magneto4.h

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/*
 * MikroSDK - MikroE Software Development Kit
 * Copyright© 2020 MikroElektronika d.o.o.
 * 
 * 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 MAGNETO4_H
#define MAGNETO4_H
 
#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"
 
 
// -------------------------------------------------------------- PUBLIC MACROS 
#define MAGNETO4_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.a     = MIKROBUS( mikrobus, MIKROBUS_AN );   \
   cfg.b     = MIKROBUS( mikrobus, MIKROBUS_RST );  \
   cfg.ind = MIKROBUS( mikrobus, MIKROBUS_INT )
#define MAGNETO4_RETVAL  uint8_t
 
#define MAGNETO4_OK           0x00
#define MAGNETO4_INIT_ERROR   0xFF
#define MAGNETO4_ENCODER_TO_ZERO_POSITION  0
#define MAGNETO4_MAX_MAGNETIC_FIELD_VALUE  3000
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef struct
{
    digital_out_t cs;
 
    // Input pins 
 
    digital_in_t a;
    digital_in_t b;
    digital_in_t pwm;
    digital_in_t ind;
    
    // Modules 
 
    spi_master_t spi;
    pin_name_t chip_select;
 
    // ctx variable
    
    int32_t encoder_position;
    uint8_t a_edge;
    uint8_t b_edge;
    uint8_t state_a;
    uint8_t state_b;
 
} magneto4_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 a;
    pin_name_t b;
    pin_name_t pwm;
    pin_name_t ind;
 
    // static variable 
 
    uint32_t spi_speed;
    uint8_t spi_mode;
    spi_master_chip_select_polarity_t cs_polarity;
 
} magneto4_cfg_t;
 
typedef struct
{
    uint8_t dec_val;
    uint8_t inc_val;
    uint8_t lin_val;
    uint8_t cof_val;
    uint8_t ocf_val;
 
} mag_status_t;
 
 // End types group
 
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
 
#ifdef __cplusplus
extern "C"{
#endif
 
void magneto4_cfg_setup ( magneto4_cfg_t *cfg );
 
MAGNETO4_RETVAL magneto4_init ( magneto4_t *ctx, magneto4_cfg_t *cfg );
 
void magneto4_default_cfg ( magneto4_t *ctx );
 
void magneto4_generic_transfer 
( 
    magneto4_t *ctx, 
    uint8_t *rd_buf, 
    uint16_t rd_len 
);
 
uint8_t magneto4_get_out_a ( magneto4_t *ctx );
 
uint8_t magneto4_get_out_b ( magneto4_t *ctx );
 
uint8_t magneto4_get_index ( magneto4_t *ctx );
 
uint32_t magneto4_start_measurement ( magneto4_t *ctx );
 
uint16_t magneto4_get_magnetic_field ( magneto4_t *ctx );
 
uint8_t magneto4_get_magnetic_status ( magneto4_t *ctx, mag_status_t *mag_status );
 
uint8_t magneto4_get_encoder_direction ( magneto4_t *ctx );
 
void magneto4_get_encoder_position ( magneto4_t *ctx );
 
void magneto4_set_start_position ( magneto4_t *ctx, int32_t encoder_pos );
 
#ifdef __cplusplus
}
#endif
#endif  // _MAGNETO4_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END