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/*
* cL6470.h
*
* Created: 6/22/2016 8:40:34 PM
* Author: Atif
*/
#ifndef CL6470_H_
#define CL6470_H_
//#include <Arduino.h>
//#include <SPI.h>
//
//
// constant definitions for overcurrent thresholds. Write these values to
// register x_OCD_TH to set the level at which an overcurrent even occurs.
#define x_OCD_TH_375mA 0x00
#define x_OCD_TH_750mA 0x01
#define x_OCD_TH_1125mA 0x02
#define x_OCD_TH_1500mA 0x03
#define x_OCD_TH_1875mA 0x04
#define x_OCD_TH_2250mA 0x05
#define x_OCD_TH_2625mA 0x06
#define x_OCD_TH_3000mA 0x07
#define x_OCD_TH_3375mA 0x08
#define x_OCD_TH_3750mA 0x09
#define x_OCD_TH_4125mA 0x0A
#define x_OCD_TH_4500mA 0x0B
#define x_OCD_TH_4875mA 0x0C
#define x_OCD_TH_5250mA 0x0D
#define x_OCD_TH_5625mA 0x0E
#define x_OCD_TH_6000mA 0x0F
// STEP_MODE option values.
// First comes the "microsteps per step" options...
#define x_STEP_MODE_STEP_SEL 0x07 // Mask for these bits only.
#define x_STEP_SEL_1 0x00
#define x_STEP_SEL_1_2 0x01
#define x_STEP_SEL_1_4 0x02
#define x_STEP_SEL_1_8 0x03
#define x_STEP_SEL_1_16 0x04
#define x_STEP_SEL_1_32 0x05
#define x_STEP_SEL_1_64 0x06
#define x_STEP_SEL_1_128 0x07
// ...next, define the SYNC_EN bit. When set, the BUSYN pin will instead
// output a clock related to the full-step frequency as defined by the
// SYNC_SEL bits below.
#define x_STEP_MODE_SYNC_EN 0x80 // Mask for this bit
#define x_SYNC_EN 0x80
// ...last, define the SYNC_SEL modes. The clock output is defined by
// the full-step frequency and the value in these bits- see the datasheet
// for a matrix describing that relationship (page 46).
#define x_STEP_MODE_SYNC_SEL 0x70
#define x_SYNC_SEL_1_2 0x00
#define x_SYNC_SEL_1 0x10
#define x_SYNC_SEL_2 0x20
#define x_SYNC_SEL_4 0x30
#define x_SYNC_SEL_8 0x40
#define x_SYNC_SEL_16 0x50
#define x_SYNC_SEL_32 0x60
#define x_SYNC_SEL_64 0x70
// Bit names for the ALARM_EN register.
// Each of these bits defines one potential alarm condition.
// When one of these conditions occurs and the respective bit in ALARM_EN is set,
// the FLAG pin will go low. The register must be queried to determine which event
// caused the alarm.
#define x_ALARM_EN_OVERCURRENT 0x01
#define x_ALARM_EN_THERMAL_SHUTDOWN 0x02
#define x_ALARM_EN_THERMAL_WARNING 0x04
#define x_ALARM_EN_UNDER_VOLTAGE 0x08
#define x_ALARM_EN_STALL_DET_A 0x10
#define x_ALARM_EN_STALL_DET_B 0x20
#define x_ALARM_EN_SW_TURN_ON 0x40
#define x_ALARM_EN_WRONG_NPERF_CMD 0x80
// CONFIG register renames.
// Oscillator options.
// The x needs to know what the clock frequency is because it uses that for some
// calculations during operation.
#define x_CONFIG_OSC_SEL 0x000F // Mask for this bit field.
