tmrangle.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 TMRANGLE_H
#define TMRANGLE_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 TMRANGLE_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 )
#define TMRANGLE_RETVAL  uint8_t
 
#define TMRANGLE_OK           0x00
#define TMRANGLE_INIT_ERROR   0xFF
#define TMRANGLE_COS_N    0x00
#define TMRANGLE_COS_P    0x01
#define TMRANGLE_SIN_P    0x02
#define TMRANGLE_SIN_N    0x03
#define TMRANGLE_RAD2DEGFACTOR        57.3248
#define TMRANGLE_ROTATION_VALID       1
#define TMRANGLE_ANGLE45_H            0.7894
#define TMRANGLE_ANGLE45_L            0.7806
#define TMRANGLE_ANGLE135_H           2.3594
#define TMRANGLE_ANGLE135_L           2.3506
#define TMRANGLE_MAX_DIFF_SIN         1251
#define TMRANGLE_MAX_DIFF_COS         1217
#define TMRANGLE_MIN_DIFF_SIN         -1200
#define TMRANGLE_MIN_DIFF_COS         -1206
#define TMRANGLE_SIN_45               854.0
#define TMRANGLE_COS_45               864.0
#define TMRANGLE_SIN_135              873.0
#define TMRANGLE_COS_135              -865.0
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef struct
{
    uint16_t sin_p;
 
    uint16_t cos_p;
 
    uint16_t sin_n;
 
    uint16_t cos_n;
 
    int16_t diff_x;
 
    int16_t diff_y;
 
    float uncalibrated_angle;
}tmrangle_analog_sensor_data_t;
 
typedef struct
{
    digital_out_t cs;
 
    // Modules 
 
    spi_master_t spi;
    pin_name_t chip_select;
 
    tmrangle_analog_sensor_data_t sensor_data;
 
} tmrangle_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;
    uint8_t spi_mode;
    spi_master_chip_select_polarity_t cs_polarity;
 
} tmrangle_cfg_t;
 
 
typedef struct
{
    uint8_t angle_45_found;
    uint8_t angle_135_found;
    uint32_t nr_valid_rotations;
    
    int32_t max_cos;
 
    int32_t min_cos;
 
    int32_t max_sin;
    
    int32_t min_sin;
 
    float x_45;
 
    float x_135;
    
    float y_45;
    
    float y_135;
    
    float x_45_corr;
    
    float x_135_corr;
 
    float y_45_corr;
 
    float y_135_corr;
 
    float amplitude_x;
 
    float amplitude_y;
 
    float offset_x;
 
    float offset_y;
    
    float magnitude_45;
    
    float magnitude_135;
    
    float ortho_one_dir;
 
} tmrangle_rotation_data_store_t;
 
typedef struct
{
    tmrangle_rotation_data_store_t rotation_data;
    
    float sin_ortho;
    
    float cos_ortho;
 
} tmrangle_calib_data_t;
 
typedef struct
{
    int32_t max_diff_sin;
    int32_t max_diff_cos;
    int32_t min_diff_sin;
    int32_t min_diff_cos;
    float sin_45;
    float cos_45;
    float sin_135;
    float cos_135;
 
} trigonometry_t;
 
 // End types group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
 
#ifdef __cplusplus
extern "C"{
#endif
 
void tmrangle_cfg_setup ( tmrangle_cfg_t *cfg );
 
TMRANGLE_RETVAL tmrangle_init ( tmrangle_t *ctx, tmrangle_cfg_t *cfg );
 
uint16_t tmrangle_read_channel_adc ( tmrangle_t* ctx, uint8_t channel );
 
void tmrangle_calculate_diff ( tmrangle_t* ctx );
 
void tmrangle_init_sensor_data ( tmrangle_t* ctx );
 
void tmrangle_calib_calculate_one_direction ( tmrangle_t* ctx,
                                              tmrangle_rotation_data_store_t* rotation_data_store );
 
void tmrangle_calib_calculate_ortho ( tmrangle_calib_data_t* calib_param );
 
void tmrangle_init_calib_data ( tmrangle_t* ctx, tmrangle_calib_data_t* calib_param,
                                trigonometry_t* dev );
 
float tmrangle_get_calib_deff_angle ( tmrangle_t* ctx, tmrangle_calib_data_t* calib_param );
 
 
float tmrangle_get_calib_angle ( tmrangle_t* ctx, tmrangle_calib_data_t* calib_param );
 
void tmrangle_calib_find_min_max ( tmrangle_t* ctx, tmrangle_rotation_data_store_t* rotation_data_store );
 
void tmrangle_calib_one_direction_min_max ( tmrangle_t* ctx, tmrangle_rotation_data_store_t* rotation_data_store );
 
void tmrangle_calibration_find_param ( tmrangle_t* ctx,
                                       tmrangle_calib_data_t* calib_param );
 
 
 
#ifdef __cplusplus
}
#endif
#endif  // _TMRANGLE_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END