TLE5012b.hpp

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#ifndef TLE5012B_HPP
#define TLE5012B_HPP
 
#include <string.h>
#include "../pal/gpio.hpp"
#include "../pal/spic.hpp"
#include "tle5012b_util.hpp"
#include "tle5012b_reg.hpp"
 
class Tle5012b
{
    public:
 
        enum slaveNum
        {
            TLE5012B_S0 = 0x0000,    
            TLE5012B_S1 = 0x2000,    
            TLE5012B_S2 = 0x4000,    
            TLE5012B_S3 = 0x6000     
        };
 
        SPIC     *sBus;              
        GPIO     *en;                
        Reg      reg;                
        slaveNum mSlave;             
 
        struct safetyWord {  
            bool STAT_RES;           
            bool STAT_ERR;           
            bool STAT_ACC;           
            bool STAT_ANG;           
            uint8_t RESP;            
            uint8_t CRC;             
 
            slaveNum responseSlave(){
                return (RESP == 0x7 ? TLE5012B_S3
                        : (RESP == 0xB ? TLE5012B_S2
                                : (RESP == 0xD ? TLE5012B_S1
                                        : TLE5012B_S0)));
            }
 
            uint16_t fetch_Safety(uint16_t reg)
            {
                CRC      = (reg & 0x7F);
                RESP     = (reg & 0xF00) >> 8;
                STAT_ANG = (reg & 0x1000) >> 12;
                STAT_ACC = (reg & 0x2000) >> 13;
                STAT_ERR = (reg & 0x4000) >> 14;
                STAT_RES = (reg & 0x8000) >> 15;
                return (reg);
            }
        } safetyWord_t;
 
        Tle5012b();
 
        ~Tle5012b();
 
        errorTypes begin();
 
        errorTypes begin(uint8_t csPin, slaveNum slave=TLE5012B_S0);
 
        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 readActiveStatus(uint16_t &data);    
        errorTypes readIntMode1(uint16_t &data);        
        errorTypes readSIL(uint16_t &data);             
        errorTypes readIntMode2(uint16_t &data);        
        errorTypes readIntMode3(uint16_t &data);        
        errorTypes readOffsetX(uint16_t &data);         
        errorTypes readOffsetY(uint16_t &data);         
        errorTypes readSynch(uint16_t &data);           
        errorTypes readIFAB(uint16_t &data);            
        errorTypes readIntMode4(uint16_t &data);        
        errorTypes readTempCoeff(uint16_t &data);       
        errorTypes readTempDMag(uint16_t &data);        
        errorTypes readTempRaw(uint16_t &data);         
        errorTypes readTempIIFCnt(uint16_t &data);      
        errorTypes readTempT25(uint16_t &data);         
 
        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);    
        errorTypes writeIntMode1(uint16_t dataToWrite);            
        errorTypes writeSIL(uint16_t dataToWrite);                 
        errorTypes writeIntMode2(uint16_t dataToWrite);            
        errorTypes writeIntMode3(uint16_t dataToWrite);            
        errorTypes writeOffsetX(uint16_t dataToWrite);             
        errorTypes writeOffsetY(uint16_t dataToWrite);             
        errorTypes writeSynch(uint16_t dataToWrite);               
        errorTypes writeIFAB(uint16_t dataToWrite);                
        errorTypes writeIntMode4(uint16_t dataToWrite);            
        errorTypes writeTempCoeff(uint16_t dataToWrite);           
 
        safetyWord safetyStatus;
        uint16_t safetyWord;                                       
 
        errorTypes resetFirmware();
 
        errorTypes readRegMap();
 
        errorTypes writeInterfaceType(Reg::interfaceType_t iface);
 
        errorTypes setCalibration(Reg::calibrationMode_t calMode);
 
    protected:
 
        uint16_t _command[2];                      
        uint16_t _received[MAX_REGISTER_MEM];      
        uint16_t _registers[CRC_NUM_REGISTERS+1];  
 
        errorTypes regularCrcUpdate();
 
        errorTypes checkSafety(uint16_t safety, uint16_t command, uint16_t* readreg, uint16_t length);
 
        void resetSafety();
 
};
 
#endif /* TLE5012B_HPP */