Collaboration diagram for Tle5012b base API:

Data Structures
class	Tle5012b

struct	Tle5012b::safetyWord

Enumerations
enum	Tle5012b::slaveNum { Tle5012b::TLE5012B_S0 = 0x0000 , Tle5012b::TLE5012B_S1 = 0x2000 , Tle5012b::TLE5012B_S2 = 0x4000 , Tle5012b::TLE5012B_S3 = 0x6000 }

Functions
slaveNum	Tle5012b::safetyWord::responseSlave ()
	Returns the safety word slave number to identify the sensor. More...

uint16_t	Tle5012b::safetyWord::fetch_Safety (uint16_t reg)
	Function separates safety word bits. More...

errorTypes	Tle5012b::begin ()

errorTypes	Tle5012b::begin (uint8_t csPin, slaveNum slave=TLE5012B_S0)
	begin method with default assignments for the SPI bus and the slave setting. Only the csPin is needed. More...

errorTypes	Tle5012b::readActiveStatus (uint16_t &data)
	read register offset 0x01 More...

Variables
SPIC *	Tle5012b::sBus
	SPI cover class as representation of the SPI bus. More...

GPIO *	Tle5012b::en
	shield enable GPIO to switch sensor2go on/off More...

Reg	Tle5012b::reg
	Register map. More...

slaveNum	Tle5012b::mSlave
	actual set slave number More...

bool	Tle5012b::safetyWord::STAT_RES
	< More...

bool	Tle5012b::safetyWord::STAT_ERR
	bits 14:14 System error More...

bool	Tle5012b::safetyWord::STAT_ACC
	bits 13:13 Interface access error More...

bool	Tle5012b::safetyWord::STAT_ANG
	bits 12:12 Invalid angle value More...

uint8_t	Tle5012b::safetyWord::RESP
	bits 11:8 Sensor number response indicator More...

uint8_t	Tle5012b::safetyWord::CRC
	bits 7:0 Status ADC Test More...

struct Tle5012b::safetyWord	Tle5012b::safetyWord_t
	constructor for the Sensor More...

safetyWord	Tle5012b::safetyStatus

uint16_t	Tle5012b::safetyWord
	the last fetched safety word More...

uint16_t	Tle5012b::_command [2]
	command write data [0] = command [1] = data to write More...

uint16_t	Tle5012b::_received [MAX_REGISTER_MEM]
	fetched data from sensor with last word = safety word More...

uint16_t	Tle5012b::_registers [CRC_NUM_REGISTERS+1]
	keeps track of the values stored in the 8 _registers, for which the CRC is calculated More...

TLE5012b.cpp - core library for the TLE5012B angle sensor.
GMR-based angle sensor for angular position sensing in automotive applications Core Library Author Infineon Technologies AG Copyright 2019-2020 Infineon Technologies AG Version 3.1.0 SPDX-License-Identifier: MIT
	Tle5012b::Tle5012b ()
	destructor stops the Sensor More...

	Tle5012b::~Tle5012b ()
	default begin with standard pin setting More...

void	Tle5012b::end ()

void	Tle5012b::enableSensor ()

void	Tle5012b::disableSensor ()

errorTypes	Tle5012b::readBlockCRC ()

errorTypes	Tle5012b::readFromSensor (uint16_t command, uint16_t &data, updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	Tle5012b::readMoreRegisters (uint16_t command, uint16_t data[], updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	Tle5012b::readStatus (uint16_t &data, updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	Tle5012b::readActivationStatus (uint16_t &data, updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	Tle5012b::readIntMode1 (uint16_t &data)
	read register offset 0x06 More...

errorTypes	Tle5012b::readSIL (uint16_t &data)
	read register offset 0x07 More...

errorTypes	Tle5012b::readIntMode2 (uint16_t &data)
	read register offset 0x08 More...

errorTypes	Tle5012b::readIntMode3 (uint16_t &data)
	read register offset 0x09 More...

errorTypes	Tle5012b::readOffsetX (uint16_t &data)
	read register offset 0x0A More...

errorTypes	Tle5012b::readOffsetY (uint16_t &data)
	read register offset 0x0B More...

errorTypes	Tle5012b::readSynch (uint16_t &data)
	read register offset 0x0C More...

errorTypes	Tle5012b::readIFAB (uint16_t &data)
	read register offset 0x0D More...

errorTypes	Tle5012b::readIntMode4 (uint16_t &data)
	read register offset 0x0E More...

