Function encoder_read_data

program/algorithm/encoder.c:56–70

! \brief read data from the register of the magnetic encoder \param[in] TxData: data to be sent to magnetic encoder \retval data read from magnetic encoder */

    \retval    data read from magnetic encoder
*/
unsigned short encoder_read_data(unsigned short TxData) {
    unsigned short data;

    /* pull down the CS pin and prepare to send data */
    gpio_bit_write(GPIOA, GPIO_PIN_4, RESET);
    encoder_delay();

    /* call SPI related functions to send and receive data */
    data = spi_readwrite_halfworld(TxData);
    encoder_delay();

    /* pull up CS pin to end sending data */
    gpio_bit_write(GPIOA, GPIO_PIN_4, SET);
    return data;
}

/*!
    \brief  read mechanical angle directly from encoder