admt4000.h

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/***************************************************************************/
 
#ifndef __ADMT4000_H__
#define __ADMT4000_H__
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "no_os_spi.h"
#include "no_os_gpio.h"
#include "no_os_util.h"
#include "no_os_units.h"
 
/* ADMT4000 Registers */
#define ADMT4000_REG_RST        0x00
 
/* ADMT4000 Agnostic Page Registers */
#define ADMT4000_AGP_REG_CNVPAGE    0x01
#define ADMT4000_AGP_REG_ABSANGLE   0x03
#define ADMT4000_AGP_REG_DGIO       0x04
#define ADMT4000_AGP_REG_ANGLE      0x05
#define ADMT4000_AGP_REG_FAULT      0x06
 
/* ADMT 0x00 Page Registers */
#define ADMT4000_00_REG_SINE        0x10
#define ADMT4000_00_REG_COSINE      0x11
#define ADMT4000_00_REG_RADIUS      0x18
#define ADMT4000_00_REG_TMP     0x20
 
/* ADMT 0x02 Page Registers */
#define ADMT4000_02_REG_GENERAL     0x10 /* ECC0 */
#define ADMT4000_02_REG_DIGIOEN     0x12 /* ECC0 */
#define ADMT4000_02_REG_ANGLECK     0x13 /* ECC0 */
#define ADMT4000_02_REG_CNVCNT      0x14
#define ADMT4000_02_REG_H1MAG       0x15 /* ECC0 */
#define ADMT4000_02_REG_H1PH        0x16 /* ECC0 */
#define ADMT4000_02_REG_H2MAG       0x17 /* ECC0 */
#define ADMT4000_02_REG_H2PH        0x18 /* ECC0 */
#define ADMT4000_02_REG_H3MAG       0x19 /* ECC1/0 */
#define ADMT4000_02_REG_H3PH        0x1A /* ECC1 */
#define ADMT4000_02_REG_H8MAG       0x1B /* ECC1 */
#define ADMT4000_02_REG_H8PH        0x1C /* ECC1 */
#define ADMT4000_02_REG_ECCEDC      0x1D
#define ADMT4000_02_REG_UNIQD0      0x1E
#define ADMT4000_02_REG_UNIQD1      0x1F
#define ADMT4000_02_REG_UNIQD2      0x20
#define ADMT4000_02_REG_UNIQD3      0x21
#define ADMT4000_02_REG_ECCDIS      0x23
 
/* ADMT4000 Other Macros, Masks etc. */
#define ADMT4000_RW_MASK        NO_OS_GENMASK(5, 0)
#define ADMT4000_WR_EN          NO_OS_BIT(6)
#define ADMT4000_FAULT_MASK     NO_OS_BIT(7)
#define ADMT4000_LIFE_CTR       NO_OS_GENMASK(6, 5)
#define ADMT4000_RCV_CRC        NO_OS_GENMASK(4, 0)
 
#define ADMT4000_MIN_PAGE       0x00
#define ADMT4000_MAX_PAGE       0x02
 
#define ADMT4000_DIGIO3FNC_MASK     NO_OS_BIT(3)
#define ADMT4000_DIGIO0FNC_MASK     NO_OS_BIT(0)
 
/* Upper and Lower Byte Masking */
#define ADMT4000_LOW_BYTE       NO_OS_GENMASK(7, 0)
#define ADMT4000_HI_BYTE        NO_OS_GENMASK(15, 8)
 
/* Register 01 */
#define ADMT4000_CNV_EDGE_MASK      NO_OS_GENMASK(15, 14)
#define ADMT4000_PAGE_MASK      NO_OS_GENMASK(4, 0)
#define ADMT4000_FALLING_EDGE       0x00
#define ADMT4000_RISING_EDGE        0x3
 
/* Register 03 */
#define ADMT4000_ABS_ANGLE_MASK     NO_OS_GENMASK(15, 0)
#define ADMT4000_TURN_CNT_MASK      NO_OS_GENMASK(15, 10)
#define ADMT4000_QUARTER_TURN_CNT_MASK  NO_OS_GENMASK(15, 8)
#define ADMT4000_ABS_ANGLE_ANGLE_MASK   NO_OS_GENMASK(9, 0)
 
/* Invalid turn count indicator (0x53 = 83 decimal)
 * Values above ADMT4000_QUARTER_TURNS_MAX (215) indicate invalid state */
#define ADMT4000_INVALID_TURN       0x53
 
/* Register 04*/
#define ADMT4000_MAX_GPIO_INDEX     5
#define ADMT4000_GPIO_LOGIC(x)      NO_OS_BIT(x)
 