errorTypes	Tle5012b::readTempCoeff (uint16_t &data)
	read register offset 0x0F More...

errorTypes	Tle5012b::readTempDMag (uint16_t &data)
	read register offset 0x14 More...

errorTypes	Tle5012b::readTempRaw (uint16_t &data)
	read register offset 0x15 More...

errorTypes	Tle5012b::readTempIIFCnt (uint16_t &data)
	read register offset 0x20 More...

errorTypes	Tle5012b::readTempT25 (uint16_t &data)
	read register offset 0x30 More...

errorTypes	Tle5012b::readRawX (int16_t &data)

errorTypes	Tle5012b::readRawY (int16_t &data)

errorTypes	Tle5012b::getAngleRange (double &angleRange)

errorTypes	Tle5012b::getAngleValue (double &angleValue)

errorTypes	Tle5012b::getAngleValue (double &angleValue, int16_t &rawAnglevalue, updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	Tle5012b::getNumRevolutions (int16_t &numRev, updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	Tle5012b::getTemperature (double &temp)

errorTypes	Tle5012b::getTemperature (double &temp, int16_t &rawTemp, updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	Tle5012b::getAngleSpeed (double &angleSpeed)

errorTypes	Tle5012b::getAngleSpeed (double &angleSpeed, int16_t &rawSpeed, updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	Tle5012b::writeSlaveNumber (uint16_t dataToWrite)

errorTypes	Tle5012b::writeToSensor (uint16_t command, uint16_t dataToWrite, bool changeCRC)

errorTypes	Tle5012b::writeTempCoeffUpdate (uint16_t dataToWrite)

errorTypes	Tle5012b::writeActivationStatus (uint16_t dataToWrite)
	write register offset 0x01 More...

errorTypes	Tle5012b::writeIntMode1 (uint16_t dataToWrite)
	write register offset 0x06 More...

errorTypes	Tle5012b::writeSIL (uint16_t dataToWrite)
	write register offset 0x07 More...

errorTypes	Tle5012b::writeIntMode2 (uint16_t dataToWrite)
	write register offset 0x08 More...

errorTypes	Tle5012b::writeIntMode3 (uint16_t dataToWrite)
	write register offset 0x09 More...

errorTypes	Tle5012b::writeOffsetX (uint16_t dataToWrite)
	write register offset 0x0A More...

errorTypes	Tle5012b::writeOffsetY (uint16_t dataToWrite)
	write register offset 0x0B More...

errorTypes	Tle5012b::writeSynch (uint16_t dataToWrite)
	write register offset 0x0C More...

errorTypes	Tle5012b::writeIFAB (uint16_t dataToWrite)
	write register offset 0x0D More...

errorTypes	Tle5012b::writeIntMode4 (uint16_t dataToWrite)
	write register offset 0x0E More...

errorTypes	Tle5012b::writeTempCoeff (uint16_t dataToWrite)
	write register offset 0x0F More...

errorTypes	Tle5012b::resetFirmware ()

errorTypes	Tle5012b::readRegMap ()

errorTypes	Tle5012b::writeInterfaceType (Reg::interfaceType_t iface)

errorTypes	Tle5012b::setCalibration (Reg::calibrationMode_t calMode)

errorTypes	Tle5012b::regularCrcUpdate ()

errorTypes	Tle5012b::checkSafety (uint16_t safety, uint16_t command, uint16_t *readreg, uint16_t length)

void	Tle5012b::resetSafety ()

Detailed Description

Data Structure Documentation

◆ Tle5012b

class Tle5012b

Inheritance diagram for Tle5012b:

[legend]

Collaboration diagram for Tle5012b:

[legend]

Public Types
enum	slaveNum { TLE5012B_S0 = 0x0000 , TLE5012B_S1 = 0x2000 , TLE5012B_S2 = 0x4000 , TLE5012B_S3 = 0x6000 }

Public Member Functions
errorTypes	begin ()

errorTypes	begin (uint8_t csPin, slaveNum slave=TLE5012B_S0)
	begin method with default assignments for the SPI bus and the slave setting. Only the csPin is needed. More...

errorTypes	readActiveStatus (uint16_t &data)
	read register offset 0x01 More...

Data Fields
SPIC *	sBus
	SPI cover class as representation of the SPI bus. More...

GPIO *	en
	shield enable GPIO to switch sensor2go on/off More...

