Instruction Manual
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Starting angle solution formula：Angle
FSA
=
End angle solution formula
：Angle
LSA
=
Intermediate angle solution formula
：
means shifting the data to the right by one bit.
means the
clockwise angle difference from the starting angle (uncorrected value) to the ending angle
(uncorrected value), and LSN represents the number of packet samples in this frame.
Second-level analysis:
Angle correction formula:
Among them, AngCorrect is the angle correction value, and its calculation formula is as
follows,
is the inverse trigonometric function, and the angle value is returned:
ELSE
Assuming that the 4th to 8th bytes in the data packet are 28 E5 6F BD 79, so LSN = 0x28 =
40(dec), FSA = 0x6FE5, LSA = 0x79BD, and the first-level solution formula is brought into:
°
°
Assuming that in this frame of data,
= 1000,
, and the second-
level calculation formula is brought into it, and get:
,so：
=
=
In the same way,
can be obtained in turn.
➢ Check code parsing:
FIG 6 ANGLE DATA STRUCTURE SCHEMATIC
Ang_q2[14:7]
C
Ang_q2[6:0]
LSB
MSB