fix #4

hanliumaozhi · Mar 19, 2019 · 98cf5d6 · 98cf5d6
1 parent 98d2152
commit 98cf5d6
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/as5048a/as5048a.c b/as5048a/as5048a.c
@@ -25,18 25,18 @@ void as5048a_setup(SPI_HandleTypeDef* spiHandle, GPIO_TypeDef* as5048a_port, uin
 bool as5048a_read()
 {
  HAL_GPIO_WritePin(AS5048A_PORT, AS5048A_PIN, GPIO_PIN_RESET);
- HAL_SPI_TransmitReceive(&hspi2, (uint8_t *)&cmd_word, (uint8_t *)&position_val_raw, 1, HAL_MAX_DELAY);
  HAL_SPI_TransmitReceive(&hspi2, (uint8_t *)&cmd_word, (uint8_t *)&position_val_raw, 1, 0);
  HAL_GPIO_WritePin(AS5048A_PORT, AS5048A_PIN, GPIO_PIN_SET);
 
  HAL_GPIO_WritePin(AS5048A_PORT, AS5048A_PIN, GPIO_PIN_RESET);
- HAL_SPI_TransmitReceive(&hspi2, (uint8_t *)&cmd_word, (uint8_t *)&position_val_raw, 1, HAL_MAX_DELAY);
  HAL_SPI_TransmitReceive(&hspi2, (uint8_t *)&cmd_word, (uint8_t *)&position_val_raw, 1, 0);
  HAL_GPIO_WritePin(AS5048A_PORT, AS5048A_PIN, GPIO_PIN_SET);
 
  falut_status = position_val_raw & 0x4000;
  position_val_raw &= 0x3fff;
  if (falut_status == 0){
  position_val_raw_f = (float)position_val_raw;
- position_val = ((position_val_raw_f) / (16383.0f)) * 3.14159265;
  position_val = ((position_val_raw_f) / (16383.0f)) * 3.14159265f;
  return true;
  }else{
  // implement some funciton

diff --git a/motor_control/Src/main.c b/motor_control/Src/main.c
@@ -157,6 157,7 @@ int main(void)
  total_time = 0;
  falut_counter = 0;
  }
  //HAL_Delay(1);
 
 
  /* USER CODE BEGIN 3 */