magneticrotary6.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.
**
** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
**  USE OR OTHER DEALINGS IN THE SOFTWARE.
****************************************************************************/
 
#ifndef MAGNETICROTARY6_H
#define MAGNETICROTARY6_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 MAGNETICROTARY6_REG_NOP                 0x0000u
#define MAGNETICROTARY6_REG_ERRFL               0x0001u
#define MAGNETICROTARY6_REG_PROG                0x0003u
#define MAGNETICROTARY6_REG_DIA                 0x3FF5u
#define MAGNETICROTARY6_REG_AGC                 0x3FF9u
#define MAGNETICROTARY6_REG_SIN_DATA            0x3FFAu
#define MAGNETICROTARY6_REG_COS_DATA            0x3FFBu
#define MAGNETICROTARY6_REG_VEL                 0x3FFCu
#define MAGNETICROTARY6_REG_MAG                 0x3FFDu
#define MAGNETICROTARY6_REG_ANGLEUNC            0x3FFEu
#define MAGNETICROTARY6_REG_ANGLECOM            0x3FFFu
#define MAGNETICROTARY6_REG_ECC_CHECKSUM        0x00D1u
 
#define MAGNETICROTARY6_REG_DISABLE             0x0015u
#define MAGNETICROTARY6_REG_ZPOSM               0x0016u
#define MAGNETICROTARY6_REG_ZPOSL               0x0017u
#define MAGNETICROTARY6_REG_SETTINGS1           0x0018u
#define MAGNETICROTARY6_REG_SETTINGS2           0x0019u
#define MAGNETICROTARY6_REG_SETTINGS3           0x001Au
#define MAGNETICROTARY6_REG_ECC                 0x001Bu
 
 // magneticrotary6_reg
 
#define MAGNETICROTARY6_ERRFL_CORDIC_OF         0x0400u
#define MAGNETICROTARY6_ERRFL_OFF_COMP_NOT_FIN  0x0200u
#define MAGNETICROTARY6_ERRFL_BRKHALL           0x0100u
#define MAGNETICROTARY6_ERRFL_WDTST             0x0080u
#define MAGNETICROTARY6_ERRFL_CRC_ERROR         0x0040u
#define MAGNETICROTARY6_ERRFL_CMD_ERROR         0x0020u
#define MAGNETICROTARY6_ERRFL_FRAMING_ERROR     0x0010u
#define MAGNETICROTARY6_ERRFL_P2RAM_ERROR       0x0008u
#define MAGNETICROTARY6_ERRFL_P2RAM_WARNING     0x0004u
#define MAGNETICROTARY6_ERRFL_MAGHALF           0x0002u
#define MAGNETICROTARY6_ERRFL_AGC_WARNING       0x0001u
 
#define MAGNETICROTARY6_PROG_PROGVER            0x0040u
#define MAGNETICROTARY6_PROG_PROGOTP            0x0008u
#define MAGNETICROTARY6_PROG_OTPREF             0x0004u
#define MAGNETICROTARY6_PROG_PROGEN             0x0001u
 
#define MAGNETICROTARY6_DIA_SPI_CNT             0x1800u
#define MAGNETICROTARY6_DIA_FUSA_ERROR          0x0400u
#define MAGNETICROTARY6_DIA_AGC_FIN             0x0200u
#define MAGNETICROTARY6_DIA_OFF_COMP_FIN        0x0100u
#define MAGNETICROTARY6_DIA_SINOFF_FIN          0x0080u
#define MAGNETICROTARY6_DIA_COSOFF_FIN          0x0040u
#define MAGNETICROTARY6_DIA_MAGHALF_FLAG        0x0020u
#define MAGNETICROTARY6_DIA_COMP_H              0x0010u
#define MAGNETICROTARY6_DIA_COMP_L              0x0008u
#define MAGNETICROTARY6_DIA_CORDIC_OF           0x0004u
#define MAGNETICROTARY6_DIA_LOOPSFIN            0x0002u
#define MAGNETICROTARY6_DIA_VDD_MODE_5V         0x0001u
#define MAGNETICROTARY6_DIA_VDD_MODE_3V         0x0000u
 
#define MAGNETICROTARY6_DISABLE_FILTER_DISABLE  0x0040u
#define MAGNETICROTARY6_DISABLE_BRKHALL_SET     0x003Cu
#define MAGNETICROTARY6_DISABLE_ABI_OFF         0x0002u
#define MAGNETICROTARY6_DISABLE_UVW_OFF         0x0001u
 
#define MAGNETICROTARY6_ZPOSL_DIA2_EN           0x0080u
#define MAGNETICROTARY6_ZPOSL_DIA1_EN           0x0040u
#define MAGNETICROTARY6_ZPOSL_LSB               0x003Fu
 
#define MAGNETICROTARY6_SETTINGS1_DIA3_EN       0x0040u
#define MAGNETICROTARY6_SETTINGS1_K_MIN         0x0038u
#define MAGNETICROTARY6_SETTINGS1_K_MAX         0x0007u
 
