gmrangle  2.0.0.0
gmrangle.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  */
24 
33 // ----------------------------------------------------------------------------
34 
35 #ifndef GMRANGLE_H
36 #define GMRANGLE_H
37 
38 #include "drv_digital_out.h"
39 #include "drv_digital_in.h"
40 #include "drv_spi_master.h"
41 
42 // -------------------------------------------------------------- PUBLIC MACROS
53 #define GMRANGLE_MAP_MIKROBUS( cfg, mikrobus ) \
54  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
55  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
56  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
57  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
58  cfg.ifa = MIKROBUS( mikrobus, MIKROBUS_AN ); \
59  cfg.css = MIKROBUS( mikrobus, MIKROBUS_RST ); \
60  cfg.ifc = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
61  cfg.ifb = MIKROBUS( mikrobus, MIKROBUS_INT )
62 
68 #define GMRANGLE_RETVAL uint8_t
69 
70 #define GMRANGLE_OK 0x00
71 #define GMRANGLE_INIT_ERROR 0xFF
72 
78 #define GMRANGLE_REG_STAT 0x00
79 #define GMRANGLE_REG_ACSTAT 0x01
80 #define GMRANGLE_REG_AVAL 0x02
81 #define GMRANGLE_REG_ASPD 0x03
82 #define GMRANGLE_REG_AREV 0x04
83 #define GMRANGLE_REG_FSYNC 0x05
84 #define GMRANGLE_REG_MOD_1 0x06
85 #define GMRANGLE_REG_SIL 0x07
86 #define GMRANGLE_REG_MOD_2 0x08
87 #define GMRANGLE_REG_MOD_3 0x09
88 #define GMRANGLE_REG_OFFX 0x0A
89 #define GMRANGLE_REG_OFFY 0x0B
90 #define GMRANGLE_REG_SYNCH 0x0C
91 #define GMRANGLE_REG_IFAB 0x0D
92 #define GMRANGLE_REG_MOD_4 0x0E
93 #define GMRANGLE_REG_TCO_Y 0x0F
94 #define GMRANGLE_REG_ADC_X 0x10
95 #define GMRANGLE_REG_ADC_Y 0x11
96 
102 #define GMRANGLE_READ_SENSOR 0x80
103 #define GMRANGLE_WRITE_SENSOR 0x10
104 #define GMRANGLE_GET_BIT_5_4 0x30
105 #define GMRANGLE_GET_BIT_3_0 0x0F
106 
112 #define GMRANGLE_SYSTEM_ERROR_MASK 0x4000
113 #define GMRANGLE_INTERFACE_ERROR_MASK 0x2000
114 #define GMRANGLE_INV_ANGLE_ERROR_MASK 0x1000
115 #define GMRANGLE_CRC_POLYNOMIAL 0x1D00
116 #define GMRANGLE_CRC_SEED 0xFF00
117 #define GMRANGLE_CRC_NUM_REGISTERS 0x0008
118 #define GMRANGLE_MAX_REGISTER_MEM 0x0030
119 #define GMRANGLE_DELETE_BIT_15 0x7FFF
120 #define GMRANGLE_CHANGE_UINT_TO_INT_16 0xFFFF
121 #define GMRANGLE_CHANGE_UINT_TO_INT_15 0x8000
122 #define GMRANGLE_MAX_BIT_14 0x3FFF
123 #define GMRANGLE_CHECK_BIT_14 0x4000
124 #define GMRANGLE_GET_BIT_14_4 0x7FF0
125 #define GMRANGLE_DELETE_7BITS 0x01FF
126 #define GMRANGLE_CHANGE_UNIT_TO_INT_9 0x0200
127 #define GMRANGLE_CHECK_BIT_9 0x0100
128 #define GMRANGLE_CHECK_BIT_15 0x8000
129 
135 #define GMRANGLE_ANGLE_COEFF_CALC 0.02197534
136 #define GMRANGLE_POW_2_15 32768.0
137 #define GMRANGLE_POW_2_7 128.0
138 #define GMRANGLE_ANGLE_360_VAL 360.0
139 #define GMRANGLE_TEMP_OFFSET 152.0
140 #define GMRANGLE_TEMP_DIV 2.776
141  // End group macro
144 // --------------------------------------------------------------- PUBLIC TYPES
153 typedef struct
154 {
155  // Output pins
156 
157  digital_out_t cs;
158  digital_out_t css;
159  digital_out_t ifc;
160 
161  // Input pins
162 
163  digital_in_t ifa;
164  digital_in_t ifb;
165 
166  // Modules
167 
168  spi_master_t spi;
169  pin_name_t chip_select;
170 
171 } gmrangle_t;
172 
176 typedef struct
177 {
178  // Communication gpio pins
179 
180  pin_name_t miso;
181  pin_name_t mosi;
182  pin_name_t sck;
183  pin_name_t cs;
184 
185  // Additional gpio pins
186 
187  pin_name_t ifa;
188  pin_name_t css;
189  pin_name_t ifc;
190  pin_name_t ifb;
191 
192  // static variable
193 
194  uint32_t spi_speed;
195  spi_master_mode_t spi_mode;
196  spi_master_chip_select_polarity_t cs_polarity;
197 
199  // End types group
201 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
