angle4 2.0.0.0
angle4.h
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1/*
2 * MikroSDK - MikroE Software Development Kit
3 * Copyright© 2020 MikroElektronika d.o.o.
4 *
5 * Permission is hereby granted, free of charge, to any person
6 * obtaining a copy of this software and associated documentation
7 * files (the "Software"), to deal in the Software without restriction,
8 * including without limitation the rights to use, copy, modify, merge,
9 * publish, distribute, sublicense, and/or sell copies of the Software,
10 * and to permit persons to whom the Software is furnished to do so,
11 * subject to the following conditions:
12 *
13 * The above copyright notice and this permission notice shall be
14 * included in all copies or substantial portions of the Software.
15 *
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
18 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
19 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
20 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
21 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE
22 * OR OTHER DEALINGS IN THE SOFTWARE.
23 */
32// ----------------------------------------------------------------------------
33
34#ifndef ANGLE4_H
35#define ANGLE4_H
36
37#include "drv_digital_out.h"
38#include "drv_digital_in.h"
39#include "drv_spi_master.h"
40
41// -------------------------------------------------------------- PUBLIC MACROS
52#define ANGLE4_MAP_MIKROBUS( cfg, mikrobus ) \
53 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
54 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
55 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
56 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS )
63#define ANGLE4_RETVAL uint8_t
64
65#define ANGLE4_OK 0x00
66#define ANGLE4_INIT_ERROR 0xFF
73#define ANGLE4_REG_CUSTOMER_CFG_0 0x04
74#define ANGLE4_REG_CUSTOMER_CFG_1 0x05
75#define ANGLE4_REG_CUSTOMER_CFG_2 0x06
76#define ANGLE4_REG_OPERATING_VOLTAGE 0x0A
77#define ANGLE4_REG_UNLOCK_REGISTER 0x10
78#define ANGLE4_REG_CUSTOMER_RESERVED_OTP 0x11
79#define ANGLE4_REG_ST_ZERO_RESET_OTP 0x12
80#define ANGLE4_REG_CUSTOMER_CONFIG_OTP 0x13
81#define ANGLE4_REG_PROGRAM_OPERATING_VOLTAGE 0x14
82#define ANGLE4_REG_CONFIG_OF_FULL_CALIBRATION_OTP 0x1B
89#define ANGLE4_CCFG0_SELECT_UVW_MODE 0x80
90#define ANGLE4_CCFG0_SELECT_PWM_MODE 0x00
91#define ANGLE4_CCFG0_PWM_PERIOD_8193us 0x60
92#define ANGLE4_CCFG0_PWM_PERIOD_4097us 0x40
93#define ANGLE4_CCFG0_PWM_PERIOD_2049us 0x20
94#define ANGLE4_CCFG0_PWM_PERIOD_1025us 0x00
95#define ANGLE4_CCFG0_ABI_360edeg 0x18
96#define ANGLE4_CCFG0_ABI_270edeg 0x10
97#define ANGLE4_CCFG0_ABI_180edeg 0x08
98#define ANGLE4_CCFG0_ABI_90edeg 0x00
99#define ANGLE4_CCFG0_UVW_POLE_PAIRS_8 0x07
100#define ANGLE4_CCFG0_UVW_POLE_PAIRS_7 0x06
101#define ANGLE4_CCFG0_UVW_POLE_PAIRS_6 0x05
102#define ANGLE4_CCFG0_UVW_POLE_PAIRS_5 0x04
103#define ANGLE4_CCFG0_UVW_POLE_PAIRS_4 0x03
104#define ANGLE4_CCFG0_UVW_POLE_PAIRS_3 0x02
105#define ANGLE4_CCFG0_UVW_POLE_PAIRS_2 0x01
106#define ANGLE4_CCFG0_UVW_POLE_PAIRS_1 0x00
113#define ANGLE4_CCFG1_ABI_CPR_4096 0x70
114#define ANGLE4_CCFG1_ABI_CPR_2048 0x60
115#define ANGLE4_CCFG1_ABI_CPR_1024 0x50
116#define ANGLE4_CCFG1_ABI_CPR_512 0x40
117#define ANGLE4_CCFG1_ABI_CPR_256 0x30
118#define ANGLE4_CCFG1_ABI_CPR_128 0x20
119#define ANGLE4_CCFG1_ABI_CPR_64 0x10
120#define ANGLE4_CCFG1_ABI_CPR_32 0x00
121#define ANGLE4_CCFG1_HYSTERESIS_1_4mdeg 0x09
122#define ANGLE4_CCFG1_HYSTERESIS_0_7mdeg 0x08
123#define ANGLE4_CCFG1_HYSTERESIS_0_35mdeg 0x07
124#define ANGLE4_CCFG1_HYSTERESIS_0_17mdeg 0x06
125#define ANGLE4_CCFG1_HYSTERESIS_0_08mdeg 0x05
126#define ANGLE4_CCFG1_HYSTERESIS_0_04mdeg 0x04
127#define ANGLE4_CCFG1_HYSTERESIS_0_02mdeg 0x03
128#define ANGLE4_CCFG1_HYSTERESIS_0_01mdeg 0x02
129#define ANGLE4_CCFG1_HYSTERESIS_0_005mdeg 0x01
130#define ANGLE4_CCFG1_NO_HYSTERESIS 0x00
137#define ANGLE4_CCFG2_DIR_COUNTER_CLOCKWISE_ROTATION 0x80
