gmrangle.h

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/****************************************************************************
** Copyright (C) 2026 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.
** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
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** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
**  USE OR OTHER DEALINGS IN THE SOFTWARE.
****************************************************************************/

// ----------------------------------------------------------------------------
 
#ifndef GMRANGLE_H
#define GMRANGLE_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"
#include "spi_specifics.h"
 
// -------------------------------------------------------------- PUBLIC MACROS 

 
#define GMRANGLE_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.ifa = MIKROBUS( mikrobus, MIKROBUS_AN ); \
   cfg.css = MIKROBUS( mikrobus, MIKROBUS_RST ); \
   cfg.ifc = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
   cfg.ifb = MIKROBUS( mikrobus, MIKROBUS_INT )


#define GMRANGLE_OK                                 0
#define GMRANGLE_ERROR                             -1

#define GMRANGLE_REG_STAT                           0x00
#define GMRANGLE_REG_ACSTAT                         0x01
#define GMRANGLE_REG_AVAL                           0x02
#define GMRANGLE_REG_ASPD                           0x03
#define GMRANGLE_REG_AREV                           0x04
#define GMRANGLE_REG_FSYNC                          0x05
#define GMRANGLE_REG_MOD_1                          0x06
#define GMRANGLE_REG_SIL                            0x07
#define GMRANGLE_REG_MOD_2                          0x08
#define GMRANGLE_REG_MOD_3                          0x09
#define GMRANGLE_REG_OFFX                           0x0A
#define GMRANGLE_REG_OFFY                           0x0B
#define GMRANGLE_REG_SYNCH                          0x0C
#define GMRANGLE_REG_IFAB                           0x0D
#define GMRANGLE_REG_MOD_4                          0x0E
#define GMRANGLE_REG_TCO_Y                          0x0F
#define GMRANGLE_REG_ADC_X                          0x10
#define GMRANGLE_REG_ADC_Y                          0x11

#define GMRANGLE_READ_SENSOR                        0x80
#define GMRANGLE_GET_BIT_5_4                        0x30
#define GMRANGLE_GET_BIT_3_0                        0x0F

#define GMRANGLE_SYSTEM_ERROR_MASK                  0x4000
#define GMRANGLE_INTERFACE_ERROR_MASK               0x2000
#define GMRANGLE_INV_ANGLE_ERROR_MASK               0x1000
#define GMRANGLE_CRC_POLYNOMIAL                     0x1D00
#define GMRANGLE_CRC_SEED                           0xFF00
#define GMRANGLE_CRC_NUM_REGISTERS                  0x0008
#define GMRANGLE_MAX_REGISTER_MEM                   0x0030
#define GMRANGLE_DELETE_BIT_15                      0x7FFF
#define GMRANGLE_CHANGE_UINT_TO_INT_16              0xFFFF
#define GMRANGLE_CHANGE_UINT_TO_INT_15              0x8000
#define GMRANGLE_MAX_BIT_14                         0x3FFF
#define GMRANGLE_CHECK_BIT_14                       0x4000
#define GMRANGLE_GET_BIT_14_4                       0x7FF0
#define GMRANGLE_DELETE_7BITS                       0x01FF
#define GMRANGLE_CHANGE_UNIT_TO_INT_9               0x0200
#define GMRANGLE_CHECK_BIT_9                        0x0100
#define GMRANGLE_CHECK_BIT_15                       0x8000

#define GMRANGLE_POW_2_15                           32768.0f
#define GMRANGLE_POW_2_7                            128.0f
#define GMRANGLE_ANGLE_360_VAL                      360.0f
#define GMRANGLE_TEMP_OFFSET                        152.0f
#define GMRANGLE_TEMP_DIV                           2.776f
#define GMRANGLE_DATA_RESOLUTION                    0x7FFF

#define GMRANGLE_SET_DATA_SAMPLE_EDGE               SET_SPI_DATA_SAMPLE_EDGE
#define GMRANGLE_SET_DATA_SAMPLE_MIDDLE             SET_SPI_DATA_SAMPLE_MIDDLE
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES

typedef struct
{
    // Output pins 
    digital_out_t cs;
    digital_out_t css;
 
    // Input pins 
    digital_in_t ifa;
    digital_in_t ifb;
    digital_in_t ifc;
    
    // Modules 
    spi_master_t spi;
    pin_name_t chip_select;
 
} gmrangle_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 ifa;
    pin_name_t css;
    pin_name_t ifc;
    pin_name_t ifb;
 
    // static variable 
    uint32_t spi_speed;
    spi_master_mode_t   spi_mode;
    spi_master_chip_select_polarity_t cs_polarity;
 
} gmrangle_cfg_t;
 // End types group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS

#ifdef __cplusplus
extern "C"{
#endif

void gmrangle_cfg_setup ( gmrangle_cfg_t *cfg );

err_t gmrangle_init ( gmrangle_t *ctx, gmrangle_cfg_t *cfg );

uint16_t gmrangle_read_data ( gmrangle_t *ctx, uint8_t reg );

void gmrangle_write_data ( gmrangle_t *ctx, uint8_t reg, uint16_t tx_data );

uint16_t gmrangle_get_status ( gmrangle_t *ctx );

void gmrangle_set_act_status ( gmrangle_t *ctx, uint16_t a_data );

int16_t gmrangle_get_angle_speed_value ( gmrangle_t *ctx );

void gmrangle_get_angle_speed ( gmrangle_t *ctx, float *final_angle_speed, int16_t *angle_speed_val );

float gmrangle_get_angle_range ( gmrangle_t *ctx );

int16_t gmrangle_get_num_revolutions ( gmrangle_t *ctx );

uint16_t gmrangle_get_angle_value ( gmrangle_t *ctx );

float gmrangle_calculate_angle ( gmrangle_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif  // _GMRANGLE_H_
 // End public_function group

// ------------------------------------------------------------------------- END