stm32读取as5600代码示例（HAL版本）

float angle_prev=0; 
int full_rotations=0; // full rotation tracking;
float angle_d;				//GetAngle_Without_Track()的返回值
float angle_cd;				//GetAngle()的返回值
 
#define  AS5600_ADDRESS (0x36<<1)
//发送单字节时序
void AS5600_Write_Reg(uint16_t reg, uint8_t *value)
{
	HAL_I2C_Mem_Write(&hi2c2, AS5600_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, value, 1, 50);
}
 
 
//发送多字节时序
void AS5600_Write_Regs(uint16_t reg, uint8_t *value, uint8_t len)
{
	HAL_I2C_Mem_Write(&hi2c2, AS5600_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, value, len, 50);
}
 
 
//IIC读多字节
void AS5600_Read_Reg(uint16_t reg, uint8_t* buf, uint8_t len)
{
	HAL_I2C_Mem_Read(&hi2c2, AS5600_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, buf, len, 50);
}

#define DATA_SIZE 2
#define PI        3.1415926
uint8_t Angle_Hight_Register_Addr=0x0c;
//得到弧度制的角度，范围在0-6.28
float GetAngle_Without_Track(void)
{   
	int16_t in_angle;
	uint8_t temp[DATA_SIZE]={0};
	AS5600_Read_Reg( Angle_Hight_Register_Addr, temp, DATA_SIZE);
	in_angle = ((int16_t)temp[0] <<8) | (temp[1]);
	
	angle_d = (float)in_angle * (2.0f*PI) / 4096;
//angle_d为弧度制，范围在0-6.28	
	return angle_d;
}
 
 

float GetAngle(void)
{
    float val = GetAngle_Without_Track();
    float d_angle = val - angle_prev;
    //计算旋转的总圈数
    //通过判断角度变化是否大于80%的一圈(0.8f*6.28318530718f)来判断是否发生了溢出
		//如果发生了，则将full_rotations增加1（如果d_angle小于0）或减少1（如果d_angle大于0）。
    if(fabs(d_angle) > (0.8f*2.0f*PI) ) full_rotations += ( d_angle > 0 ) ? -1 : 1;
    angle_prev = val;
    return ((float)full_rotations * 2.0f * PI + angle_prev)/(2*PI)*360;

}