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 "mikrosdk_version.h"
39 
40 #ifdef __GNUC__
41 #if mikroSDK_GET_VERSION < 20800ul
42 #include "rcu_delays.h"
43 #else
44 #include "delays.h"
45 #endif
46 #endif
47 
48 #include "drv_digital_out.h"
49 #include "drv_digital_in.h"
50 #include "drv_spi_master.h"
51 #include "spi_specifics.h"
52 
53 // -------------------------------------------------------------- PUBLIC MACROS
64 #define GMRANGLE_MAP_MIKROBUS( cfg, mikrobus ) \
65  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
66  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
67  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
68  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
69  cfg.ifa = MIKROBUS( mikrobus, MIKROBUS_AN ); \
70  cfg.css = MIKROBUS( mikrobus, MIKROBUS_RST ); \
71  cfg.ifc = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
72  cfg.ifb = MIKROBUS( mikrobus, MIKROBUS_INT )
73 
79 #define GMRANGLE_OK 0
80 #define GMRANGLE_ERROR -1
81 
87 #define GMRANGLE_REG_STAT 0x00
88 #define GMRANGLE_REG_ACSTAT 0x01
89 #define GMRANGLE_REG_AVAL 0x02
90 #define GMRANGLE_REG_ASPD 0x03
91 #define GMRANGLE_REG_AREV 0x04
92 #define GMRANGLE_REG_FSYNC 0x05
93 #define GMRANGLE_REG_MOD_1 0x06
94 #define GMRANGLE_REG_SIL 0x07
95 #define GMRANGLE_REG_MOD_2 0x08
96 #define GMRANGLE_REG_MOD_3 0x09
97 #define GMRANGLE_REG_OFFX 0x0A
98 #define GMRANGLE_REG_OFFY 0x0B
99 #define GMRANGLE_REG_SYNCH 0x0C
100 #define GMRANGLE_REG_IFAB 0x0D
101 #define GMRANGLE_REG_MOD_4 0x0E
102 #define GMRANGLE_REG_TCO_Y 0x0F
103 #define GMRANGLE_REG_ADC_X 0x10
104 #define GMRANGLE_REG_ADC_Y 0x11
105 
111 #define GMRANGLE_READ_SENSOR 0x80
112 #define GMRANGLE_GET_BIT_5_4 0x30
113 #define GMRANGLE_GET_BIT_3_0 0x0F
114 
120 #define GMRANGLE_SYSTEM_ERROR_MASK 0x4000
121 #define GMRANGLE_INTERFACE_ERROR_MASK 0x2000
122 #define GMRANGLE_INV_ANGLE_ERROR_MASK 0x1000
123 #define GMRANGLE_CRC_POLYNOMIAL 0x1D00
124 #define GMRANGLE_CRC_SEED 0xFF00
125 #define GMRANGLE_CRC_NUM_REGISTERS 0x0008
126 #define GMRANGLE_MAX_REGISTER_MEM 0x0030
127 #define GMRANGLE_DELETE_BIT_15 0x7FFF
128 #define GMRANGLE_CHANGE_UINT_TO_INT_16 0xFFFF
129 #define GMRANGLE_CHANGE_UINT_TO_INT_15 0x8000
130 #define GMRANGLE_MAX_BIT_14 0x3FFF
131 #define GMRANGLE_CHECK_BIT_14 0x4000
132 #define GMRANGLE_GET_BIT_14_4 0x7FF0
133 #define GMRANGLE_DELETE_7BITS 0x01FF
134 #define GMRANGLE_CHANGE_UNIT_TO_INT_9 0x0200
135 #define GMRANGLE_CHECK_BIT_9 0x0100
136 #define GMRANGLE_CHECK_BIT_15 0x8000
137 
143 #define GMRANGLE_POW_2_15 32768.0f
144 #define GMRANGLE_POW_2_7 128.0f
145 #define GMRANGLE_ANGLE_360_VAL 360.0f
146 #define GMRANGLE_TEMP_OFFSET 152.0f
147 #define GMRANGLE_TEMP_DIV 2.776f
148 #define GMRANGLE_DATA_RESOLUTION 0x7FFF
149 
159 #define GMRANGLE_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
160 #define GMRANGLE_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
161  // End group macro
163 // --------------------------------------------------------------- PUBLIC TYPES
172 typedef struct
173 {
174  // Output pins
175  digital_out_t cs;
176  digital_out_t css;
177 
178  // Input pins
179  digital_in_t ifa;
180  digital_in_t ifb;
181  digital_in_t ifc;
182 
183  // Modules
