angle6.h

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/****************************************************************************
** Copyright (C) 2020 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
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** of this software and associated documentation files (the "Software"), to deal
** in the Software without restriction, including without limitation the rights
** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
** copies of the Software, and to permit persons to whom the Software is
** furnished to do so, subject to the following conditions:
** The above copyright notice and this permission notice shall be
** included in all copies or substantial portions of the Software.
**
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** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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#ifndef ANGLE6_H
#define ANGLE6_H
 
#ifdef __cplusplus
extern "C"{
#endif
 
#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
 
#ifdef MikroCCoreVersion
    #if MikroCCoreVersion >= 1
        #include "delays.h"
    #endif
#endif
 
#include "drv_digital_out.h"
#include "drv_digital_in.h"
#include "drv_spi_master.h"
#include "spi_specifics.h"
 
#define ANGLE6_REG_ZERO_SETTING_LSB             0x00
#define ANGLE6_REG_ZERO_SETTING_MSB             0x01
#define ANGLE6_REG_BIAS_CURRENT_TIMING          0x02
#define ANGLE6_REG_ENABLE_TRIMMING              0x03
#define ANGLE6_REG_ABZ_SETTING_LSB              0x04
#define ANGLE6_REG_ABZ_SETTING_MSB              0x05
#define ANGLE6_REG_MAGNETIC_FIELD_CONFIG        0x06
#define ANGLE6_REG_ROTATION_DIRECTION           0x09
#define ANGLE6_REG_ALARM_FLAGS                  0x1B
 
#define ANGLE6_CMD_READ_ANGLE                   0x00
#define ANGLE6_CMD_READ_REGISTER                0x40
#define ANGLE6_CMD_WRITE_REGISTER               0x80
 
 // angle6_reg
 
#define ANGLE6_ROTATION_DIRECTION_CW            0x00
#define ANGLE6_ROTATION_DIRECTION_CCW           0x80
 
#define ANGLE6_RESOLUTION                       0xFFFF
#define ANGLE6_FULL_CIRCLE                      360.0
 
#define ANGLE6_SET_DATA_SAMPLE_EDGE      SET_SPI_DATA_SAMPLE_EDGE
#define ANGLE6_SET_DATA_SAMPLE_MIDDLE    SET_SPI_DATA_SAMPLE_MIDDLE
 
 // angle6_set
 
#define ANGLE6_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
    cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
    cfg.sck  = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
    cfg.cs   = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.mgh = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.mgl = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // angle6_map
 // angle6
 
typedef struct
{
    // Input pins
    digital_in_t  mgh;          
    digital_in_t  pwm;          
    digital_in_t  mgl;          
    // Modules
    spi_master_t  spi;          
    pin_name_t  chip_select;    
} angle6_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t  miso;                                   
    pin_name_t  mosi;                                   
    pin_name_t  sck;                                    
    pin_name_t  cs;                                     
    // Additional gpio pins
    pin_name_t  mgh;                                    
    pin_name_t  pwm;                                    
    pin_name_t  mgl;                                    
    // static variable
    uint32_t                           spi_speed;       
    spi_master_mode_t                  spi_mode;        
    spi_master_chip_select_polarity_t  cs_polarity;     
} angle6_cfg_t;
 
typedef enum
{
    ANGLE6_OK = 0,
    ANGLE6_ERROR = -1
 
} angle6_return_value_t;
 
void angle6_cfg_setup ( angle6_cfg_t *cfg );
 
err_t angle6_init ( angle6_t *ctx, angle6_cfg_t *cfg );
 
err_t angle6_default_cfg ( angle6_t *ctx );
 
err_t angle6_write_register ( angle6_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t angle6_read_register ( angle6_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t angle6_read_angle ( angle6_t *ctx, float *angle );
 
uint8_t angle6_get_pwm_pin ( angle6_t *ctx );
 
uint8_t angle6_get_mgh_pin ( angle6_t *ctx );
 
uint8_t angle6_get_mgl_pin ( angle6_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // ANGLE6_H
 
 // angle6
 
// ------------------------------------------------------------------------ END