MagneticSensorSPI.h

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#ifndef MAGNETICSENSORSPI_LIB_H
#define MAGNETICSENSORSPI_LIB_H
 
#include "Arduino.h"
#include <SPI.h>
#include "../common/base_classes/Sensor.h"
#include "../common/foc_utils.h"
#include "../common/time_utils.h"
 
#define DEF_ANGLE_REGISTER 0x3FFF
 
struct MagneticSensorSPIConfig_s  {
  int spi_mode;
  long clock_speed;
  int bit_resolution;
  int angle_register;
  int data_start_bit;
  int command_rw_bit;
  int command_parity_bit;
};
// typical configuration structures
extern MagneticSensorSPIConfig_s AS5147_SPI,AS5048_SPI,AS5047_SPI, MA730_SPI;
 
class MagneticSensorSPI: public Sensor{
 public:
    MagneticSensorSPI(int cs, float bit_resolution, int angle_register = 0);
    MagneticSensorSPI(MagneticSensorSPIConfig_s config, int cs);
 
    void init(SPIClass* _spi = &SPI);
 
    // implementation of abstract functions of the Sensor class
    float getAngle() override;
    float getVelocity() override;
 
    // returns the spi mode (phase/polarity of read/writes) i.e one of SPI_MODE0 | SPI_MODE1 | SPI_MODE2 | SPI_MODE3
    int spi_mode;
    
    /* returns the speed of the SPI clock signal */
    long clock_speed;
    
 
  private:
    float cpr; 
    // spi variables
    int angle_register; 
    int chip_select_pin; 
   SPISettings settings; 
    // spi functions
    void close(); 
    word read(word angle_register);
    byte spiCalcEvenParity(word value);
 
    int getRawCount();
 
    // total angle tracking variables
    float full_rotation_offset; 
    float angle_data_prev; 
 
    // velocity calculation variables
    float angle_prev; 
    long velocity_calc_timestamp; 
    
    int bit_resolution; 
    int command_parity_bit; 
    int command_rw_bit; 
    int data_start_bit; 
 
    SPIClass* spi;
};
 
 
#endif