Zoltan Hudak / TLE5012B

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Dependents:   TLE5012B_Hello

TLE5012B.h@1:220a2496380e, 2020-09-19 (annotated)

Committer:
hudakz
Date:
Sat Sep 19 18:49:44 2020 +0000
Revision:
1:220a2496380e
Parent:
0:4b76b1dc05cd 
Library for the TLE5012B Giant Magneto Resistance (GMR) based angle sensor.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:4b76b1dc05cd 1 /*!
hudakz 0:4b76b1dc05cd 2 * \name TLE5012B.h - Mbed port of Arduino library for the TLE5012B angle sensor.
hudakz 0:4b76b1dc05cd 3 * \author Infineon Technologies AG (Dr.Olaf Filies)
hudakz 0:4b76b1dc05cd 4 * \copyright 2019 Infineon Technologies AG
hudakz 0:4b76b1dc05cd 5 * \version 2.0.1
hudakz 0:4b76b1dc05cd 6 * \brief GMR-based angle sensor for angular position sensing in automotive applications
hudakz 0:4b76b1dc05cd 7 * \details Ported to Mbed by Zoltan Hudak 2020-08
hudakz 0:4b76b1dc05cd 8 *
hudakz 0:4b76b1dc05cd 9 * The TLE5012B is a 360° angle sensor that detects the orientation of a magnetic field.
hudakz 0:4b76b1dc05cd 10 * This is achieved by measuring sine and cosine angle components with monolithic integrated
hudakz 0:4b76b1dc05cd 11 * Giant Magneto Resistance (iGMR) elements. These raw signals (sine and cosine) are digitally
hudakz 0:4b76b1dc05cd 12 * processed internally to calculate the angle orientation of the magnetic field (magnet).
hudakz 0:4b76b1dc05cd 13 * The TLE5012B is a pre-calibrated sensor. The calibration parameters are stored in laser fuses.
hudakz 0:4b76b1dc05cd 14 * At start-up the values of the fuses are written into flip-flops, where these values can be changed
hudakz 0:4b76b1dc05cd 15 * by the application-specific parameters. Further precision of the angle measurement over a wide
hudakz 0:4b76b1dc05cd 16 * temperature range and a long lifetime can be improved by enabling an optional internal autocalibration
hudakz 0:4b76b1dc05cd 17 * algorithm. Data communications are accomplished with a bi-directional Synchronous Serial Communication (SSC)
hudakz 0:4b76b1dc05cd 18 * that is SPI-compatible. The sensor configuration is stored in registers, which are accessible by the
hudakz 0:4b76b1dc05cd 19 * SSC interface. Additionally four other interfaces are available with the TLE5012B: Pulse-Width-Modulation (PWM)
hudakz 0:4b76b1dc05cd 20 * Protocol, Short-PWM-Code (SPC) Protocol, Hall Switch Mode (HSM) and Incremental Interface (IIF). These interfaces
hudakz 0:4b76b1dc05cd 21 * can be used in parallel with SSC or alone. Pre-configured sensor derivates with different interface settings are available.
hudakz 0:4b76b1dc05cd 22 * Online diagnostic functions are provided to ensure reliable operation.
hudakz 0:4b76b1dc05cd 23 *
hudakz 0:4b76b1dc05cd 24 * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
hudakz 0:4b76b1dc05cd 25 * following conditions are met:
hudakz 0:4b76b1dc05cd 26 *
hudakz 0:4b76b1dc05cd 27 * Redistributions of source code must retain the above copyright notice, this list of conditions and the following
hudakz 0:4b76b1dc05cd 28 * disclaimer.
hudakz 0:4b76b1dc05cd 29 *
hudakz 0:4b76b1dc05cd 30 * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
hudakz 0:4b76b1dc05cd 31 * disclaimer in the documentation and/or other materials provided with the distribution.
hudakz 0:4b76b1dc05cd 32 *
hudakz 0:4b76b1dc05cd 33 * Neither the name of the copyright holders nor the names of its contributors may be used to endorse or promote
hudakz 0:4b76b1dc05cd 34 * products derived from this software without specific prior written permission.
