magneticrotary4.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 MAGNETICROTARY4_H
#define MAGNETICROTARY4_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 MAGNETICROTARY4_REG_NOP                 0x0000
#define MAGNETICROTARY4_REG_ERRFL               0x0001
#define MAGNETICROTARY4_REG_PROG                0x0003
#define MAGNETICROTARY4_REG_DIAAGC              0x3FFC
#define MAGNETICROTARY4_REG_MAG                 0x3FFD
#define MAGNETICROTARY4_REG_ANGLEUNC            0x3FFE
#define MAGNETICROTARY4_REG_ANGLECOM            0x3FFF
 
#define MAGNETICROTARY4_REG_ZPOSM               0x0016
#define MAGNETICROTARY4_REG_ZPOSL               0x0017
#define MAGNETICROTARY4_REG_SETTINGS1           0x0018
#define MAGNETICROTARY4_REG_SETTINGS2           0x0019
 
 // magneticrotary4_reg
 
#define MAGNETICROTARY4_DATA_RESOLUTION         0x3FFF
#define MAGNETICROTARY4_FULL_CIRCLE             360
 
#define MAGNETICROTARY4_ODD_PARITY              0x01
 
#define MAGNETICROTARY4_DIRECTION_CW            0
#define MAGNETICROTARY4_DIRECTION_CCW           1
 
#define MAGNETICROTARY4_SET_DATA_SAMPLE_EDGE      SET_SPI_DATA_SAMPLE_EDGE
#define MAGNETICROTARY4_SET_DATA_SAMPLE_MIDDLE    SET_SPI_DATA_SAMPLE_MIDDLE
 
 // magneticrotary4_set
 
#define MAGNETICROTARY4_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 );
 
 // magneticrotary4_map
 // magneticrotary4
 
typedef struct
{
    // Modules
    spi_master_t  spi;          
    pin_name_t  chip_select;    
} magneticrotary4_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t  miso;           
    pin_name_t  mosi;           
    pin_name_t  sck;            
    pin_name_t  cs;             
    // static variable
    uint32_t                           spi_speed;       
    spi_master_mode_t                  spi_mode;        
    spi_master_chip_select_polarity_t  cs_polarity;     
} magneticrotary4_cfg_t;
 
typedef enum
{
    MAGNETICROTARY4_OK = 0,
    MAGNETICROTARY4_ERROR = -1
 
} magneticrotary4_return_value_t;
 
void magneticrotary4_cfg_setup ( magneticrotary4_cfg_t *cfg );
 
err_t magneticrotary4_init ( magneticrotary4_t *ctx, magneticrotary4_cfg_t *cfg );
 
err_t magneticrotary4_write_register ( magneticrotary4_t *ctx, uint16_t reg, uint16_t data_in );
 
err_t magneticrotary4_read_register ( magneticrotary4_t *ctx, uint16_t reg, uint16_t *data_out );
 
err_t magneticrotary4_get_angle ( magneticrotary4_t *ctx, float *angle );
 
err_t magneticrotary4_calibrate_zero_position ( magneticrotary4_t *ctx );
 
err_t magneticrotary4_set_rotation_direction ( magneticrotary4_t *ctx, uint8_t direction );
 
#ifdef __cplusplus
}
#endif
#endif // MAGNETICROTARY4_H
 
 // magneticrotary4
 
// ------------------------------------------------------------------------ END