Reg	reg
	Register map. More...

slaveNum	mSlave
	actual set slave number More...

struct Tle5012b::safetyWord	safetyWord_t
	constructor for the Sensor More...

safetyWord	safetyStatus

uint16_t	safetyWord
	the last fetched safety word More...

Protected Attributes
uint16_t	_command [2]
	command write data [0] = command [1] = data to write More...

uint16_t	_received [MAX_REGISTER_MEM]
	fetched data from sensor with last word = safety word More...

uint16_t	_registers [CRC_NUM_REGISTERS+1]
	keeps track of the values stored in the 8 _registers, for which the CRC is calculated More...

TLE5012b.cpp - core library for the TLE5012B angle sensor.
GMR-based angle sensor for angular position sensing in automotive applications Core Library Author Infineon Technologies AG Copyright 2019-2020 Infineon Technologies AG Version 3.1.0 SPDX-License-Identifier: MIT
	Tle5012b ()
	destructor stops the Sensor More...

	~Tle5012b ()
	default begin with standard pin setting More...

void	end ()

void	enableSensor ()

void	disableSensor ()

errorTypes	readBlockCRC ()

errorTypes	readFromSensor (uint16_t command, uint16_t &data, updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	readMoreRegisters (uint16_t command, uint16_t data[], updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	readStatus (uint16_t &data, updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	readActivationStatus (uint16_t &data, updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	readIntMode1 (uint16_t &data)
	read register offset 0x06 More...

errorTypes	readSIL (uint16_t &data)
	read register offset 0x07 More...

errorTypes	readIntMode2 (uint16_t &data)
	read register offset 0x08 More...

errorTypes	readIntMode3 (uint16_t &data)
	read register offset 0x09 More...

errorTypes	readOffsetX (uint16_t &data)
	read register offset 0x0A More...

errorTypes	readOffsetY (uint16_t &data)
	read register offset 0x0B More...

errorTypes	readSynch (uint16_t &data)
	read register offset 0x0C More...

errorTypes	readIFAB (uint16_t &data)
	read register offset 0x0D More...

errorTypes	readIntMode4 (uint16_t &data)
	read register offset 0x0E More...

errorTypes	readTempCoeff (uint16_t &data)
	read register offset 0x0F More...

errorTypes	readTempDMag (uint16_t &data)
	read register offset 0x14 More...

errorTypes	readTempRaw (uint16_t &data)
	read register offset 0x15 More...

errorTypes	readTempIIFCnt (uint16_t &data)
	read register offset 0x20 More...

errorTypes	readTempT25 (uint16_t &data)
	read register offset 0x30 More...

errorTypes	readRawX (int16_t &data)

errorTypes	readRawY (int16_t &data)

errorTypes	getAngleRange (double &angleRange)

errorTypes	getAngleValue (double &angleValue)

errorTypes	getAngleValue (double &angleValue, int16_t &rawAnglevalue, updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	getNumRevolutions (int16_t &numRev, updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	getTemperature (double &temp)

errorTypes	getTemperature (double &temp, int16_t &rawTemp, updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	getAngleSpeed (double &angleSpeed)

errorTypes	getAngleSpeed (double &angleSpeed, int16_t &rawSpeed, updTypes upd=UPD_low, safetyTypes safe=SAFE_high)

errorTypes	writeSlaveNumber (uint16_t dataToWrite)

errorTypes	writeToSensor (uint16_t command, uint16_t dataToWrite, bool changeCRC)

errorTypes	writeTempCoeffUpdate (uint16_t dataToWrite)

errorTypes	writeActivationStatus (uint16_t dataToWrite)
	write register offset 0x01 More...

errorTypes	writeIntMode1 (uint16_t dataToWrite)
	write register offset 0x06 More...

errorTypes	writeSIL (uint16_t dataToWrite)
	write register offset 0x07 More...

errorTypes	writeIntMode2 (uint16_t dataToWrite)
	write register offset 0x08 More...

errorTypes	writeIntMode3 (uint16_t dataToWrite)
	write register offset 0x09 More...

errorTypes	writeOffsetX (uint16_t dataToWrite)
	write register offset 0x0A More...

errorTypes	writeOffsetY (uint16_t dataToWrite)
	write register offset 0x0B More...

errorTypes	writeSynch (uint16_t dataToWrite)
	write register offset 0x0C More...