184  spi_master_t spi;
185  pin_name_t chip_select;
186 
187 } gmrangle_t;
188 
192 typedef struct
193 {
194  // Communication gpio pins
195  pin_name_t miso;
196  pin_name_t mosi;
197  pin_name_t sck;
198  pin_name_t cs;
199 
200  // Additional gpio pins
201  pin_name_t ifa;
202  pin_name_t css;
203  pin_name_t ifc;
204  pin_name_t ifb;
205 
206  // static variable
207  uint32_t spi_speed;
208  spi_master_mode_t spi_mode;
209  spi_master_chip_select_polarity_t cs_polarity;
210 
212  // End types group
214 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
215 
220 #ifdef __cplusplus
221 extern "C"{
222 #endif
223 
233 
243 
256 uint16_t gmrangle_read_data ( gmrangle_t *ctx, uint8_t reg );
257 
269 void gmrangle_write_data ( gmrangle_t *ctx, uint8_t reg, uint16_t tx_data );
270 
324 uint16_t gmrangle_get_status ( gmrangle_t *ctx );
325 
362 void gmrangle_set_act_status ( gmrangle_t *ctx, uint16_t a_data );
363 
376 
388 void gmrangle_get_angle_speed ( gmrangle_t *ctx, float *final_angle_speed, int16_t *angle_speed_val );
389 
402 
415 
428 
441 
442 #ifdef __cplusplus
443 }
444 #endif
445 #endif // _GMRANGLE_H_
446  // End public_function group
449 
450 // ------------------------------------------------------------------------- END
gmrangle_cfg_t::sck
pin_name_t sck
Definition: gmrangle.h:197
gmrangle_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: gmrangle.h:209
gmrangle_cfg_t::spi_speed
uint32_t spi_speed
Definition: gmrangle.h:207
gmrangle_get_angle_value
uint16_t gmrangle_get_angle_value(gmrangle_t *ctx)
Get the angle value function.
spi_specifics.h
This file contains SPI specific macros, functions, etc.
gmrangle_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: gmrangle.h:208
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:195
gmrangle_set_act_status
void gmrangle_set_act_status(gmrangle_t *ctx, uint16_t a_data)
Set activation status register function.
gmrangle_cfg_t::mosi
pin_name_t mosi
Definition: gmrangle.h:196
gmrangle_cfg_t::ifc
pin_name_t ifc
Definition: gmrangle.h:203
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:175
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:176
gmrangle_t::ifa
digital_in_t ifa
Definition: gmrangle.h:179
gmrangle_t::ifc
digital_in_t ifc
Definition: gmrangle.h:181
gmrangle_t::spi
spi_master_t spi
Definition: gmrangle.h:184
gmrangle_cfg_t::cs
pin_name_t cs
Definition: gmrangle.h:198
gmrangle_init
err_t gmrangle_init(gmrangle_t *ctx, gmrangle_cfg_t *cfg)
Initialization function.
gmrangle_cfg_t::ifa
pin_name_t ifa
Definition: gmrangle.h:201
gmrangle_t::chip_select
pin_name_t chip_select
Definition: gmrangle.h:185
gmrangle_get_angle_range
float gmrangle_get_angle_range(gmrangle_t *ctx)
Get the angle range function.
gmrangle_get_status
uint16_t gmrangle_get_status(gmrangle_t *ctx)
Get the status data 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:193
gmrangle_t::ifb
digital_in_t ifb
Definition: gmrangle.h:180
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:202
gmrangle_t
Click ctx object definition.
Definition: gmrangle.h:173
gmrangle_cfg_t::ifb
pin_name_t ifb
Definition: gmrangle.h:204
gmrangle_calculate_angle
float gmrangle_calculate_angle(gmrangle_t *ctx)
Calculate angle function.