/* Register 05 and 08 */
#define ADMT4000_ANGLE_MASK     NO_OS_GENMASK(15, 4)
 
/* Register 06 */
#define ADMT4000_ALL_FAULTS     NO_OS_GENMASK(15, 0)
#define ADMT4000_AGP_INDIV_FAULT(x) NO_OS_BIT((x))
 
/* Register 0x08/10/11/12/13/18, page 0 */
#define ADMT4000_ANGLE_STAT_MASK    NO_OS_BIT(0)
 
/* Register 0x10/11/12/13, page 0 */
#define ADMT4000_RAW_ANGLE_MASK     NO_OS_GENMASK(15, 2)
#define ADMT4000_RAW_COSINE_MASK    NO_OS_GENMASK(15, 2)
#define ADMT4000_RAW_SINE_MASK      NO_OS_GENMASK(15, 2)
#define ADMT4000_NEW_DATA_MASK      NO_OS_BIT(0)
 
/* Register 18, page 0 */
#define ADMT4000_RADIUS_MASK        NO_OS_GENMASK(15, 1)
 
/* Register 0x20, page 0 */
#define ADMT4000_TEMP_MASK      NO_OS_GENMASK(15, 4)
 
/* Register 0x10, page 2 */
#define ADMT4000_STORAGE_BIT7       NO_OS_BIT(7)
#define ADMT4000_STORAGE_BIT6       NO_OS_BIT(6)
#define ADMT4000_STORAGE_BIT5_3     NO_OS_GENMASK(5, 3)
#define ADMT4000_STORAGE_BIT2_0     NO_OS_GENMASK(2, 0)
#define ADMT4000_STORAGE_MASK_BIT7  NO_OS_BIT(15)
#define ADMT4000_STORAGE_MASK_BIT6  NO_OS_BIT(11)
#define ADMT4000_STORAGE_MASK_BIT5_3        NO_OS_GENMASK(8, 6)
#define ADMT4000_STORAGE_MASK_BIT2_0        NO_OS_GENMASK(3, 1)
#define ADMT4000_STORAGE_MASK_FULL  ADMT4000_STORAGE_MASK_BIT7 | \
                    ADMT4000_STORAGE_MASK_BIT6 | \
                    ADMT4000_STORAGE_MASK_BIT5_3 | \
                    ADMT4000_STORAGE_MASK_BIT2_0
 
#define ADMT4000_CONV_SYNC_MODE_MASK    NO_OS_GENMASK(14, 13)
#define ADMT4000_ANGL_FILT_MASK     NO_OS_BIT(12)
#define ADMT4000_H8_CTRL_MASK       NO_OS_BIT(10)
#define ADMT4000_CNV_MODE_MASK      NO_OS_BIT(0)
 
/* Register 0x12, page 2 */
#define ADMT4000_DIG_IO_EN(x)       NO_OS_BIT(8 + (x))
#define ADMT4000_GPIO_FUNC(x)       NO_OS_BIT(x)
 
/* Register 0x14, page 2 */
#define ADMT4000_CNV_CTR_MASK       NO_OS_GENMASK(7, 0)
 
/* Register 0x15 / 0x18, page 2 */
#define ADMT4000_H_11BIT_MAG_MASK   NO_OS_GENMASK(10, 0)
#define ADMT4000_11BIT_MAX      2047
#define ADMT4000_H_12BIT_PHA_MASK   NO_OS_GENMASK(11, 0)
#define ADMT4000_12BIT_MAX      4095
 
/* Register 0x1A / 0x1B, page 2 */
#define ADMT4000_H_8BIT_MAG_MASK    NO_OS_GENMASK(7, 0)
#define ADMT4000_8BIT_MAX       127
 
/* Register 0x1D, page 2 */
#define ADMT4000_ECC_CFG1       NO_OS_GENMASK(15, 8)
#define ADMT4000_ECC_CFG0       NO_OS_GENMASK(7, 0)
 
/* Register 0x1E 0x1F 0x20 0x21 , page 2 */
#define ADMT4000_ID0_MASK       NO_OS_GENMASK(14, 0)
#define ADMT4000_ID_PROD_MASK       NO_OS_GENMASK(10, 8)
#define ADMT4000_ID_SUPPLY_MASK     NO_OS_GENMASK(7, 6)
#define ADMT4000_ID_ASIL_MASK       NO_OS_GENMASK(5, 3)
#define ADMT4000_ID_SIL_REV_MASK    NO_OS_GENMASK(2, 0)
 