errorTypes	writeIFAB (uint16_t dataToWrite)
	write register offset 0x0D More...

errorTypes	writeIntMode4 (uint16_t dataToWrite)
	write register offset 0x0E More...

errorTypes	writeTempCoeff (uint16_t dataToWrite)
	write register offset 0x0F More...

errorTypes	resetFirmware ()

errorTypes	readRegMap ()

errorTypes	writeInterfaceType (Reg::interfaceType_t iface)

errorTypes	setCalibration (Reg::calibrationMode_t calMode)

errorTypes	regularCrcUpdate ()

errorTypes	checkSafety (uint16_t safety, uint16_t command, uint16_t *readreg, uint16_t length)

void	resetSafety ()

◆ Tle5012b::safetyWord

struct Tle5012b::safetyWord

Public Member Functions
slaveNum	responseSlave ()
	Returns the safety word slave number to identify the sensor. More...

uint16_t	fetch_Safety (uint16_t reg)
	Function separates safety word bits. More...

Data Fields
bool	STAT_RES
	< More...

bool	STAT_ERR
	bits 14:14 System error More...

bool	STAT_ACC
	bits 13:13 Interface access error More...

bool	STAT_ANG
	bits 12:12 Invalid angle value More...

uint8_t	RESP
	bits 11:8 Sensor number response indicator More...

uint8_t	CRC
	bits 7:0 Status ADC Test More...

Enumeration Type Documentation

◆ slaveNum

enum Tle5012b::slaveNum

Offset for the slave number register to identify the right selected slave. Max 4 slaves with separated CSQ lines are possible. If more than one sensor is used on the SPI interface, than the SNR register must we written with the correct slave number

Enumerator
TLE5012B_S0	TLE5012B_S0 default setting for only one sensor on the SPI.
TLE5012B_S1	TLE5012B_S1 second sensor needs also a second CSQ.
TLE5012B_S2	TLE5012B_S2 third sensor and ditto.
TLE5012B_S3	TLE5012B_S3 fourth sensor and ditto.

Function Documentation

◆ responseSlave()

slaveNum Tle5012b::safetyWord::responseSlave ( )

inline

Returns the safety word slave number to identify the sensor.

Returns: slaveNum setting in safety word

◆ fetch_Safety()

uint16_t Tle5012b::safetyWord::fetch_Safety ( uint16_t reg )

inline

Function separates safety word bits.

Parameters

[in,out] reg actual safety or last fetched as default

Returns: safety word

◆ Tle5012b()

Tle5012b::Tle5012b ( )

destructor stops the Sensor

◆ ~Tle5012b()

Tle5012b::~Tle5012b ( )

default begin with standard pin setting

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◆ begin() [1/2]

errorTypes Tle5012b::begin ( )

◆ begin() [2/2]

errorTypes Tle5012b::begin	(	uint8_t	csPin,
		slaveNum	slave = `TLE5012B_S0`
	)

begin method with default assignments for the SPI bus and the slave setting. Only the csPin is needed.

Parameters

csPin	pin number of the CS pin
slave	slave offset setting for the SNR register, default is TLE5012B_S0

Ends the comunication and switches the sensor off, if possible (only Sensor2go kit)

◆ end()

void Tle5012b::end ( void )

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◆ enableSensor()

void Tle5012b::enableSensor ( )

Function enables Sensor by switch on EN pin which is only possible on Sensor2go shields, but also sets chipselect high. So it is called always.

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◆ disableSensor()

void Tle5012b::disableSensor ( )

Functions disables Sensor by switch off EN pin (only possible on Sensor2go shield)

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◆ readBlockCRC()

errorTypes Tle5012b::readBlockCRC ( )

Reads the block of _registers from addresses 08 - 0F in order to figure out the CRC. ATTENTION: You need a memory chunk of unit16_t * CRC Registers + 1 * uint16_t for the safety word.

Returns: CRC error type

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◆ readFromSensor()

errorTypes Tle5012b::readFromSensor	(	uint16_t	command,
		uint16_t &	data,
		updTypes	upd = `UPD_low`,
		safetyTypes	safe = `SAFE_high`
	)

General read function for reading _registers from the Tle5012b.

structure of command word, the numbers represent the bit position of the 2 byte command 15 - 0 write, 1 read 14:11 - 0000 for default operational access for addresses between 0x00 - 0x04, 1010 for configuration access for addresses between 0x05 - 0x11 10 - 0 access to current value, 1 access to value in update buffer 9:4 - access to 6 bit register address 3:0 - 4 bit number of data words.

Parameters

[in]	command	the command for reading
[out]	data	where the data received from the _registers will be stored
[in]	upd	read from update (UPD_high) register or directly (default, UPD_low)
[in]	safe	generate safety word (default, SAFE_high) or not (SAFE_low)

Returns: CRC error type

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◆ readMoreRegisters()

errorTypes Tle5012b::readMoreRegisters	(	uint16_t	command,
		uint16_t	data[],
		updTypes	upd = `UPD_low`,
		safetyTypes	safe = `SAFE_high`
	)

Can be used to read 1 or more consecutive _registers, and the values used to read 1 or more than 1 consecutive _registers. The maximum amount of registers are limited by the bit 3-0 of the command word, which means you can read max 15 registers and one safety word at once.

Parameters

[in]	command	the command for reading
[out]	data	where the data received from the _registers will be stored
[in]	upd	read from update (UPD_high) register or directly (default, UPD_low)
[in]	safe	generate safety word (default, SAFE_high) or no (SAFE_low)

Returns: CRC error type

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◆ readStatus()

errorTypes Tle5012b::readStatus	(	uint16_t &	data,
		updTypes	upd = `UPD_low`,
		safetyTypes	safe = `SAFE_high`
	)

This functions reads the main status word for the sensor, mainly for checking with the additional safety word

Parameters

[out]	data	pointer with the received data word
[in]	upd	read from update (UPD_high) register or directly (default, UPD_low)
[in]	safe	generate safety word (default, SAFE_high) or no (SAFE_low)

Returns: CRC error type

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◆ readActivationStatus()

errorTypes Tle5012b::readActivationStatus	(	uint16_t &	data,
		updTypes	upd = `UPD_low`,
		safetyTypes	safe = `SAFE_high`
	)

This functions reads activation status word for the sensor, which held on/off information for all optional checks and additional functions

Parameters

[out]	data	pointer with the received data word
[in]	upd	read from update (UPD_high) register or directly (default, UPD_low)
[in]	safe	generate safety word (default, SAFE_high) or no (SAFE_low)

Returns: CRC error type

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◆ readActiveStatus()

errorTypes Tle5012b::readActiveStatus ( uint16_t & data )

read register offset 0x01

The next functions are used primarily for storing the parameters and control of how the sensor works. The values stored in them are used to calculate the CRC, and their values are stored in the private component of the class, _registers.

Parameters

[out] data where the data received from the _registers will be stored

Returns: CRC error type

◆ readIntMode1()

errorTypes Tle5012b::readIntMode1 ( uint16_t & data )

read register offset 0x06

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◆ readSIL()

errorTypes Tle5012b::readSIL ( uint16_t & data )

read register offset 0x07

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◆ readIntMode2()

errorTypes Tle5012b::readIntMode2 ( uint16_t & data )

read register offset 0x08

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◆ readIntMode3()

errorTypes Tle5012b::readIntMode3 ( uint16_t & data )

read register offset 0x09

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◆ readOffsetX()

errorTypes Tle5012b::readOffsetX ( uint16_t & data )

read register offset 0x0A

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◆ readOffsetY()

errorTypes Tle5012b::readOffsetY ( uint16_t & data )

read register offset 0x0B

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◆ readSynch()

errorTypes Tle5012b::readSynch ( uint16_t & data )

read register offset 0x0C

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◆ readIFAB()

errorTypes Tle5012b::readIFAB ( uint16_t & data )

read register offset 0x0D

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◆ readIntMode4()

errorTypes Tle5012b::readIntMode4 ( uint16_t & data )

read register offset 0x0E

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◆ readTempCoeff()

errorTypes Tle5012b::readTempCoeff ( uint16_t & data )

read register offset 0x0F

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◆ readTempDMag()

errorTypes Tle5012b::readTempDMag ( uint16_t & data )

read register offset 0x14

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◆ readTempRaw()

errorTypes Tle5012b::readTempRaw ( uint16_t & data )

read register offset 0x15

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◆ readTempIIFCnt()

errorTypes Tle5012b::readTempIIFCnt ( uint16_t & data )

read register offset 0x20

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◆ readTempT25()

errorTypes Tle5012b::readTempT25 ( uint16_t & data )

read register offset 0x30

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◆ readRawX()

errorTypes Tle5012b::readRawX ( int16_t & data )

The rawX value is signed 16 bit value

Parameters

data	pointer to 16bit word

Returns: CRC error type

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◆ readRawY()

errorTypes Tle5012b::readRawY ( int16_t & data )

The rawY value is signed 16 bit value

Parameters

data	pointer to 16bit word

Returns: CRC error type

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◆ getAngleRange()

errorTypes Tle5012b::getAngleRange ( double & angleRange )

Returns the Angle Range Angle Range is stored in bytes 14 - 4 of MOD_2.

Parameters

angleRange pointer to 16bit double value

Returns: CRC error type

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◆ getAngleValue() [1/2]

errorTypes Tle5012b::getAngleValue ( double & angleValue )

Returns the angleValue calculated on the base of a 15 bit signed integer. However, the register returns 16 bits, so we need to do some bit arithmetic.

Parameters

[in,out] angleValue pointer to 16bit double angle value

Returns: CRC error type

◆ getAngleValue() [2/2]

errorTypes Tle5012b::getAngleValue	(	double &	angleValue,
		int16_t &	rawAnglevalue,
		updTypes	upd = `UPD_low`,
		safetyTypes	safe = `SAFE_high`
	)

Same function as before but also returns a pointer to the raw data

Parameters

[in,out]	angleValue	pointer to 16bit double angle value
[in,out]	rawAnglevalue	point to an int16_t raw data value
[in]	upd	read from update (UPD_high) register or directly (default, UPD_low)
[in]	safe	generate safety word (default, SAFE_high) or no (SAFE_low)

Returns: CRC error type

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◆ getNumRevolutions()

errorTypes Tle5012b::getNumRevolutions	(	int16_t &	numRev,
		updTypes	upd = `UPD_low`,
		safetyTypes	safe = `SAFE_high`
	)

Returns the number of revolutions done from the angle value which is a 9 bit signed integer. However, the register returns 16 bits, so we need to do some bit arithmetic. Therefore the resulting revolution can b only between -256 < numRev < 256 and it will switch from positive to negative and vice versa values at the borders.

Parameters

[in,out]	numRev	pointer to 16bit word for the number of revolutions
[in]	upd	read from update (UPD_high) register or directly (default, UPD_low)
[in]	safe	generate safety word (default, SAFE_high) or no (SAFE_low)

Returns: CRC error type

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◆ getTemperature() [1/2]

errorTypes Tle5012b::getTemperature ( double & temp )

Return the temperature. The temperature value is a 9 bit signed integer. However, the register returns 16 bits, so we need to do some bit arithmetic.

Parameters

[in,out] temp pointer to 16bit double value of the temperature

Returns: CRC error type

◆ getTemperature() [2/2]

errorTypes Tle5012b::getTemperature	(	double &	temp,
		int16_t &	rawTemp,
		updTypes	upd = `UPD_low`,
		safetyTypes	safe = `SAFE_high`
	)

Same as above but also returns a pointer to the raw data

Parameters

[in,out]	temp	pointer to 16bit double value of the temperature
[in,out]	rawTemp	pointer to int16_t raw value data
[in]	upd	read from update (UPD_high) register or directly (default, UPD_low)
[in]	safe	generate safety word (default, SAFE_high) or no (SAFE_low)

Returns: CRC error type

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◆ getAngleSpeed() [1/2]

errorTypes Tle5012b::getAngleSpeed ( double & angleSpeed )

Returns the calculated angle speed. The angle speed is a 15 bit signed integer, however, the register returns 16 bits, so we need to do some bit arithmetic.

Parameters

[in,out] angleSpeed pointer to 16bit double value

Returns: CRC error type

◆ getAngleSpeed() [2/2]

errorTypes Tle5012b::getAngleSpeed	(	double &	angleSpeed,
		int16_t &	rawSpeed,
		updTypes	upd = `UPD_low`,
		safetyTypes	safe = `SAFE_high`
	)

Same as above but also returns a pointer to the raw data

Parameters

[in,out]	angleSpeed	angleSpeed pointer to 16bit double value
[in,out]	rawSpeed	pointer to int16_t raw value data
[in]	upd	read from update (UPD_high) register or directly (default, UPD_low)
[in]	safe	generate safety word (default, SAFE_high) or no (SAFE_low)

Returns: CRC error type

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◆ writeSlaveNumber()

errorTypes Tle5012b::writeSlaveNumber ( uint16_t dataToWrite )

Function sets the SNR register with the correct slave number

Parameters

[in] dataToWrite the new data that will be written to the register

Returns: CRC error type

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◆ writeToSensor()

errorTypes Tle5012b::writeToSensor	(	uint16_t	command,
		uint16_t	dataToWrite,
		bool	changeCRC
	)

General write function for writing registers to the Tle5012b. The safety flag will be set always and only some of all registers are writable. See documentation for further information.

