_ADDR 0x0B /**< OFFset Y register */
#define SYNCH_ADDR 0x0C /**< SYNCHronicity register */
#define IFAB_ADDR 0x0D /**< IFAB register */
#define MOD_4_ADDR 0x0E /**< Interface MODe4 register */
/* Additional registers (0x0F-0x11, 0x20) */
#define TCO_Y_ADDR 0x0F /**< Temperature COefficient register */
#define ADC_X_ADDR 0x10 /**< ADC X-raw value register */
#define ADC_Y_ADDR 0x11 /**< ADC Y-raw value register */
#define IIF_CNT_ADDR 0x20 /**< IIF CouNTer value register */
结束
测试结果如下所示:
