tmrangle  2.0.0.0
tmrangle.h
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1 /*
2  * MikroSDK - MikroE Software Development Kit
3  * Copyright© 2020 MikroElektronika d.o.o.
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24 
33 // ----------------------------------------------------------------------------
34 
35 #ifndef TMRANGLE_H
36 #define TMRANGLE_H
37 
38 #include "drv_digital_out.h"
39 #include "drv_digital_in.h"
40 #include "drv_spi_master.h"
41 
42 
43 // -------------------------------------------------------------- PUBLIC MACROS
54 #define TMRANGLE_MAP_MIKROBUS( cfg, mikrobus ) \
55  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
56  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
57  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
58  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS )
59 
65 #define TMRANGLE_RETVAL uint8_t
66 
67 #define TMRANGLE_OK 0x00
68 #define TMRANGLE_INIT_ERROR 0xFF
69 
75 #define TMRANGLE_COS_N 0x00
76 #define TMRANGLE_COS_P 0x01
77 #define TMRANGLE_SIN_P 0x02
78 #define TMRANGLE_SIN_N 0x03
79 
85 #define TMRANGLE_RAD2DEGFACTOR 57.3248
86 #define TMRANGLE_ROTATION_VALID 1
87 #define TMRANGLE_ANGLE45_H 0.7894
88 #define TMRANGLE_ANGLE45_L 0.7806
89 #define TMRANGLE_ANGLE135_H 2.3594
90 #define TMRANGLE_ANGLE135_L 2.3506
91 
97 #define TMRANGLE_MAX_DIFF_SIN 1251
98 #define TMRANGLE_MAX_DIFF_COS 1217
99 #define TMRANGLE_MIN_DIFF_SIN -1200
100 #define TMRANGLE_MIN_DIFF_COS -1206
101 #define TMRANGLE_SIN_45 854.0
102 #define TMRANGLE_COS_45 864.0
103 #define TMRANGLE_SIN_135 873.0
104 #define TMRANGLE_COS_135 -865.0
105  // End group macro
108 // --------------------------------------------------------------- PUBLIC TYPES
117 typedef struct
118 {
119  uint16_t sin_p;
120 
121  uint16_t cos_p;
122 
123  uint16_t sin_n;
124 
125  uint16_t cos_n;
126 
127  int16_t diff_x;
128 
129  int16_t diff_y;
130 
133 
134 typedef struct
135 {
136  digital_out_t cs;
137 
138  // Modules
139 
140  spi_master_t spi;
141  pin_name_t chip_select;
142 
144 
145 } tmrangle_t;
146 
150 typedef struct
151 {
152  // Communication gpio pins
153 
154  pin_name_t miso;
155  pin_name_t mosi;
156  pin_name_t sck;
157  pin_name_t cs;
158 
159 
160  // static variable
161 
162  uint32_t spi_speed;
163  uint8_t spi_mode;
164  spi_master_chip_select_polarity_t cs_polarity;
165 
167 
168 
169 typedef struct
170 {
171  uint8_t angle_45_found;
174 
175  int32_t max_cos;
176 
177  int32_t min_cos;
178 
179  int32_t max_sin;
180 
181  int32_t min_sin;
182 
183  float x_45;
184 
185  float x_135;
186 
187  float y_45;
188 
189  float y_135;
190 
191  float x_45_corr;
192 
193  float x_135_corr;
194 
195  float y_45_corr;
196 
197  float y_135_corr;
198 
199  float amplitude_x;
200 
201  float amplitude_y;
202 
203  float offset_x;
204 
205  float offset_y;
206 
208 
210 
212 
214 
215 typedef struct
216 {
218 
219  float sin_ortho;
220 
221  float cos_ortho;
222 
224 
225 typedef struct
226 {
227  int32_t max_diff_sin;
228  int32_t max_diff_cos;
229  int32_t min_diff_sin;
230  int32_t min_diff_cos;
231  float sin_45;
232  float cos_45;
233  float sin_135;
234  float cos_135;
235 
237  // End types group
239 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
240 
245 #ifdef __cplusplus
246 extern "C"{
247 #endif
248 
258 
267 
281 uint16_t tmrangle_read_channel_adc ( tmrangle_t* ctx, uint8_t channel );
282 
294 
305 
317  tmrangle_rotation_data_store_t* rotation_data_store );
318 
329 
345  trigonometry_t* dev );
346 
361 
362 
378 
391 
404 
421  tmrangle_calib_data_t* calib_param );
422 
423 
424 
425 #ifdef __cplusplus
426 }
427 #endif
428 #endif // _TMRANGLE_H_
429  // End public_function group
432 
433 // ------------------------------------------------------------------------- END
tmrangle_cfg_t::mosi
pin_name_t mosi
Definition: tmrangle.h:155
tmrangle_rotation_data_store_t::x_45_corr
float x_45_corr
Definition: tmrangle.h:191
tmrangle_calib_data_t::cos_ortho
float cos_ortho
Definition: tmrangle.h:221
tmrangle_init
TMRANGLE_RETVAL tmrangle_init(tmrangle_t *ctx, tmrangle_cfg_t *cfg)
Initialization function.
tmrangle_cfg_t::cs
pin_name_t cs
Definition: tmrangle.h:157
tmrangle_t::sensor_data
tmrangle_analog_sensor_data_t sensor_data
Definition: tmrangle.h:143
tmrangle_rotation_data_store_t::amplitude_y
float amplitude_y
Definition: tmrangle.h:201
tmrangle_rotation_data_store_t::min_sin
int32_t min_sin
Definition: tmrangle.h:181
trigonometry_t::sin_135
float sin_135
Definition: tmrangle.h:233
trigonometry_t::max_diff_sin
int32_t max_diff_sin
Definition: tmrangle.h:227
tmrangle_init_calib_data
void tmrangle_init_calib_data(tmrangle_t *ctx, tmrangle_calib_data_t *calib_param, trigonometry_t *dev)
Initialization and stores calibration parameters function.
tmrangle_calib_one_direction_min_max
void tmrangle_calib_one_direction_min_max(tmrangle_t *ctx, tmrangle_rotation_data_store_t *rotation_data_store)
Find and stores rotation parameters ( min, max ) function.
tmrangle_rotation_data_store_t::angle_135_found
uint8_t angle_135_found
Definition: tmrangle.h:172
tmrangle_get_calib_deff_angle
float tmrangle_get_calib_deff_angle(tmrangle_t *ctx, tmrangle_calib_data_t *calib_param)
Calculate the calibrated angle ( radians ) function.
TMRANGLE_RETVAL
#define TMRANGLE_RETVAL
Definition: tmrangle.h:65
tmrangle_init_sensor_data
void tmrangle_init_sensor_data(tmrangle_t *ctx)
Read and stores parameters data function.
tmrangle_analog_sensor_data_t
Click ctx object definition.
Definition: tmrangle.h:118
tmrangle_t::cs
digital_out_t cs
Definition: tmrangle.h:136
tmrangle_analog_sensor_data_t::cos_p
uint16_t cos_p
Definition: tmrangle.h:121
tmrangle_calib_data_t::sin_ortho
float sin_ortho
Definition: tmrangle.h:219
tmrangle_calibration_find_param
void tmrangle_calibration_find_param(tmrangle_t *ctx, tmrangle_calib_data_t *calib_param)
Get new calibration rotation parameters function.
tmrangle_analog_sensor_data_t::diff_y
int16_t diff_y
Definition: tmrangle.h:129
tmrangle_rotation_data_store_t::magnitude_135
float magnitude_135
Definition: tmrangle.h:209
tmrangle_rotation_data_store_t::amplitude_x
float amplitude_x
Definition: tmrangle.h:199
tmrangle_rotation_data_store_t::y_135_corr
float y_135_corr
Definition: tmrangle.h:197
tmrangle_analog_sensor_data_t::sin_p
uint16_t sin_p
Definition: tmrangle.h:119
tmrangle_t
Definition: tmrangle.h:135
tmrangle_rotation_data_store_t::nr_valid_rotations
uint32_t nr_valid_rotations
Definition: tmrangle.h:173
trigonometry_t::min_diff_sin
int32_t min_diff_sin
Definition: tmrangle.h:229
tmrangle_rotation_data_store_t::y_135
float y_135
Definition: tmrangle.h:189
tmrangle_calculate_diff
void tmrangle_calculate_diff(tmrangle_t *ctx)
Calculate the differential values of sin,cos signal and angle function.
tmrangle_calib_calculate_ortho
void tmrangle_calib_calculate_ortho(tmrangle_calib_data_t *calib_param)
Calculates and stores parameters, based on found parameters from both CW and CCW function.