Parameters

[in]	command	the command to execute the write
[in]	dataToWrite	the new data that will be written to the register
[in]	changeCRC	the registerIndex helps figure out in which register the value changed, so that we don't need to read all the register again to calculate the CRC

Returns: CRC error type

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◆ writeTempCoeffUpdate()

errorTypes Tle5012b::writeTempCoeffUpdate ( uint16_t dataToWrite )

This function is used in order to update the CRC in the register 0F(second byte)

Parameters

[in] dataToWrite the new data that will be written to the register

Returns: CRC error type

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◆ writeActivationStatus()

errorTypes Tle5012b::writeActivationStatus ( uint16_t dataToWrite )

write register offset 0x01

Standard function used for updating the CRC

Parameters

[in] dataToWrite the new data that will be written to the register

Returns: CRC error type

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◆ writeIntMode1()

errorTypes Tle5012b::writeIntMode1 ( uint16_t dataToWrite )

write register offset 0x06

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◆ writeSIL()

errorTypes Tle5012b::writeSIL ( uint16_t dataToWrite )

write register offset 0x07

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◆ writeIntMode2()

errorTypes Tle5012b::writeIntMode2 ( uint16_t dataToWrite )

write register offset 0x08

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◆ writeIntMode3()

errorTypes Tle5012b::writeIntMode3 ( uint16_t dataToWrite )

write register offset 0x09

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◆ writeOffsetX()

errorTypes Tle5012b::writeOffsetX ( uint16_t dataToWrite )

write register offset 0x0A

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◆ writeOffsetY()

errorTypes Tle5012b::writeOffsetY ( uint16_t dataToWrite )

write register offset 0x0B

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◆ writeSynch()

errorTypes Tle5012b::writeSynch ( uint16_t dataToWrite )

write register offset 0x0C

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◆ writeIFAB()

errorTypes Tle5012b::writeIFAB ( uint16_t dataToWrite )

write register offset 0x0D

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◆ writeIntMode4()

errorTypes Tle5012b::writeIntMode4 ( uint16_t dataToWrite )

write register offset 0x0E

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◆ writeTempCoeff()

errorTypes Tle5012b::writeTempCoeff ( uint16_t dataToWrite )

write register offset 0x0F

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◆ resetFirmware()

errorTypes Tle5012b::resetFirmware ( )

Function reset the Sensor to fuse defaults

Returns: CRC error type

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◆ readRegMap()

errorTypes Tle5012b::readRegMap ( )

Function reads all readable sensor registers and separates the information fields. This function is needed for finding the selected interface type.

Returns: CRC error type

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◆ writeInterfaceType()

errorTypes Tle5012b::writeInterfaceType ( Reg::interfaceType_t iface )

Functions switches between all possible interface types. ATTENTION: The different interfaces support not always all values, see documentation for the ability of each interface. If you want to be save, than choose the default SSC interface which always supports all possible parameter.

Parameters

iface type of interface to switch to

Returns: CRC error type

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◆ setCalibration()

errorTypes Tle5012b::setCalibration ( Reg::calibrationMode_t calMode )

Function set the sensors calibration mode. Keep in mind, not all Sensor interface setups have the autocalibration switched on, so maybe you have to set it explicitly.

Parameters

[in] calMode the auto calibration mode to set

Returns: CRC error type

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◆ regularCrcUpdate()

errorTypes Tle5012b::regularCrcUpdate ( )

protected

This function is called each time any register in the range 08 - 0F(first byte) is changed. It calculates the new CRC based on the value of all the _registers and then stores the value in 0F(second byte)

Returns: CRC error type

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◆ checkSafety()

errorTypes Tle5012b::checkSafety	(	uint16_t	safety,
		uint16_t	command,
		uint16_t *	readreg,
		uint16_t	length
	)

protected

checks the safety by looking at the safety word and calculating the CRC such that the data received is valid

Parameters

safety	register with the CRC check data
command	the command to execute the write
readreg	pointer to the read data
length	the length of the data structure

Returns: CRC error type

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◆ resetSafety()

void Tle5012b::resetSafety ( )

protected

When an error occurs in the safety word, the error bit remains 0(error), until the status register is read again. Flushes out safety errors, that might have occurred by reading the register without a safety word. In case the safety word sends an error, this function is called so that the error bit is reset to 1.

