angle8.h

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/****************************************************************************
** Copyright (C) 2020 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
** Permission is hereby granted, free of charge, to any person obtaining a copy
** 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 ANGLE8_H
#define ANGLE8_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 ANGLE8_REG_ZERO_SETTING_LSB             0x00
#define ANGLE8_REG_ZERO_SETTING_MSB             0x01
#define ANGLE8_REG_BIAS_CURRENT_TIMING          0x02
#define ANGLE8_REG_ENABLE_TRIMMING              0x03
#define ANGLE8_REG_CYCLE_TIME_LSB               0x04
#define ANGLE8_REG_CYCLE_TIME_MSB               0x05
#define ANGLE8_REG_MAGNETIC_FIELD_CONFIG        0x06
#define ANGLE8_REG_ND_CONFIG                    0x07
#define ANGLE8_REG_ASC_MODE_THRESHOLD           0x08
#define ANGLE8_REG_ROTATION_DIRECTION           0x09
#define ANGLE8_REG_ASC_MODE_REFERENCE           0x0A
#define ANGLE8_REG_ASC_MODE_CONFIG              0x0B
#define ANGLE8_REG_FILTER_WINDOW                0x0E
#define ANGLE8_REG_ERROR_FLAGS                  0x1A
#define ANGLE8_REG_ALARM_FLAGS                  0x1B
 
#define ANGLE8_CMD_READ_ANGLE                   0x00
#define ANGLE8_CMD_READ_REGISTER                0x40
#define ANGLE8_CMD_WRITE_REGISTER               0x80
#define ANGLE8_CMD_STORE_SINGLE_REGISTER        0xE0
#define ANGLE8_CMD_STORE_ALL_REGISTERS          0xC0
#define ANGLE8_CMD_RESTORE_ALL_REGISTERS        0xA0
#define ANGLE8_CMD_CLEAR_ERROR_FLAGS            0x20
 
 // angle8_reg
 
#define ANGLE8_ROTATION_DIRECTION_CW            0x00
#define ANGLE8_ROTATION_DIRECTION_CCW           0x80
 
#define ANGLE8_RESOLUTION                       0xFFFF
#define ANGLE8_FULL_CIRCLE                      360.0
 
#define ANGLE8_CYCLE_TIME_MAX                   6553.5
#define ANGLE8_CYCLE_TIME_100MS                 100.0
#define ANGLE8_CYCLE_TIME_MIN                   0.2
 
#define ANGLE8_SET_DATA_SAMPLE_EDGE      SET_SPI_DATA_SAMPLE_EDGE
#define ANGLE8_SET_DATA_SAMPLE_MIDDLE    SET_SPI_DATA_SAMPLE_MIDDLE
 
 // angle8_set
 
#define ANGLE8_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.nd   = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.dv   = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.en   = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.mgl  = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // angle8_map
 // angle8
 
typedef struct
{
    // Output pins
    digital_out_t en;           
    // Input pins
    digital_in_t  nd;           
    digital_in_t  dv;           
    digital_in_t  mgl;          
    // Modules
    spi_master_t  spi;          
    pin_name_t  chip_select;    
} angle8_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  nd;             
    pin_name_t  dv;             
    pin_name_t  en;             
    pin_name_t  mgl;            
    // static variable
    uint32_t                           spi_speed;        
    spi_master_mode_t                  spi_mode;         
    spi_master_chip_select_polarity_t  cs_polarity;      
} angle8_cfg_t;
 
typedef enum
{
    ANGLE8_OK = 0,
    ANGLE8_ERROR = -1
 
} angle8_return_value_t;
 
void angle8_cfg_setup ( angle8_cfg_t *cfg );
 
err_t angle8_init ( angle8_t *ctx, angle8_cfg_t *cfg );
 
err_t angle8_default_cfg ( angle8_t *ctx );
 
err_t angle8_write_register ( angle8_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t angle8_read_register ( angle8_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t angle8_read_angle ( angle8_t *ctx, float *angle );
 
err_t angle8_store_all_registers ( angle8_t *ctx );
 
err_t angle8_store_single_register ( angle8_t *ctx, uint8_t reg );
 
err_t angle8_clear_error_flags ( angle8_t *ctx );
 
void angle8_enable_device ( angle8_t *ctx );
 
void angle8_disable_device ( angle8_t *ctx );
 
uint8_t angle8_get_nd_pin ( angle8_t *ctx );
 
uint8_t angle8_get_dv_pin ( angle8_t *ctx );
 
uint8_t angle8_get_mgl_pin ( angle8_t *ctx );
 
err_t angle8_set_cycle_time ( angle8_t *ctx, float time_ms );
 
#ifdef __cplusplus
}
#endif
#endif // ANGLE8_H
 
 // angle8
 
// ------------------------------------------------------------------------ END