hudakz 0:4b76b1dc05cd 35 *
hudakz 0:4b76b1dc05cd 36 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
hudakz 0:4b76b1dc05cd 37 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
hudakz 0:4b76b1dc05cd 38 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
hudakz 0:4b76b1dc05cd 39 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
hudakz 0:4b76b1dc05cd 40 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
hudakz 0:4b76b1dc05cd 41 * WHETHER IN CONTRACT, STRICT LIABILITY,OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
hudakz 0:4b76b1dc05cd 42 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
hudakz 0:4b76b1dc05cd 43 *
hudakz 0:4b76b1dc05cd 44 */
hudakz 0:4b76b1dc05cd 45
hudakz 0:4b76b1dc05cd 46 #ifndef TLE5012B_H
hudakz 0:4b76b1dc05cd 47 #define TLE5012B_H
hudakz 0:4b76b1dc05cd 48
hudakz 0:4b76b1dc05cd 49 #include "TLE5012B_SPI.h"
hudakz 0:4b76b1dc05cd 50
hudakz 0:4b76b1dc05cd 51 namespace TLE5012 {
hudakz 0:4b76b1dc05cd 52
hudakz 0:4b76b1dc05cd 53 // Sensor registers
hudakz 0:4b76b1dc05cd 54 #define READ_SENSOR 0x8000 //!< base command for read
hudakz 0:4b76b1dc05cd 55 #define WRITE_SENSOR 0x5000 //!< base command for write
hudakz 0:4b76b1dc05cd 56 #define READ_BLOCK_CRC 0x8088 //!< initialize block CRC check command
hudakz 0:4b76b1dc05cd 57
hudakz 0:4b76b1dc05cd 58 #define REG_STAT 0x0000 //!< STAT status register
hudakz 0:4b76b1dc05cd 59 #define REG_ACSTAT 0x0010 //!< ACSTAT activation status register
hudakz 0:4b76b1dc05cd 60 #define REG_AVAL 0x0020 //!< AVAL angle value register
hudakz 0:4b76b1dc05cd 61 #define REG_ASPD 0x0030 //!< ASPD angle speed register
hudakz 0:4b76b1dc05cd 62 #define REG_AREV 0x0040 //!< AREV angle revolution register
hudakz 0:4b76b1dc05cd 63 #define REG_FSYNC 0x0050 //!< FSYNC frame synchronization register
hudakz 0:4b76b1dc05cd 64 #define REG_MOD_1 0x0060 //!< MOD_1 interface mode1 register
hudakz 0:4b76b1dc05cd 65 #define REG_SIL 0x0070 //!< SIL register
hudakz 0:4b76b1dc05cd 66 #define REG_MOD_2 0x0080 //!< MOD_2 interface mode2 register
hudakz 0:4b76b1dc05cd 67 #define REG_MOD_3 0x0090 //!< MOD_3 interface mode3 register
hudakz 0:4b76b1dc05cd 68 #define REG_OFFX 0x00A0 //!< OFFX offset x
hudakz 0:4b76b1dc05cd 69 #define REG_OFFY 0x00B0 //!< OFFY offset y
hudakz 0:4b76b1dc05cd 70 #define REG_SYNCH 0x00C0 //!< SYNCH synchronicity
hudakz 0:4b76b1dc05cd 71 #define REG_IFAB 0x00D0 //!< IFAB register
hudakz 0:4b76b1dc05cd 72 #define REG_MOD_4 0x00E0 //!< MOD_4 interface mode4 register
hudakz 0:4b76b1dc05cd 73 #define REG_TCO_Y 0x00F0 //!< TCO_Y temperature coefficient register
hudakz 0:4b76b1dc05cd 74 #define REG_ADC_X 0x0100 //!< ADC_X ADC X-raw value
hudakz 0:4b76b1dc05cd 75 #define REG_ADC_Y 0x0110 //!< ADC_Y ADC Y-raw value
hudakz 0:4b76b1dc05cd 76 #define REG_D_MAG 0x0140 //!< D_MAG angle vector magnitude
hudakz 0:4b76b1dc05cd 77 #define REG_T_RAW 0x0150 //!< T_RAW temperature sensor raw-value
hudakz 0:4b76b1dc05cd 78 #define REG_IIF_CNT 0x0200 //!< IIF_CNT IIF counter value
hudakz 0:4b76b1dc05cd 79 #define REG_T25O 0x0300 //!< T25O temperature 25°c offset value
hudakz 0:4b76b1dc05cd 80
hudakz 0:4b76b1dc05cd 81 #define SYSTEM_ERROR_MASK 0x4000 //!< System error masks for safety words
hudakz 0:4b76b1dc05cd 82 #define INTERFACE_ERROR_MASK 0x2000 //!< Interface error masks for safety words
hudakz 0:4b76b1dc05cd 83 #define INV_ANGLE_ERROR_MASK 0x1000 //!< Angle error masks for safety words
hudakz 0:4b76b1dc05cd 84
hudakz 0:4b76b1dc05cd 85 #define CRC_POLYNOMIAL 0x1D //!< values used for calculating the CRC
hudakz 0:4b76b1dc05cd 86 #define CRC_SEED 0xFF
hudakz 0:4b76b1dc05cd 87 #define CRC_NUM_REGISTERS 0x0008 //!< number of CRC relevant registers
hudakz 0:4b76b1dc05cd 88 #define MAX_REGISTER_MEM 0x0030 //!< max readable register values buffer
hudakz 0:4b76b1dc05cd 89
hudakz 0:4b76b1dc05cd 90 #define DELETE_BIT_15 0x7FFF //!< Value used to delete everything except the first 15 bits
hudakz 0:4b76b1dc05cd 91 #define CHANGE_UINT_TO_INT_15 0x8000 //!< Value used to change unsigned 16bit integer into signed
hudakz 0:4b76b1dc05cd 92 #define CHECK_BIT_14 0x4000 //!<
hudakz 0:4b76b1dc05cd 93 #define GET_BIT_14_4 0x7FF0 //!<
hudakz 0:4b76b1dc05cd 94
hudakz 0:4b76b1dc05cd 95 #define DELETE_7BITS 0x01FF //!< values used to calculate 9 bit signed integer sent by the sensor
hudakz 0:4b76b1dc05cd 96 #define CHANGE_UNIT_TO_INT_9 0x0200 //!< Value used to change unsigned 9bit integer into signed
hudakz 0:4b76b1dc05cd 97 #define CHECK_BIT_9 0x0100
hudakz 0:4b76b1dc05cd 98
hudakz 0:4b76b1dc05cd 99 #define POW_2_15 32768.0 //!< values used to for final calculations of angle speed, revolutions, range and value
hudakz 0:4b76b1dc05cd 100 #define POW_2_7 128.0 //!<
hudakz 0:4b76b1dc05cd 101 #define ANGLE_360_VAL 360.0
hudakz 0:4b76b1dc05cd 102
hudakz 0:4b76b1dc05cd 103 #define TEMP_OFFSET 152.0 //!< values used to calculate the temperature
hudakz 0:4b76b1dc05cd 104 #define TEMP_DIV 2.776
hudakz 0:4b76b1dc05cd 105
hudakz 0:4b76b1dc05cd 106 //!< Prints a binary number with leading zeros (Automatic Handling)
hudakz 0:4b76b1dc05cd 107 #define PRINTBIN(Num) for (uint32_t t = (1UL<< (sizeof(Num)*8)-1); t; t >>= 1) Serial.write(Num & t ? '1' : '0');
hudakz 0:4b76b1dc05cd 108 //!< Prints a binary number with leading zeros (Automatic Handling) with space
hudakz 0:4b76b1dc05cd 109 #define PRINTBINS(Num) for (uint32_t t = (1UL<< (sizeof(Num)*8)-1); t; t >>= 1) Serial.write(Num & t ? " 1 " : " 0 ");
hudakz 0:4b76b1dc05cd 110
hudakz 0:4b76b1dc05cd 111 /*!