tmrangle_analog_sensor_data_t::cos_n
uint16_t cos_n
Definition: tmrangle.h:125
tmrangle_analog_sensor_data_t::sin_n
uint16_t sin_n
Definition: tmrangle.h:123
tmrangle_rotation_data_store_t::angle_45_found
uint8_t angle_45_found
Definition: tmrangle.h:171
tmrangle_rotation_data_store_t::x_135
float x_135
Definition: tmrangle.h:185
tmrangle_cfg_setup
void tmrangle_cfg_setup(tmrangle_cfg_t *cfg)
Config Object Initialization function.
tmrangle_read_channel_adc
uint16_t tmrangle_read_channel_adc(tmrangle_t *ctx, uint8_t channel)
Read the ADC value of the selected channel function.
tmrangle_cfg_t::sck
pin_name_t sck
Definition: tmrangle.h:156
tmrangle_get_calib_angle
float tmrangle_get_calib_angle(tmrangle_t *ctx, tmrangle_calib_data_t *calib_param)
Calculate the calibrated angle ( degree ) function.
tmrangle_cfg_t::spi_speed
uint32_t spi_speed
Definition: tmrangle.h:162
tmrangle_rotation_data_store_t::max_cos
int32_t max_cos
Definition: tmrangle.h:175
tmrangle_cfg_t
Click configuration structure definition.
Definition: tmrangle.h:151
tmrangle_calib_data_t::rotation_data
tmrangle_rotation_data_store_t rotation_data
Definition: tmrangle.h:217
tmrangle_rotation_data_store_t
Definition: tmrangle.h:170
tmrangle_cfg_t::spi_mode
uint8_t spi_mode
Definition: tmrangle.h:163
tmrangle_rotation_data_store_t::ortho_one_dir
float ortho_one_dir
Definition: tmrangle.h:211
trigonometry_t
Definition: tmrangle.h:226
tmrangle_analog_sensor_data_t::diff_x
int16_t diff_x
Definition: tmrangle.h:127
tmrangle_t::chip_select
pin_name_t chip_select
Definition: tmrangle.h:141
tmrangle_calib_data_t
Definition: tmrangle.h:216
tmrangle_calib_find_min_max
void tmrangle_calib_find_min_max(tmrangle_t *ctx, tmrangle_rotation_data_store_t *rotation_data_store)
Compare and stores rotation parameters function.
tmrangle_rotation_data_store_t::offset_x
float offset_x
Definition: tmrangle.h:203
tmrangle_rotation_data_store_t::x_45
float x_45
Definition: tmrangle.h:183
tmrangle_rotation_data_store_t::max_sin
int32_t max_sin
Definition: tmrangle.h:179
tmrangle_rotation_data_store_t::y_45_corr
float y_45_corr
Definition: tmrangle.h:195
tmrangle_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: tmrangle.h:164
trigonometry_t::cos_135
float cos_135
Definition: tmrangle.h:234
tmrangle_rotation_data_store_t::x_135_corr
float x_135_corr
Definition: tmrangle.h:193
trigonometry_t::sin_45
float sin_45
Definition: tmrangle.h:231
tmrangle_rotation_data_store_t::offset_y
float offset_y
Definition: tmrangle.h:205
tmrangle_calib_calculate_one_direction
void tmrangle_calib_calculate_one_direction(tmrangle_t *ctx, tmrangle_rotation_data_store_t *rotation_data_store)
Calculates and stores parameters, based on found parameters function.
trigonometry_t::cos_45
float cos_45
Definition: tmrangle.h:232
tmrangle_rotation_data_store_t::min_cos
int32_t min_cos
Definition: tmrangle.h:177
tmrangle_rotation_data_store_t::y_45
float y_45
Definition: tmrangle.h:187
trigonometry_t::max_diff_cos
int32_t max_diff_cos
Definition: tmrangle.h:228
tmrangle_t::spi
spi_master_t spi
Definition: tmrangle.h:140
tmrangle_cfg_t::miso
pin_name_t miso
Definition: tmrangle.h:154
tmrangle_rotation_data_store_t::magnitude_45
float magnitude_45
Definition: tmrangle.h:207
tmrangle_analog_sensor_data_t::uncalibrated_angle
float uncalibrated_angle
Definition: tmrangle.h:131
trigonometry_t::min_diff_cos
int32_t min_diff_cos
Definition: tmrangle.h:230