tle5012b_util.hpp

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#ifndef TLE5012B_UTIL_HPP
#define TLE5012B_UTIL_HPP
 
#include <stdint.h>
#include <stdlib.h>
#include "TLE5012b.hpp"
 
// Common macros
#define TRIGGER_DELAY               5         
 
// Sensor registers
#define READ_SENSOR                 0x8000    
#define WRITE_SENSOR                0x5000    
#define READ_BLOCK_CRC              0x8088    
 
// Bitmasks for several read and write functions
#define SYSTEM_ERROR_MASK           0x4000    
#define INTERFACE_ERROR_MASK        0x2000    
#define INV_ANGLE_ERROR_MASK        0x1000    
 
#define CRC_POLYNOMIAL              0x1D      
#define CRC_SEED                    0xFF
#define CRC_NUM_REGISTERS           0x0008    
#define MAX_REGISTER_MEM            0x0030    
#define MAX_NUM_REG                 0x16      
 
#define DELETE_BIT_15               0x7FFF    
#define CHANGE_UINT_TO_INT_15       0x8000    
#define CHECK_BIT_14                0x4000    
#define GET_BIT_14_4                0x7FF0    
 
#define DELETE_7BITS                0x01FF    
#define CHANGE_UNIT_TO_INT_9        0x0200    
#define CHECK_BIT_9                 0x0100
 
#define POW_2_15                    32768.0   
#define POW_2_7                     128.0     
#define ANGLE_360_VAL               360.0     
 
#define TEMP_OFFSET                 152.0     
#define TEMP_DIV                    2.776
 
enum errorTypes
{
    NO_ERROR               = 0x00,  
    SYSTEM_ERROR           = 0x01,  
    INTERFACE_ACCESS_ERROR = 0x02,  
    INVALID_ANGLE_ERROR    = 0x03,  
    ANGLE_SPEED_ERROR      = 0x04,  
    CRC_ERROR              = 0xFF   
};
 
enum updTypes
{
    UPD_low  = 0x0000,              
    UPD_high = 0x0400,              
};
 
enum safetyTypes
{
    SAFE_low  = 0x0000,             
    SAFE_high = 0x0001,             
};
#endif /* TLE5012B_UTIL_HPP */