hudakz 0:4b76b1dc05cd 112 * Error types from safety word
hudakz 0:4b76b1dc05cd 113 */
hudakz 0:4b76b1dc05cd 114 enum errorTypes
hudakz 0:4b76b1dc05cd 115 {
hudakz 0:4b76b1dc05cd 116 NO_ERROR = 0x00, //!< NO_ERROR = Safety word was OK
hudakz 0:4b76b1dc05cd 117 SYSTEM_ERROR = 0x01, //!< SYSTEM_ERROR = over/under voltage, VDD negative, GND off, ROM defect
hudakz 0:4b76b1dc05cd 118 INTERFACE_ACCESS_ERROR = 0x02, //!< INTERFACE_ACCESS_ERROR = wrong address or wrong lock
hudakz 0:4b76b1dc05cd 119 INVALID_ANGLE_ERROR = 0x03, //!< INVALID_ANGLE_ERROR = NO_GMR_A = 1 or NO_GMR_XY = 1
hudakz 0:4b76b1dc05cd 120 ANGLE_SPEED_ERROR = 0x04, //!< ANGLE_SPEED_ERROR = combined error, angular speed calculation wrong
hudakz 0:4b76b1dc05cd 121 CRC_ERROR = 0xFF //!< CRC_ERROR = Cyclic Redundancy Check (CRC), which includes the STAT and RESP bits wrong
hudakz 0:4b76b1dc05cd 122 };
hudakz 0:4b76b1dc05cd 123
hudakz 0:4b76b1dc05cd 124 /*!
hudakz 0:4b76b1dc05cd 125 * Set the UPDate bit high (read from update buffer) or low (read directly)
hudakz 0:4b76b1dc05cd 126 */
hudakz 0:4b76b1dc05cd 127 enum updTypes
hudakz 0:4b76b1dc05cd 128 {
hudakz 0:4b76b1dc05cd 129 UPD_LOW = 0x0000, //!< read normal registers
hudakz 0:4b76b1dc05cd 130 UPD_HIGH = 0x0400, //!< read update buffer registers
hudakz 0:4b76b1dc05cd 131 };
hudakz 0:4b76b1dc05cd 132
hudakz 0:4b76b1dc05cd 133 /*!
hudakz 0:4b76b1dc05cd 134 * Switch on/off safety word generation
hudakz 0:4b76b1dc05cd 135 */
hudakz 0:4b76b1dc05cd 136 enum safetyTypes
hudakz 0:4b76b1dc05cd 137 {
hudakz 0:4b76b1dc05cd 138 SAFE_LOW = 0x0000, //!< switch of safety word generation
hudakz 0:4b76b1dc05cd 139 SAFE_HIGH = 0x0001, //!< switch on safety word generation
hudakz 0:4b76b1dc05cd 140 };
hudakz 0:4b76b1dc05cd 141
hudakz 0:4b76b1dc05cd 142 /*!
hudakz 0:4b76b1dc05cd 143 * Offset for the slave number register to identify the
hudakz 0:4b76b1dc05cd 144 * right selected slave. Max 4 slaves with separated CSQ
hudakz 0:4b76b1dc05cd 145 * lines are possible. If more than one sensor is used on the SPI
hudakz 0:4b76b1dc05cd 146 * interface, than the SNR register must we written with the correct slave number
hudakz 0:4b76b1dc05cd 147 */
hudakz 0:4b76b1dc05cd 148 enum slaveNum
hudakz 0:4b76b1dc05cd 149 {
hudakz 0:4b76b1dc05cd 150 TLE5012B_S0 = 0x0000, //!< TLE5012B_S0 default setting for only one sensor on the SPI
hudakz 0:4b76b1dc05cd 151 TLE5012B_S1 = 0x2000, //!< TLE5012B_S1 second sensor needs also a second CSQ
hudakz 0:4b76b1dc05cd 152 TLE5012B_S2 = 0x4000, //!< TLE5012B_S2 third sensor and dito
hudakz 0:4b76b1dc05cd 153 TLE5012B_S3 = 0x6000 //!< TLE5012B_S3 fourth sensor and dito
hudakz 0:4b76b1dc05cd 154 };
hudakz 0:4b76b1dc05cd 155
hudakz 0:4b76b1dc05cd 156 typedef struct safetyWord {//!< Safety word bit setting
hudakz 0:4b76b1dc05cd 157 bool STAT_RES; //!< bits 15:15 Indication of chip reset or watchdog overflow
hudakz 0:4b76b1dc05cd 158 bool STAT_ERR; //!< bits 14:14 System error
hudakz 0:4b76b1dc05cd 159 bool STAT_ACC; //!< bits 13:13 Interface access error
hudakz 0:4b76b1dc05cd 160 bool STAT_ANG; //!< bits 12:12 Invalid angle value
hudakz 0:4b76b1dc05cd 161 uint8_t RESP; //!< bits 11:8 Sensor number response indicator
hudakz 0:4b76b1dc05cd 162 uint8_t CRC_ADC; //!< bits 7:0 Status ADC Test
hudakz 0:4b76b1dc05cd 163
hudakz 0:4b76b1dc05cd 164 /*!