/* Register 0x23, page 2 */
#define ADMT4000_ECC_EN_COMM        0x0000
#define ADMT4000_ECC_DIS_COMM       0x4D54
 
/* Angle to degree conversion */
#define ADMT4000_FULL_TURN_DEGREES  360
#define ADMT4000_ABS_ANGLE_RES      1024
#define ADMT4000_ANGLE_RES      4096
 
/* Turn Count Conversion */
#define ADMT4000_TURN_CNT_THRES     0x35
#define ADMT4000_TURN_CNT_TWOS      64
#define ADMT4000_QUARTER_TURNS_MAX  215
#define ADMT4000_QUARTER_TURNS_RES  256
 
/* Temperature Conversion */
#define ADMT4000_TEMP_OFFSET        -1168
#define ADMT4000_TEMP_SCALE_MILLIS  15660
 
/* (0.000924 * 1000000) nV/V */
#define ADMT4000_RADIUS_RES     924
/* *(0.005493/0.6072) hmag resolution/cordic = 0.009046 */
#define ADMT4000_HMAG_SCALER        0.009046f
/* (0.087891) hpha resolution */
#define ADMT4000_HPHA_SCALER        0.087891f
 
/* Timing delays */
/* GPIO settle time in milliseconds */
#define ADMT4000_GPIO_SETTLE_DELAY_MS   10
/* CNV pulse width in microseconds */
#define ADMT4000_CNV_PULSE_WIDTH_US 1
/* Conversion delay in milliseconds */
#define ADMT4000_CONVERSION_DELAY_MS    20
/* Device startup time after reset in milliseconds */
#define ADMT4000_STARTUP_TIME_MS    10
/* Reset hold time in milliseconds */
#define ADMT4000_RESET_HOLD_TIME_MS 1
 
/* Maximum data bit length for CRC */
#define ADMT4000_MAX_CRC_BIT_LEN    25
 
enum admt4000_faults {
    ADMT4000_FAULT_VDD_UV = 0,
    ADMT4000_FAULT_VDD_OV,
    ADMT4000_FAULT_VDRIVE_UV,
    ADMT4000_FAULT_VDRIVE_OV,
    ADMT4000_FAULT_NVM_CRC = 5,
    ADMT4000_FAULT_ECC_DOUBLE = 7,
    ADMT4000_FAULT_GMR_REF_RES = 9,
    ADMT4000_FAULT_TURN_CTRS = 13,
    ADMT4000_FAULT_AMR_RAD_AMP,
};
 
enum admt4000_vdd {
    ADMT4000_3P3V,
    ADMT4000_5V,
};
 
enum admt4000_conv_sync_mode {
    ADMT4000_SEQ_CTRL = 0,
    ADMT4000_START_EDGE = 3,
};
 
enum admt4000_harmonic_corr_src {
    ADMT4000_FACTORY = 0,
    ADMT4000_USER = 1,
};
 
enum admt4000_conversion_mode {
    ADMT4000_CONTINUOUS = 0,
    ADMT4000_ONE_SHOT = 1,
};

struct admt4000_harmonic_coeff {
    uint16_t magnitude_raw;
    uint16_t phase_raw;
};

struct admt4000_harmonics_calib {
    struct admt4000_harmonic_coeff h1;
    struct admt4000_harmonic_coeff h2;
    struct admt4000_harmonic_coeff h3;
    struct admt4000_harmonic_coeff h8;
};

struct admt4000_gpio {
    bool logic_state;
    bool alt_mode;
    bool output_en;
};

struct admt4000_gpio_init_param {
    bool alt_mode;
    bool output_en;
    bool init_state;
};

struct admt4000_init_param {
    struct no_os_spi_init_param spi_init_param;

    struct no_os_gpio_init_param gpio_reset_ip;

    struct no_os_gpio_init_param gpio_cnv_ip;

    struct no_os_gpio_init_param gpio_acalc_ip;

    struct no_os_gpio_init_param gpio_fault_ip;

    struct admt4000_gpio_init_param admt4000_gpio_ip[6];
};

struct admt4000_dev {
    struct no_os_spi_desc *spi_desc;
    struct admt4000_init_param default_config;
    struct no_os_gpio_desc *gpio_reset_desc;
    struct no_os_gpio_desc *gpio_cnv_desc;
    struct no_os_gpio_desc *gpio_acalc_desc;
    struct no_os_gpio_desc *gpio_fault_desc;

    uint8_t current_page;
    bool page_cache_valid;

    struct admt4000_gpio gpios[6];

    bool is_one_shot;
};