202 
207 #ifdef __cplusplus
208 extern "C"{
209 #endif
210 
219 void gmrangle_cfg_setup ( gmrangle_cfg_t *cfg );
220 
230 
243 uint16_t gmrangle_read_data ( gmrangle_t *ctx, uint8_t reg );
244 
256 void gmrangle_write_data ( gmrangle_t *ctx, uint8_t reg, uint16_t tx_data );
257 
311 uint16_t gmrangle_get_status ( gmrangle_t *ctx );
312 
349 void gmrangle_set_activation_status ( gmrangle_t *ctx, uint16_t a_data );
350 
363 
375 void gmrangle_get_angle_speed ( gmrangle_t *ctx, float *final_angle_speed, int16_t *angle_speed_val );
376 
388 float gmrangle_get_angle_range ( gmrangle_t *ctx );
389 
402 
414 int16_t gmrangle_get_angle_value ( gmrangle_t *ctx );
415 
427 float gmrangle_calculate_angle ( gmrangle_t *ctx );
428 
429 #ifdef __cplusplus
430 }
431 #endif
432 #endif // _GMRANGLE_H_
433  // End public_function group
436 
437 // ------------------------------------------------------------------------- END
gmrangle_cfg_t::sck
pin_name_t sck
Definition: gmrangle.h:182
gmrangle_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: gmrangle.h:196
gmrangle_cfg_t::spi_speed
uint32_t spi_speed
Definition: gmrangle.h:194
gmrangle_set_activation_status
void gmrangle_set_activation_status(gmrangle_t *ctx, uint16_t a_data)
Set activation status register function.
gmrangle_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: gmrangle.h:195
gmrangle_write_data
void gmrangle_write_data(gmrangle_t *ctx, uint8_t reg, uint16_t tx_data)
Generic write 16-bit data function.
gmrangle_cfg_t::miso
pin_name_t miso
Definition: gmrangle.h:180
gmrangle_cfg_t::mosi
pin_name_t mosi
Definition: gmrangle.h:181
gmrangle_t::ifc
digital_out_t ifc
Definition: gmrangle.h:159
gmrangle_cfg_t::ifc
pin_name_t ifc
Definition: gmrangle.h:189
gmrangle_get_num_revolutions
int16_t gmrangle_get_num_revolutions(gmrangle_t *ctx)
Get the number of revolutions function.
gmrangle_read_data
uint16_t gmrangle_read_data(gmrangle_t *ctx, uint8_t reg)
Generic read 16-bit data function.
gmrangle_t::cs
digital_out_t cs
Definition: gmrangle.h:157
gmrangle_get_angle_speed_value
int16_t gmrangle_get_angle_speed_value(gmrangle_t *ctx)
Get the angle speed value function.
gmrangle_t::css
digital_out_t css
Definition: gmrangle.h:158
gmrangle_t::ifa
digital_in_t ifa
Definition: gmrangle.h:163
gmrangle_t::spi
spi_master_t spi
Definition: gmrangle.h:168
GMRANGLE_RETVAL
#define GMRANGLE_RETVAL
Definition: gmrangle.h:68
gmrangle_cfg_t::cs
pin_name_t cs
Definition: gmrangle.h:183
gmrangle_cfg_t::ifa
pin_name_t ifa
Definition: gmrangle.h:187
gmrangle_t::chip_select
pin_name_t chip_select
Definition: gmrangle.h:169
gmrangle_get_angle_range
float gmrangle_get_angle_range(gmrangle_t *ctx)
Get the angle range function.
gmrangle_init
GMRANGLE_RETVAL gmrangle_init(gmrangle_t *ctx, gmrangle_cfg_t *cfg)
Initialization function.
gmrangle_get_status
uint16_t gmrangle_get_status(gmrangle_t *ctx)
Get the status data function.
gmrangle_get_angle_value
int16_t gmrangle_get_angle_value(gmrangle_t *ctx)
Get the angle value function.
gmrangle_cfg_setup
void gmrangle_cfg_setup(gmrangle_cfg_t *cfg)
Config Object Initialization function.
gmrangle_cfg_t
Click configuration structure definition.
Definition: gmrangle.h:176
gmrangle_t::ifb
digital_in_t ifb
Definition: gmrangle.h:164
gmrangle_get_angle_speed
void gmrangle_get_angle_speed(gmrangle_t *ctx, float *final_angle_speed, int16_t *angle_speed_val)
Get the angle speed function.
gmrangle_cfg_t::css
pin_name_t css
Definition: gmrangle.h:188
gmrangle_t
Click ctx object definition.
Definition: gmrangle.h:153
gmrangle_cfg_t::ifb
pin_name_t ifb
Definition: gmrangle.h:190
gmrangle_calculate_angle
float gmrangle_calculate_angle(gmrangle_t *ctx)
Calculate angle function.