hudakz 0:4b76b1dc05cd 165 * Returns the safety word slave number to identify the sensor
hudakz 0:4b76b1dc05cd 166 * @return slaveNum setting in safety word
hudakz 0:4b76b1dc05cd 167 */
hudakz 0:4b76b1dc05cd 168 slaveNum responseSlave(){
hudakz 0:4b76b1dc05cd 169 return (RESP == 0x7 ? TLE5012B_S3
hudakz 0:4b76b1dc05cd 170 : (RESP == 0xB ? TLE5012B_S2
hudakz 0:4b76b1dc05cd 171 : (RESP == 0xD ? TLE5012B_S1
hudakz 0:4b76b1dc05cd 172 : TLE5012B_S0)));
hudakz 0:4b76b1dc05cd 173 }
hudakz 0:4b76b1dc05cd 174
hudakz 0:4b76b1dc05cd 175 /*!
hudakz 0:4b76b1dc05cd 176 * Function separates safety word bits
hudakz 0:4b76b1dc05cd 177 * @param [in,out] reg actual safety or last fetched as default
hudakz 0:4b76b1dc05cd 178 * @return safety word
hudakz 0:4b76b1dc05cd 179 */
hudakz 0:4b76b1dc05cd 180 uint16_t fetch_Safety(uint16_t reg)
hudakz 0:4b76b1dc05cd 181 {
hudakz 0:4b76b1dc05cd 182 CRC_ADC = (reg & 0x7F);
hudakz 0:4b76b1dc05cd 183 RESP = (reg & 0xF00) >> 8;
hudakz 0:4b76b1dc05cd 184 STAT_ANG = (reg & 0x1000) >> 12;
hudakz 0:4b76b1dc05cd 185 STAT_ACC = (reg & 0x2000) >> 13;
hudakz 0:4b76b1dc05cd 186 STAT_ERR = (reg & 0x4000) >> 14;
hudakz 0:4b76b1dc05cd 187 STAT_RES = (reg & 0x8000) >> 15;
hudakz 0:4b76b1dc05cd 188 return (reg);
hudakz 0:4b76b1dc05cd 189 }
hudakz 0:4b76b1dc05cd 190 } safetyWord_t;
hudakz 0:4b76b1dc05cd 191
hudakz 0:4b76b1dc05cd 192 /*!
hudakz 0:4b76b1dc05cd 193 * Class TLE5012B
hudakz 0:4b76b1dc05cd 194 */
hudakz 0:4b76b1dc05cd 195 class TLE5012B
hudakz 0:4b76b1dc05cd 196 {
hudakz 0:4b76b1dc05cd 197 public:
hudakz 0:4b76b1dc05cd 198
hudakz 0:4b76b1dc05cd 199 TLE5012B(TLE5012B_SPI* spi, PinName cs) : _spiConnection(spi), _cs(cs), _slave(TLE5012B_S0) { }
hudakz 0:4b76b1dc05cd 200 ~TLE5012B() {}
hudakz 0:4b76b1dc05cd 201
hudakz 0:4b76b1dc05cd 202 /**
hudakz 0:4b76b1dc05cd 203 * All these functions cover the SPI interface and should be implemented
hudakz 0:4b76b1dc05cd 204 * into XMC SPI wrapper.
hudakz 0:4b76b1dc05cd 205 * In 3wire SPI mode miso and mosi are connected together, so read and
hudakz 0:4b76b1dc05cd 206 * write operations are on the same line. In 4wire more read and write are
hudakz 0:4b76b1dc05cd 207 * separated. The system clock SCK and the sensor enable EN line are used
hudakz 0:4b76b1dc05cd 208 * for all slaves whereas the chip select line CS must we set unique for
hudakz 0:4b76b1dc05cd 209 * each slave. A max of four slaves on one SPI interface are possible
hudakz 0:4b76b1dc05cd 210 * @return CRC error type
hudakz 0:4b76b1dc05cd 211 * @param [in] slave slave offset setting for the SNR register, default is TLE5012B_S0
hudakz 0:4b76b1dc05cd 212 */
hudakz 0:4b76b1dc05cd 213 errorTypes begin(slaveNum slave);
hudakz 0:4b76b1dc05cd 214
hudakz 0:4b76b1dc05cd 215 /*!
hudakz 0:4b76b1dc05cd 216 * Triggers an update in the register buffer. This function
hudakz 0:4b76b1dc05cd 217 * should be triggered once before UPD registers where read as
hudakz 0:4b76b1dc05cd 218 * it generates a snapshot of the UPD register values at trigger point
hudakz 0:4b76b1dc05cd 219 */
hudakz 0:4b76b1dc05cd 220 void triggerUpdate();
hudakz 0:4b76b1dc05cd 221
hudakz 0:4b76b1dc05cd 222 /*!
hudakz 0:4b76b1dc05cd 223 * Reads the block of _registers from addresses 08 - 0F in order to figure out the CRC.
hudakz 0:4b76b1dc05cd 224 * ATTENTION: You need a memory chunk of unit16_t * CRC Registers + 1 * uint16_t for the safety word.
hudakz 0:4b76b1dc05cd 225 * @return CRC error type
hudakz 0:4b76b1dc05cd 226 */
hudakz 0:4b76b1dc05cd 227 errorTypes readBlockCRC();
hudakz 0:4b76b1dc05cd 228
hudakz 0:4b76b1dc05cd 229 /*!
hudakz 0:4b76b1dc05cd 230 * General read function for reading _registers from the Tle5012b.
hudakz 0:4b76b1dc05cd 231 *
hudakz 0:4b76b1dc05cd 232 * structure of command word, the numbers represent the bit position of the 2 byte command
hudakz 0:4b76b1dc05cd 233 * 15 - 0 write, 1 read
hudakz 0:4b76b1dc05cd 234 * 14:11 - 0000 for default operational access for addresses between 0x00 - 0x04, 1010 for configuration access for addresses between 0x05 - 0x11
hudakz 0:4b76b1dc05cd 235 * 10 - 0 access to current value, 1 access to value in update buffer
hudakz 0:4b76b1dc05cd 236 * 9:4 - access to 6 bit register address
hudakz 0:4b76b1dc05cd 237 * 3:0 - 4 bit number of data words.