int admt4000_angle_raw_to_scaled(uint16_t raw_angle, float *scaled_angle);

int admt4000_harmonic_raw_to_scaled(const struct admt4000_harmonic_coeff
                    *raw_coeff,
                    float *scaled_mag, float *scaled_phase);

int admt4000_harmonic_scaled_to_raw(uint32_t scaled_mag, uint32_t scaled_phase,
                    struct admt4000_harmonic_coeff *raw_coeff);

int admt4000_reinitialize(struct admt4000_dev *device);

int admt4000_hard_reset(struct admt4000_dev *device);

int admt4000_init(struct admt4000_dev **device,
          struct admt4000_init_param *init_param);

int admt4000_remove(struct admt4000_dev *device);

int admt4000_reg_read(struct admt4000_dev *device, uint8_t reg_addr,
              uint16_t *reg_data, uint8_t *verif);

int admt4000_reg_write(struct admt4000_dev *device, uint8_t reg_addr,
               uint16_t reg_data);

int admt4000_reg_update(struct admt4000_dev *device, uint8_t reg_addr,
            uint16_t update_mask, uint16_t update_val);

int admt4000_toggle_cnv(struct admt4000_dev *device);

int admt4000_raw_angle_read(struct admt4000_dev *device, uint16_t *angle_data);

int admt4000_get_raw_turns_and_angle(struct admt4000_dev *device,
                     uint8_t *turns,
                     uint16_t *angle);

int admt4000_quarter_turns_cnt(uint8_t raw_turns, int16_t *quarter_turns);

int admt4000_get_gpio(struct admt4000_dev *device, uint8_t gpio, bool *logic);

int admt4000_set_gpio(struct admt4000_dev *device, uint8_t gpio, bool logic);

int admt4000_clear_all_faults(struct admt4000_dev *device);

int admt4000_get_faults(struct admt4000_dev *device, uint16_t *faults);

int admt4000_get_radius(struct admt4000_dev *device, uint16_t *radius,
            bool *is_new_data);

int admt4000_radius_raw_to_scaled(uint16_t raw_radius, float *radius);

int admt4000_get_temp(struct admt4000_dev *device, uint16_t *temp);

int admt4000_temp_raw_to_scaled(uint16_t temp_raw, float *temp);

int admt4000_get_storage_config(struct admt4000_dev *device, uint8_t *storage);

int admt4000_set_storage_config(struct admt4000_dev *device, uint8_t storage);

int admt4000_get_conv_sync_mode(struct admt4000_dev *device,
                enum admt4000_conv_sync_mode *mode);

int admt4000_set_conv_sync_mode(struct admt4000_dev *device,
                enum admt4000_conv_sync_mode mode);

int admt4000_get_angle_filt(struct admt4000_dev *device, bool *is_filtered);

int admt4000_set_angle_filt(struct admt4000_dev *device, bool is_filtered);

int admt4000_get_h8_ctrl(struct admt4000_dev *device,
             enum admt4000_harmonic_corr_src *source);

int admt4000_set_h8_ctrl(struct admt4000_dev *device,
             enum admt4000_harmonic_corr_src source);

int admt4000_get_conv_mode(struct admt4000_dev *device, bool *is_one_shot);

int admt4000_set_conv_mode(struct admt4000_dev *device, bool is_one_shot);

int admt4000_gpio_config(struct admt4000_dev *device, uint8_t gpio,
             bool alt_mode, bool output_en, bool init_state);

int admt4000_get_gpio_func(struct admt4000_dev *device, uint8_t gpio,
               bool *alt_mode);
 

int admt4000_get_cnv_cnt(struct admt4000_dev *device, uint8_t *cnt);

int admt4000_get_id(struct admt4000_dev *device, uint8_t id_num, uint16_t *id);
 

int admt4000_get_cos(struct admt4000_dev *device, int16_t *val,
             bool *is_new_data);

int admt4000_get_sin(struct admt4000_dev *device, int16_t *val,
             bool *is_new_data);

int admt4000_get_harmonic(struct admt4000_dev *device, uint8_t harmonic,
              struct admt4000_harmonic_coeff *config);

int admt4000_set_harmonic(struct admt4000_dev *device, uint8_t harmonic,
              const struct admt4000_harmonic_coeff *config);

int admt4000_get_harmonics_calib(struct admt4000_dev *device,
                 struct admt4000_harmonics_calib *calib);

int admt4000_set_harmonics_calib(struct admt4000_dev *device,
                 const struct admt4000_harmonics_calib *calib);
 
#ifdef __cplusplus
}
#endif
 
#endif  /* __ADMT4000_H__ */