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Variable Documentation

◆ sBus

SPIC* Tle5012b::sBus

SPI cover class as representation of the SPI bus.

◆ en

GPIO* Tle5012b::en

shield enable GPIO to switch sensor2go on/off

◆ reg

Reg Tle5012b::reg

Register map.

◆ mSlave

slaveNum Tle5012b::mSlave

actual set slave number

◆ STAT_RES

bool Tle5012b::safetyWord::STAT_RES

<

Safety word bit setting

bits 15:15 Indication of chip reset or watchdog overflow

◆ STAT_ERR

bool Tle5012b::safetyWord::STAT_ERR

bits 14:14 System error

◆ STAT_ACC

bool Tle5012b::safetyWord::STAT_ACC

bits 13:13 Interface access error

◆ STAT_ANG

bool Tle5012b::safetyWord::STAT_ANG

bits 12:12 Invalid angle value

◆ RESP

uint8_t Tle5012b::safetyWord::RESP

bits 11:8 Sensor number response indicator

◆ CRC

uint8_t Tle5012b::safetyWord::CRC

bits 7:0 Status ADC Test

◆ safetyWord_t

struct Tle5012b::safetyWord Tle5012b::safetyWord_t

constructor for the Sensor

◆ safetyStatus

safetyWord Tle5012b::safetyStatus

◆ safetyWord

uint16_t Tle5012b::safetyWord

the last fetched safety word

◆ _command

uint16_t Tle5012b::_command[2]

protected

command write data [0] = command [1] = data to write

◆ _received

uint16_t Tle5012b::_received[MAX_REGISTER_MEM]

protected

fetched data from sensor with last word = safety word

◆ _registers

uint16_t Tle5012b::_registers[CRC_NUM_REGISTERS+1]

protected

keeps track of the values stored in the 8 _registers, for which the CRC is calculated

Data Structures

Enumerations

Functions

Variables

TLE5012b.cpp - core library for the TLE5012B angle sensor.

Detailed Description

Data Structure Documentation

◆ Tle5012b

Public Types

Public Member Functions

Data Fields

Protected Attributes

TLE5012b.cpp - core library for the TLE5012B angle sensor.

◆ Tle5012b::safetyWord

Public Member Functions

Data Fields

Enumeration Type Documentation

◆ slaveNum

Function Documentation

◆ responseSlave()

◆ fetch_Safety()

◆ Tle5012b()

◆ ~Tle5012b()

◆ begin() [1/2]

◆ begin() [2/2]

◆ end()

◆ enableSensor()

◆ disableSensor()

◆ readBlockCRC()

◆ readFromSensor()

◆ readMoreRegisters()

◆ readStatus()

◆ readActivationStatus()

◆ readActiveStatus()

◆ readIntMode1()

◆ readSIL()

◆ readIntMode2()

◆ readIntMode3()

◆ readOffsetX()

◆ readOffsetY()

◆ readSynch()

◆ readIFAB()

◆ readIntMode4()

◆ readTempCoeff()

◆ readTempDMag()

◆ readTempRaw()

◆ readTempIIFCnt()

◆ readTempT25()

◆ readRawX()

◆ readRawY()

◆ getAngleRange()

◆ getAngleValue() [1/2]

◆ getAngleValue() [2/2]

◆ getNumRevolutions()

◆ getTemperature() [1/2]

◆ getTemperature() [2/2]

◆ getAngleSpeed() [1/2]

◆ getAngleSpeed() [2/2]

◆ writeSlaveNumber()

◆ writeToSensor()

◆ writeTempCoeffUpdate()

◆ writeActivationStatus()

◆ writeIntMode1()

◆ writeSIL()

◆ writeIntMode2()

◆ writeIntMode3()

◆ writeOffsetX()

◆ writeOffsetY()

◆ writeSynch()

◆ writeIFAB()

◆ writeIntMode4()

◆ writeTempCoeff()

◆ resetFirmware()

◆ readRegMap()

◆ writeInterfaceType()

◆ setCalibration()

◆ regularCrcUpdate()

◆ checkSafety()

◆ resetSafety()

Variable Documentation