hudakz 0:4b76b1dc05cd 238 *
hudakz 0:4b76b1dc05cd 239 * @param [in] command the command for reading
hudakz 0:4b76b1dc05cd 240 * @param [out] data where the data received from the _registers will be stored
hudakz 0:4b76b1dc05cd 241 * @param [in] upd read from update (UPD_high) register or directly (default, UPD_low)
hudakz 0:4b76b1dc05cd 242 * @param [in] safe generate safety word (default, SAFE_high) or not (SAFE_low)
hudakz 0:4b76b1dc05cd 243 * @return CRC error type
hudakz 0:4b76b1dc05cd 244 */
hudakz 0:4b76b1dc05cd 245 errorTypes readFromSensor(uint16_t command, uint16_t &data, updTypes upd=UPD_LOW, safetyTypes safe=SAFE_HIGH);
hudakz 0:4b76b1dc05cd 246
hudakz 0:4b76b1dc05cd 247 /*!
hudakz 0:4b76b1dc05cd 248 * Can be used to read 1 or more consecutive _registers, and the values
hudakz 0:4b76b1dc05cd 249 * used to read 1 or more than 1 consecutive _registers.
hudakz 0:4b76b1dc05cd 250 * The maximum amount of registers are limited by the bit 3-0 of the command word, which means
hudakz 0:4b76b1dc05cd 251 * you can read max 15 registers and one safety word at once.
hudakz 0:4b76b1dc05cd 252 * @param [in] command the command for reading
hudakz 0:4b76b1dc05cd 253 * @param [out] data where the data received from the _registers will be stored
hudakz 0:4b76b1dc05cd 254 * @param [in] upd read from update (UPD_high) register or directly (default, UPD_low)
hudakz 0:4b76b1dc05cd 255 * @param [in] safe generate safety word (default, SAFE_high) or no (SAFE_low)
hudakz 0:4b76b1dc05cd 256 * @return CRC error type
hudakz 0:4b76b1dc05cd 257 */
hudakz 0:4b76b1dc05cd 258 errorTypes readMoreRegisters(uint16_t command, uint16_t data[], updTypes upd=UPD_LOW, safetyTypes safe=SAFE_HIGH);
hudakz 0:4b76b1dc05cd 259
hudakz 0:4b76b1dc05cd 260 /*!
hudakz 0:4b76b1dc05cd 261 * This functions reads the main status word for the sensor,
hudakz 0:4b76b1dc05cd 262 * mainly for checking with the additional safety word
hudakz 0:4b76b1dc05cd 263 * @param [out] data pointer with the received data word
hudakz 0:4b76b1dc05cd 264 * @param [in] upd read from update (UPD_high) register or directly (default, UPD_low)
hudakz 0:4b76b1dc05cd 265 * @param [in] safe generate safety word (default, SAFE_high) or no (SAFE_low)
hudakz 0:4b76b1dc05cd 266 * @return CRC error type
hudakz 0:4b76b1dc05cd 267 */
hudakz 0:4b76b1dc05cd 268 errorTypes readStatus(uint16_t &data, updTypes upd=UPD_LOW, safetyTypes safe=SAFE_HIGH);
hudakz 0:4b76b1dc05cd 269
hudakz 0:4b76b1dc05cd 270 /*!
hudakz 0:4b76b1dc05cd 271 * This functions reads activation status word for the sensor,
hudakz 0:4b76b1dc05cd 272 * which held on/off information for all optional checks and additional functions
hudakz 0:4b76b1dc05cd 273 * @param [out] data pointer with the received data word
hudakz 0:4b76b1dc05cd 274 * @param [in] upd read from update (UPD_high) register or directly (default, UPD_low)
hudakz 0:4b76b1dc05cd 275 * @param [in] safe generate safety word (default, SAFE_high) or no (SAFE_low)
hudakz 0:4b76b1dc05cd 276 * @return CRC error type
hudakz 0:4b76b1dc05cd 277 */
hudakz 0:4b76b1dc05cd 278 errorTypes readActivationStatus(uint16_t &data, updTypes upd=UPD_LOW, safetyTypes safe=SAFE_HIGH);
hudakz 0:4b76b1dc05cd 279
hudakz 0:4b76b1dc05cd 280 /*!
hudakz 0:4b76b1dc05cd 281 * The next functions are used primarily for storing the parameters and
hudakz 0:4b76b1dc05cd 282 * control of how the sensor works. The values stored in them are used to calculate
hudakz 0:4b76b1dc05cd 283 * the CRC, and their values are stored in the private component of the class, _registers.