138#define ANGLE4_CCFG2_DIR_CLOCKWISE_ROTATION 0x00
139#define ANGLE4_CCFG2_ZERO_LATENCY_MODE_ON 0x40
140#define ANGLE4_CCFG2_ZERO_LATENCY_MODE_OFF 0x00
141#define ANGLE4_CCFG2_ABS_RESOLUTION_10bit 0x30
142#define ANGLE4_CCFG2_ABS_RESOLUTION_12bit 0x20
143#define ANGLE4_CCFG2_ABS_RESOLUTION_14bit 0x10
144#define ANGLE4_CCFG2_ABS_RESOLUTION_16bit 0x00
145#define ANGLE4_CCFG2_SETTINGS_CPR_4096 0x06
146#define ANGLE4_CCFG2_SETTINGS_CPR_2048 0x06
147#define ANGLE4_CCFG2_SETTINGS_CPR_1024 0x04
148#define ANGLE4_CCFG2_SETTINGS_CPR_512 0x04
149#define ANGLE4_CCFG2_SETTINGS_CPR_256 0x03
150#define ANGLE4_CCFG2_SETTINGS_CPR_128 0x02
151#define ANGLE4_CCFG2_SETTINGS_CPR_64 0x02
152#define ANGLE4_CCFG2_SETTINGS_CPR_32 0x02
153#define ANGLE4_CCFG2_CPR_ABS_RESOLUTION 0x04
160#define ANGLE4_OPERATING_VOLTAGE_3300mV 0x00
161#define ANGLE4_OPERATING_VOLTAGE_5000mV 0x02
168#define ANGLE4_DATA_RESOLUTION_14bit 0x10
169#define ANGLE4_DATA_RESOLUTION_16bit 0x00
170#define ANGLE4_DATA_RESOLUTION_12bit 0x30
171#define ANGLE4_DATA_RESOLUTION_10bit 0x30 // End group macro
175// --------------------------------------------------------------- PUBLIC TYPES
184typedef struct
185{
186 digital_out_t cs;
187
188 // Modules
189
190 spi_master_t spi;
191 pin_name_t chip_select;
192
193 uint8_t resolution;
194 uint16_t new_angle;
195
196} angle4_t;
197
201typedef struct
202{
203 // Communication gpio pins
204
205 pin_name_t miso;
206 pin_name_t mosi;
207 pin_name_t sck;
208 pin_name_t cs;
209
210 // static variable
211
212 uint32_t spi_speed;
213 spi_master_mode_t spi_mode;
214 spi_master_chip_select_polarity_t cs_polarity;
215
218
220 // End types group
222// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
223
228#ifdef __cplusplus
229extern "C"{
230#endif
231
241
251
261void angle4_default_cfg ( angle4_t *ctx, uint8_t dir, uint8_t data_resolution );
262
274void angle4_generic_transfer ( angle4_t *ctx, uint8_t *wr_buf, uint16_t wr_len, uint8_t *rd_buf, uint16_t rd_len );
284void angle4_write_byte ( angle4_t *ctx, uint8_t addr, uint8_t w_data );
285
295uint8_t angle4_read_byte ( angle4_t *ctx, uint8_t addr );
296
305
325uint8_t angle4_get_new_angle ( angle4_t *ctx, uint16_t *data_out );
326
327#ifdef __cplusplus
328}
329#endif
330#endif // _ANGLE4_H_
331 // End public_function group
334
335// ------------------------------------------------------------------------- END
#define ANGLE4_RETVAL
Definition: angle4.h:63
void angle4_generic_transfer(angle4_t *ctx, uint8_t *wr_buf, uint16_t wr_len, uint8_t *rd_buf, uint16_t rd_len)
Generic transfer function.
void angle4_start_mesuremenet(angle4_t *ctx)
Start meaasurement function.
uint8_t angle4_read_byte(angle4_t *ctx, uint8_t addr)
One byte read function.
ANGLE4_RETVAL angle4_init(angle4_t *ctx, angle4_cfg_t *cfg)
Initialization function.
uint8_t angle4_get_new_angle(angle4_t *ctx, uint16_t *data_out)
Functions for reading Angle.
void angle4_cfg_setup(angle4_cfg_t *cfg)
Config Object Initialization function.
void angle4_write_byte(angle4_t *ctx, uint8_t addr, uint8_t w_data)
One byte write function.
void angle4_default_cfg(angle4_t *ctx, uint8_t dir, uint8_t data_resolution)
Click Default Configuration function.
Click configuration structure definition.
Definition: angle4.h:202
spi_master_chip_select_polarity_t cs_polarity
Definition: angle4.h:214
pin_name_t sck
Definition: angle4.h:207
uint8_t cfg_resolution
Definition: angle4.h:216
spi_master_mode_t spi_mode
Definition: angle4.h:213
pin_name_t mosi
Definition: angle4.h:206
uint32_t spi_speed
Definition: angle4.h:212
uint16_t cfg_new_angle
Definition: angle4.h:217
pin_name_t miso
Definition: angle4.h:205
pin_name_t cs
Definition: angle4.h:208
Click ctx object definition.
Definition: angle4.h:185
digital_out_t cs
Definition: angle4.h:186
spi_master_t spi
Definition: angle4.h:190
uint8_t resolution
Definition: angle4.h:193
uint16_t new_angle
Definition: angle4.h:194
pin_name_t chip_select
Definition: angle4.h:191