Galaxis Codebase  1.0.0
Team Galaxis software stack for the Carolo Cup 2023 - ROS2 based software
quadrature_counter.h
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1 /*
2  * quadrature_counter.h
3  *
4  * Created on: Jul 1, 2019
5  * Author: nixone
6  *
7  * Sensor description:
8  *
9  * Sensor name: LS7366R
10  *
11  * Datasheet URL: https://lsicsi.com/pdfs/Data_Sheets/LS7366R.pdf
12  *
13  * Communication Protocol: SPI (SPI2 of STM32)
14  *
15  * Important Registers:
16  * STR: 8-bit
17  * ___________________________
18  * |CY|BW|CMP|IDX|CEN|PLS|U/D|S|
19  * ---------------------------
20  * CY: Carry (CNTR overflow) latch
21  * BW: Borrow (CNTR underflow) latch
22  * CMP: Compare (CNTR = DTR) latch
23  * IDX: Index latch
24  * CEN: Count enable status (0= disabled, 1= enabled)
25  * PLS: Power loss indicator latch, set upon power up
26  * U/D: Count direction indicator, 0= count down, 1= count up
27  * S: Sign bit 1= negative, 0= positive
28  *
29  * MDR0: 8-bit
30  * _______________________
31  * |B7|B6|B5|B4|B3|B2|B1|B0|
32  * -----------------------
33  * quadrature count mode:
34  * xxxxxx00: non-quadrature count mode (A = clock, B = direction)
35  * xxxxxx01: x1 quadrature count mode (one count per quadrature cycle)
36  * xxxxxx10: x2 quadrature count mode (two counts per quadrature cycle)
37  * xxxxxx11: x4 quadrature count mode (four counts per quadrature cycle)
38  *
39  * running mode:
40  * xxxx00xx: free running
41  * xxxx01xx: single cycle
42  * xxxx10xx: range-limit
43  * xxxx11xx: modulo-n
44  *
45  * index:
46  * xx00xxxx: disable index
47  * xx01xxxx: configure index as "load CNTR" (CNTR = DTR)
48  * xx10xxxx: configure index as "reset CNTR" (CNTR = 0)
49  * xx11xxxx: configure index as "load OTR" (OTR = CNTR)
50  *
51  * async index:
52  * x0xxxxxx: async index
53  * x1xxxxxx: sync index
54  *
55  * filter clock division factor:
56  * x0xxxxxx: factor = 1
57  * x1xxxxxx: factor = 2
58  *
59  * MDR1: 8-bit
60  * _______________________
61  * |B7|B6|B5|B4|B3|B2|B1|B0|
62  * -----------------------
63  * Byte Counter Mode:
64  * xxxxxx00: 4 byte counter mode
65  * xxxxxx01: 3 byte
66  * xxxxxx10: 2 byte
67  * xxxxxx11: 1 byte
68  *
69  * Enable Counting:
70  * xxxxx0xx: enable counting
71  * xxxxx1xx: disable counting
72 *
73 * B3 not used
74 * B4-B7 for FLAG setup, not used by us
75 *
76 */
77 
78 #ifndef QUADRATURE_COUNTER_H_
79 #define QUADRATURE_COUNTER_H_
80 /* INCLUDES */
81 
82 #include <stdbool.h>
83 #include <stdint.h>
84 
85 /* DEFINES */
86 
87 /*
88  * STR bit defines
89  */
90 #define QCTR_CARRY_BIT 0x7U
91 #define QCTR_BORROW_BIT 0x6U
92 #define QCTR_CMP_BIT 0x5U
93 #define QCTR_IDX_BIT 0x4U
94 #define QCTR_CEN_BIT 0x3U
95 #define QCTR_PLS_BIT 0x2U
96 #define QCTR_UD_BIT 0x1U
97 #define QCTR_S_BIT 0x0U
98 
99 /*
100  * MDR0 defines
101  */
102 #define SYNC_MODE 0x40U
103 #define RUNNING_MODE 0x00U
104 #define COUNT_MODE 0x03U
105 #define INDEX_MODE 0x00U
106 #define FILTER_MODE 0x00U
107 
108 /*
109  * MDR1 defines
110  */
111 #define FLAG_MODE 0x00U
112 #define DATA_WIDTH 0x00U
113 #define CNTR_BYTES (0x4U - DATA_WIDTH)
114 #define QCTR_MAX_BYTES 0x4U
115 #define ENABLE_CNTR 0x00U
116 #define DISABLE_CNTR 0x04U
117 
118 /* TYPEDEFS */
119 
120 #if(CNTR_BYTES == 0x4U)
121 typedef int32_t quadratureCounterValueType;
122 #elif(CNTR_BYTES == 0x3U)
123 typedef int32_t quadratureCounterValueType;
124 #elif(CNTR_BYTES == 0x2U)
125 typedef int16_t quadratureCounterValueType;
126 #else
127 typedef int8_t quadratureCounterValueType;
128 #endif
129 
130 #endif /* QUADRATURE_COUNTER_H_ */
quadratureCounterValueType
int32_t quadratureCounterValueType
Definition: quadrature_counter.h:121