hudakz 0:4b76b1dc05cd 284 * @param [out] data where the data received from the _registers will be stored
hudakz 0:4b76b1dc05cd 285 * @return CRC error type
hudakz 0:4b76b1dc05cd 286 */
hudakz 0:4b76b1dc05cd 287 errorTypes readActiveStatus(uint16_t &data); //!< read register offset 0x01
hudakz 0:4b76b1dc05cd 288 errorTypes readIntMode1(uint16_t &data); //!< read register offset 0x06
hudakz 0:4b76b1dc05cd 289 errorTypes readSIL(uint16_t &data); //!< read register offset 0x07
hudakz 0:4b76b1dc05cd 290 errorTypes readIntMode2(uint16_t &data); //!< read register offset 0x08
hudakz 0:4b76b1dc05cd 291 errorTypes readIntMode3(uint16_t &data); //!< read register offset 0x09
hudakz 0:4b76b1dc05cd 292 errorTypes readOffsetX(uint16_t &data); //!< read register offset 0x0A
hudakz 0:4b76b1dc05cd 293 errorTypes readOffsetY(uint16_t &data); //!< read register offset 0x0B
hudakz 0:4b76b1dc05cd 294 errorTypes readSynch(uint16_t &data); //!< read register offset 0x0C
hudakz 0:4b76b1dc05cd 295 errorTypes readIFAB(uint16_t &data); //!< read register offset 0x0D
hudakz 0:4b76b1dc05cd 296 errorTypes readIntMode4(uint16_t &data); //!< read register offset 0x0E
hudakz 0:4b76b1dc05cd 297 errorTypes readTempCoeff(uint16_t &data); //!< read register offset 0x0F
hudakz 0:4b76b1dc05cd 298 errorTypes readTempDMag(uint16_t &data); //!< read register offset 0x14
hudakz 0:4b76b1dc05cd 299 errorTypes readTempRaw(uint16_t &data); //!< read register offset 0x15
hudakz 0:4b76b1dc05cd 300 errorTypes readTempIIFCnt(uint16_t &data); //!< read register offset 0x20
hudakz 0:4b76b1dc05cd 301 errorTypes readTempT25(uint16_t &data); //!< read register offset 0x30
hudakz 0:4b76b1dc05cd 302
hudakz 0:4b76b1dc05cd 303 /*!
hudakz 0:4b76b1dc05cd 304 * The rawX value is signed 16 bit value
hudakz 0:4b76b1dc05cd 305 * @param data pointer to 16bit word
hudakz 0:4b76b1dc05cd 306 * @return CRC error type
hudakz 0:4b76b1dc05cd 307 */
hudakz 0:4b76b1dc05cd 308 errorTypes readRawX(int16_t &data);
hudakz 0:4b76b1dc05cd 309
hudakz 0:4b76b1dc05cd 310 /*!
hudakz 0:4b76b1dc05cd 311 * The rawY value is signed 16 bit value
hudakz 0:4b76b1dc05cd 312 * @param data pointer to 16bit word
hudakz 0:4b76b1dc05cd 313 * @return CRC error type
hudakz 0:4b76b1dc05cd 314 */
hudakz 0:4b76b1dc05cd 315 errorTypes readRawY(int16_t &data);
hudakz 0:4b76b1dc05cd 316
hudakz 0:4b76b1dc05cd 317 /*!
hudakz 0:4b76b1dc05cd 318 * returns the Angle Range
hudakz 0:4b76b1dc05cd 319 * Angle Range is stored in bytes 14 - 4 of MOD_2.
hudakz 0:4b76b1dc05cd 320 * @param angleRange pointer to 16bit double value
hudakz 0:4b76b1dc05cd 321 * @return CRC error type
hudakz 0:4b76b1dc05cd 322 */
hudakz 0:4b76b1dc05cd 323 errorTypes getAngleRange(double &angleRange);
hudakz 0:4b76b1dc05cd 324
hudakz 0:4b76b1dc05cd 325 /*!
hudakz 0:4b76b1dc05cd 326 * Returns the angleValue calculated on the base of a 15 bit signed integer.
hudakz 0:4b76b1dc05cd 327 * However, the register returns 16 bits, so we need to do some bit arithmetic.
hudakz 0:4b76b1dc05cd 328 * @param [in,out] angleValue pointer to 16bit double angle value
hudakz 0:4b76b1dc05cd 329 * @return CRC error type
hudakz 0:4b76b1dc05cd 330 */
hudakz 0:4b76b1dc05cd 331 errorTypes getAngleValue(double &angleValue);
hudakz 0:4b76b1dc05cd 332 /*!
hudakz 0:4b76b1dc05cd 333 * Same function as before but also returns a pointer to the raw data
hudakz 0:4b76b1dc05cd 334 * @param [in,out] angleValue pointer to 16bit double angle value
hudakz 0:4b76b1dc05cd 335 * @param [in,out] rawAnglevalue point to an int16_t raw data value
hudakz 0:4b76b1dc05cd 336 * @param [in] upd read from update (UPD_high) register or directly (default, UPD_low)
hudakz 0:4b76b1dc05cd 337 * @param [in] safe generate safety word (default, SAFE_high) or no (SAFE_low)
hudakz 0:4b76b1dc05cd 338 * @return CRC error type
hudakz 0:4b76b1dc05cd 339 */
hudakz 0:4b76b1dc05cd 340 errorTypes getAngleValue(double &angleValue, int16_t &rawAnglevalue, updTypes upd=UPD_LOW, safetyTypes safe=SAFE_HIGH);
hudakz 0:4b76b1dc05cd 341
hudakz 0:4b76b1dc05cd 342 /*!
hudakz 0:4b76b1dc05cd 343 * Returns the number of revolutions done from the angle value which is a 9 bit signed integer.
hudakz 0:4b76b1dc05cd 344 * However, the register returns 16 bits, so we need to do some bit arithmetic.
hudakz 0:4b76b1dc05cd 345 * Therefore the resulting revolution can b only between -256 < numRev < 256 and
hudakz 0:4b76b1dc05cd 346 * it will switch from positive to negative and vice versa values at the borders.
hudakz 0:4b76b1dc05cd 347 * @param [in,out] numRev pointer to 16bit word for the number of revolutions
hudakz 0:4b76b1dc05cd 348 * @param [in] upd read from update (UPD_high) register or directly (default, UPD_low)
hudakz 0:4b76b1dc05cd 349 * @param [in] safe generate safety word (default, SAFE_high) or no (SAFE_low)
hudakz 0:4b76b1dc05cd 350 * @return CRC error type
hudakz 0:4b76b1dc05cd 351 */
hudakz 0:4b76b1dc05cd 352 errorTypes getNumRevolutions(int16_t &numRev, updTypes upd=UPD_LOW, safetyTypes safe=SAFE_HIGH);
hudakz 0:4b76b1dc05cd 353
hudakz 0:4b76b1dc05cd 354 /*!