#define MAGNETICROTARY6_SETTINGS2_PWMON         0x0080u
#define MAGNETICROTARY6_SETTINGS2_DATA_SELECT   0x0040u
#define MAGNETICROTARY6_SETTINGS2_ABI_DEC       0x0020u
#define MAGNETICROTARY6_SETTINGS2_DAECDIS       0x0010u
#define MAGNETICROTARY6_SETTINGS2_UVW_ABI       0x0008u
#define MAGNETICROTARY6_SETTINGS2_DIR_CW        0x0000u
#define MAGNETICROTARY6_SETTINGS2_DIR_CCW       0x0004u
#define MAGNETICROTARY6_SETTINGS2_DIR_MASK      0x0004u
#define MAGNETICROTARY6_SETTINGS2_NOISESET      0x0002u
#define MAGNETICROTARY6_SETTINGS2_IWIDTH        0x0001u
 
#define MAGNETICROTARY6_SETTINGS3_ABIRES_MASK   0x00E0u
#define MAGNETICROTARY6_SETTINGS3_HYS_MASK      0x0018u
#define MAGNETICROTARY6_SETTINGS3_UVWPP_1PP     0x0000u
#define MAGNETICROTARY6_SETTINGS3_UVWPP_2PP     0x0001u
#define MAGNETICROTARY6_SETTINGS3_UVWPP_3PP     0x0002u
#define MAGNETICROTARY6_SETTINGS3_UVWPP_4PP     0x0003u
#define MAGNETICROTARY6_SETTINGS3_UVWPP_5PP     0x0004u
#define MAGNETICROTARY6_SETTINGS3_UVWPP_6PP     0x0005u
#define MAGNETICROTARY6_SETTINGS3_UVWPP_7PP     0x0006u
#define MAGNETICROTARY6_SETTINGS3_UVWPP_MASK    0x0007u
 
#define MAGNETICROTARY6_ECC_EN                  0x0080u
#define MAGNETICROTARY6_ECC_CHSUM_MASK          0x007Fu
 
#define MAGNETICROTARY6_DIE_BOTTOM              0
#define MAGNETICROTARY6_DIE_TOP                 1
 
#define MAGNETICROTARY6_DATA_RESOLUTION         0x3FFFu
#define MAGNETICROTARY6_FULL_CIRCLE             360u
 
#define MAGNETICROTARY6_DIR_CW                  0
#define MAGNETICROTARY6_DIR_CCW                 1
 
#define MAGNETICROTARY6_SET_DATA_SAMPLE_EDGE    SET_SPI_DATA_SAMPLE_EDGE
#define MAGNETICROTARY6_SET_DATA_SAMPLE_MIDDLE  SET_SPI_DATA_SAMPLE_MIDDLE
 
 // magneticrotary6_set
 
#define MAGNETICROTARY6_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
    cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
    cfg.sck  = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
    cfg.cs_t = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.cs_b = MIKROBUS( mikrobus, MIKROBUS_PWM );
 
 // magneticrotary6_map
 // magneticrotary6
 
typedef struct
{
    // Modules
    spi_master_t spi;           
    pin_name_t   cs_t;          
    pin_name_t   cs_b;          
} magneticrotary6_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t  miso;           
    pin_name_t  mosi;           
    pin_name_t  sck;            
    pin_name_t  cs_t;           
    pin_name_t  cs_b;           
    // static variable
    uint32_t                           spi_speed;       
    spi_master_mode_t                  spi_mode;        
    spi_master_chip_select_polarity_t  cs_polarity;     
} magneticrotary6_cfg_t;
 
typedef enum
{
    MAGNETICROTARY6_OK = 0,
    MAGNETICROTARY6_ERROR = -1
 
} magneticrotary6_return_value_t;
 
void magneticrotary6_cfg_setup ( magneticrotary6_cfg_t *cfg );
 
err_t magneticrotary6_init ( magneticrotary6_t *ctx, magneticrotary6_cfg_t *cfg );
 
err_t magneticrotary6_default_cfg ( magneticrotary6_t *ctx );
 
err_t magneticrotary6_write_register ( magneticrotary6_t *ctx, uint8_t die_sel, uint16_t reg, uint16_t data_in );
 
err_t magneticrotary6_read_register ( magneticrotary6_t *ctx, uint8_t die_sel, uint16_t reg, uint16_t *data_out );
 
err_t magneticrotary6_get_angle ( magneticrotary6_t *ctx, uint8_t die_sel, float *angle );
 
err_t magneticrotary6_set_direction ( magneticrotary6_t *ctx, uint8_t die_sel, uint8_t dir );
 
#ifdef __cplusplus
}
#endif
#endif // MAGNETICROTARY6_H
 
 // magneticrotary6
 
// ------------------------------------------------------------------------ END