hudakz 0:4b76b1dc05cd 355 * Return the temperature.
hudakz 0:4b76b1dc05cd 356 * The temperature value is a 9 bit signed integer.
hudakz 0:4b76b1dc05cd 357 * However, the register returns 16 bits, so we need to do some bit arithmetic.
hudakz 0:4b76b1dc05cd 358 * @param [in,out] temp pointer to 16bit double value of the temperature
hudakz 0:4b76b1dc05cd 359 * @return CRC error type
hudakz 0:4b76b1dc05cd 360 */
hudakz 0:4b76b1dc05cd 361 errorTypes getTemperature(double &temp);
hudakz 0:4b76b1dc05cd 362 /*!
hudakz 0:4b76b1dc05cd 363 * Same as above but also returns a pointer to the raw data
hudakz 0:4b76b1dc05cd 364 * @param [in,out] temp pointer to 16bit double value of the temperature
hudakz 0:4b76b1dc05cd 365 * @param [in,out] rawTemp pointer to int16_t raw value data
hudakz 0:4b76b1dc05cd 366 * @param [in] upd read from update (UPD_high) register or directly (default, UPD_low)
hudakz 0:4b76b1dc05cd 367 * @param [in] safe generate safety word (default, SAFE_high) or no (SAFE_low)
hudakz 0:4b76b1dc05cd 368 * @return CRC error type
hudakz 0:4b76b1dc05cd 369 */
hudakz 0:4b76b1dc05cd 370 errorTypes getTemperature(double &temp, int16_t &rawTemp, updTypes upd=UPD_LOW, safetyTypes safe=SAFE_HIGH);
hudakz 0:4b76b1dc05cd 371
hudakz 0:4b76b1dc05cd 372 /*!
hudakz 0:4b76b1dc05cd 373 * Returns the calculated angle speed.
hudakz 0:4b76b1dc05cd 374 * The angle speed is a 15 bit signed integer,
hudakz 0:4b76b1dc05cd 375 * however, the register returns 16 bits, so we need to do some bit arithmetic.
hudakz 0:4b76b1dc05cd 376 * @param [in,out] angleSpeed pointer to 16bit double value
hudakz 0:4b76b1dc05cd 377 * @return CRC error type
hudakz 0:4b76b1dc05cd 378 */
hudakz 0:4b76b1dc05cd 379 errorTypes getAngleSpeed(double &angleSpeed);
hudakz 0:4b76b1dc05cd 380 /*!
hudakz 0:4b76b1dc05cd 381 * Same as above but also returns a pointer to the raw data
hudakz 0:4b76b1dc05cd 382 * @param [in,out] angleSpeed angleSpeed pointer to 16bit double value
hudakz 0:4b76b1dc05cd 383 * @param [in,out] rawSpeed pointer to int16_t raw value data
hudakz 0:4b76b1dc05cd 384 * @param [in] upd read from update (UPD_high) register or directly (default, UPD_low)
hudakz 0:4b76b1dc05cd 385 * @param [in] safe generate safety word (default, SAFE_high) or no (SAFE_low)
hudakz 0:4b76b1dc05cd 386 * @return CRC error type
hudakz 0:4b76b1dc05cd 387 */
hudakz 0:4b76b1dc05cd 388 errorTypes getAngleSpeed(double &angleSpeed,int16_t &rawSpeed, updTypes upd=UPD_LOW, safetyTypes safe=SAFE_HIGH);
hudakz 0:4b76b1dc05cd 389
hudakz 0:4b76b1dc05cd 390 /*!
hudakz 0:4b76b1dc05cd 391 * Function sets the SNR register with the correct slave number
hudakz 0:4b76b1dc05cd 392 * @param [in] dataToWrite the new data that will be written to the register
hudakz 0:4b76b1dc05cd 393 * @return CRC error type
hudakz 0:4b76b1dc05cd 394 */
hudakz 0:4b76b1dc05cd 395 errorTypes writeSlaveNumber(uint16_t dataToWrite);
hudakz 0:4b76b1dc05cd 396
hudakz 0:4b76b1dc05cd 397 /*!
hudakz 0:4b76b1dc05cd 398 * General write function for writing registers to the Tle5012b. The safety flag will be
hudakz 0:4b76b1dc05cd 399 * set always and only some of all registers are writable. See documentation for further information.
hudakz 0:4b76b1dc05cd 400 * @param [in] command the command to execute the write
hudakz 0:4b76b1dc05cd 401 * @param [in] dataToWrite the new data that will be written to the register
hudakz 0:4b76b1dc05cd 402 * @param [in] changeCRC the registerIndex helps figure out in which register the value changed,
hudakz 0:4b76b1dc05cd 403 * so that we don't need to read all the register again to calculate the CRC
hudakz 0:4b76b1dc05cd 404 * @return CRC error type
hudakz 0:4b76b1dc05cd 405 */
hudakz 0:4b76b1dc05cd 406 errorTypes writeToSensor(uint16_t command, uint16_t dataToWrite, bool changeCRC);
hudakz 0:4b76b1dc05cd 407
hudakz 0:4b76b1dc05cd 408 /*!
hudakz 0:4b76b1dc05cd 409 * This function is used in order to update the CRC in the register 0F(second byte)
hudakz 0:4b76b1dc05cd 410 * @param [in] dataToWrite the new data that will be written to the register
hudakz 0:4b76b1dc05cd 411 * @return CRC error type
hudakz 0:4b76b1dc05cd 412 */
hudakz 0:4b76b1dc05cd 413 errorTypes writeTempCoeffUpdate(uint16_t dataToWrite);
hudakz 0:4b76b1dc05cd 414
hudakz 0:4b76b1dc05cd 415 /*!
hudakz 0:4b76b1dc05cd 416 * Standard function used for updating the CRC
hudakz 0:4b76b1dc05cd 417 * @param [in] dataToWrite the new data that will be written to the register
hudakz 0:4b76b1dc05cd 418 * @return CRC error type
hudakz 0:4b76b1dc05cd 419 */
hudakz 0:4b76b1dc05cd 420 errorTypes writeActivationStatus(uint16_t dataToWrite); //!< write register offset 0x01
hudakz 0:4b76b1dc05cd 421 errorTypes writeIntMode1(uint16_t dataToWrite); //!< write register offset 0x06
hudakz 0:4b76b1dc05cd 422 errorTypes writeSIL(uint16_t dataToWrite); //!< write register offset 0x07
hudakz 0:4b76b1dc05cd 423 errorTypes writeIntMode2(uint16_t dataToWrite); //!< write register offset 0x08
hudakz 0:4b76b1dc05cd 424 errorTypes writeIntMode3(uint16_t dataToWrite); //!< write register offset 0x09
hudakz 0:4b76b1dc05cd 425 errorTypes writeOffsetX(uint16_t dataToWrite); //!< write register offset 0x0A
hudakz 0:4b76b1dc05cd 426 errorTypes writeOffsetY(uint16_t dataToWrite); //!< write register offset 0x0B
hudakz 0:4b76b1dc05cd 427 errorTypes writeSynch(uint16_t dataToWrite); //!< write register offset 0x0C
hudakz 0:4b76b1dc05cd 428 errorTypes writeIFAB(uint16_t dataToWrite); //!< write register offset 0x0D
hudakz 0:4b76b1dc05cd 429 errorTypes writeIntMode4(uint16_t dataToWrite); //!< write register offset 0x0E
hudakz 0:4b76b1dc05cd 430 errorTypes writeTempCoeff(uint16_t dataToWrite); //!< write register offset 0x0F
hudakz 0:4b76b1dc05cd 431
hudakz 0:4b76b1dc05cd 432 private:
hudakz 0:4b76b1dc05cd 433 TLE5012B_SPI* _spiConnection;
hudakz 0:4b76b1dc05cd 434 DigitalOut _cs;
hudakz 0:4b76b1dc05cd 435 slaveNum _slave; //!< actual set slave number
hudakz 0:4b76b1dc05cd 436 safetyWord_t _safetyStatus; //!< actual safety status
hudakz 0:4b76b1dc05cd 437 uint16_t _safetyWord; //!< the last fetched safety word
hudakz 0:4b76b1dc05cd 438 uint16_t _command[2]; //!< command write data [0] = command, [1] = data to write
hudakz 0:4b76b1dc05cd 439 uint16_t _received[MAX_REGISTER_MEM]; //!< fetched data from sensor with last word = safety word
hudakz 0:4b76b1dc05cd 440 uint16_t _registers[CRC_NUM_REGISTERS]; //!< keeps track of the values stored in the 8 _registers, for which the CRC is calculated
hudakz 0:4b76b1dc05cd 441
hudakz 0:4b76b1dc05cd 442 /*!
hudakz 0:4b76b1dc05cd 443 * This function is called each time any register in the
hudakz 0:4b76b1dc05cd 444 * range 08 - 0F(first byte) is changed. It calculates the new CRC
hudakz 0:4b76b1dc05cd 445 * based on the value of all the _registers and then
hudakz 0:4b76b1dc05cd 446 * stores the value in 0F(second byte)
hudakz 0:4b76b1dc05cd 447 * @return CRC error type
hudakz 0:4b76b1dc05cd 448 */
hudakz 0:4b76b1dc05cd 449 errorTypes regularCrcUpdate();
hudakz 0:4b76b1dc05cd 450
hudakz 0:4b76b1dc05cd 451 /*!
hudakz 0:4b76b1dc05cd 452 * checks the safety by looking at the safety word and calculating
hudakz 0:4b76b1dc05cd 453 * the CRC such that the data received is valid
hudakz 0:4b76b1dc05cd 454 * @param safety register with the CRC check data
hudakz 0:4b76b1dc05cd 455 * @param command the command to execute the write
hudakz 0:4b76b1dc05cd 456 * @param readreg pointer to the read data
hudakz 0:4b76b1dc05cd 457 * @param length the length of the data structure
hudakz 0:4b76b1dc05cd 458 * @return CRC error type
hudakz 0:4b76b1dc05cd 459 */
hudakz 0:4b76b1dc05cd 460 errorTypes checkSafety(uint16_t safety, uint16_t command, uint16_t* readreg, uint16_t length);
hudakz 0:4b76b1dc05cd 461
hudakz 0:4b76b1dc05cd 462 /*!
hudakz 0:4b76b1dc05cd 463 * When an error occurs in the safety word, the error bit remains 0(error),
hudakz 0:4b76b1dc05cd 464 * until the status register is read again. Flushes out safety errors,
hudakz 0:4b76b1dc05cd 465 * that might have occurred by reading the register without a safety word.
hudakz 0:4b76b1dc05cd 466 * In case the safety word sends an error, this function is
hudakz 0:4b76b1dc05cd 467 * called so that the error bit is reset to 1.
hudakz 0:4b76b1dc05cd 468 */
hudakz 0:4b76b1dc05cd 469 void resetSafety();
hudakz 0:4b76b1dc05cd 470
hudakz 0:4b76b1dc05cd 471 };
hudakz 0:4b76b1dc05cd 472
hudakz 0:4b76b1dc05cd 473 } // TLE5012 namespace
hudakz 0:4b76b1dc05cd 474
hudakz 0:4b76b1dc05cd 475 #endif