#define x_CONFIG_INT_16MHZ 0x0000 // Internal 16MHz, no output
#define x_CONFIG_INT_16MHZ_OSCOUT_2MHZ 0x0008 // Default; internal 16MHz, 2MHz output
#define x_CONFIG_INT_16MHZ_OSCOUT_4MHZ 0x0009 // Internal 16MHz, 4MHz output
#define x_CONFIG_INT_16MHZ_OSCOUT_8MHZ 0x000A // Internal 16MHz, 8MHz output
#define x_CONFIG_INT_16MHZ_OSCOUT_16MHZ 0x000B // Internal 16MHz, 16MHz output
#define x_CONFIG_EXT_8MHZ_XTAL_DRIVE 0x0004 // External 8MHz crystal
#define x_CONFIG_EXT_16MHZ_XTAL_DRIVE 0x0005 // External 16MHz crystal
#define x_CONFIG_EXT_24MHZ_XTAL_DRIVE 0x0006 // External 24MHz crystal
#define x_CONFIG_EXT_32MHZ_XTAL_DRIVE 0x0007 // External 32MHz crystal
#define x_CONFIG_EXT_8MHZ_OSCOUT_INVERT 0x000C // External 8MHz crystal, output inverted
#define x_CONFIG_EXT_16MHZ_OSCOUT_INVERT 0x000D // External 16MHz crystal, output inverted
#define x_CONFIG_EXT_24MHZ_OSCOUT_INVERT 0x000E // External 24MHz crystal, output inverted
#define x_CONFIG_EXT_32MHZ_OSCOUT_INVERT 0x000F // External 32MHz crystal, output inverted
// Configure the functionality of the external switch input
#define x_CONFIG_SW_MODE 0x0010 // Mask for this bit.
#define x_CONFIG_SW_HARD_STOP 0x0000 // Default; hard stop motor on switch.
#define x_CONFIG_SW_USER 0x0010 // Tie to the GoUntil and ReleaseSW
// commands to provide jog function.
// See page 25 of datasheet.
// Configure the motor voltage compensation mode (see page 34 of datasheet)
#define x_CONFIG_EN_VSCOMP 0x0020 // Mask for this bit.
#define x_CONFIG_VS_COMP_DISABLE 0x0000 // Disable motor voltage compensation.
#define x_CONFIG_VS_COMP_ENABLE 0x0020 // Enable motor voltage compensation.
// Configure overcurrent detection event handling
#define x_CONFIG_OC_SD 0x0080 // Mask for this bit.
#define x_CONFIG_OC_SD_DISABLE 0x0000 // Bridges do NOT shutdown on OC detect
#define x_CONFIG_OC_SD_ENABLE 0x0080 // Bridges shutdown on OC detect
// Configure the slew rate of the power bridge output
#define x_CONFIG_POW_SR 0x0300 // Mask for this bit field.
#define x_CONFIG_SR_180V_us 0x0000 // 180V/us
#define x_CONFIG_SR_290V_us 0x0200 // 290V/us
#define x_CONFIG_SR_530V_us 0x0300 // 530V/us
// Integer divisors for PWM sinewave generation
// See page 32 of the datasheet for more information on this.
#define x_CONFIG_F_PWM_DEC 0x1C00 // mask for this bit field
#define x_CONFIG_PWM_MUL_0_625 (0x00)<<10
#define x_CONFIG_PWM_MUL_0_75 (0x01)<<10
#define x_CONFIG_PWM_MUL_0_875 (0x02)<<10
#define x_CONFIG_PWM_MUL_1 (0x03)<<10
#define x_CONFIG_PWM_MUL_1_25 (0x04)<<10
#define x_CONFIG_PWM_MUL_1_5 (0x05)<<10
#define x_CONFIG_PWM_MUL_1_75 (0x06)<<10
#define x_CONFIG_PWM_MUL_2 (0x07)<<10
// Multiplier for the PWM sinewave frequency
#define x_CONFIG_F_PWM_INT 0xE000 // mask for this bit field.
#define x_CONFIG_PWM_DIV_1 (0x00)<<13
#define x_CONFIG_PWM_DIV_2 (0x01)<<13
#define x_CONFIG_PWM_DIV_3 (0x02)<<13
#define x_CONFIG_PWM_DIV_4 (0x03)<<13
#define x_CONFIG_PWM_DIV_5 (0x04)<<13
#define x_CONFIG_PWM_DIV_6 (0x05)<<13
#define x_CONFIG_PWM_DIV_7 (0x06)<<13
// Status register bit renames- read-only bits conferring information about the
// device to the user.
#define x_STATUS_HIZ 0x0001 // high when bridges are in HiZ mode
#define x_STATUS_BUSY 0x0002 // mirrors BUSY pin
#define x_STATUS_SW_F 0x0004 // low when switch open, high when closed
#define x_STATUS_SW_EVN 0x0008 // active high, set on switch falling edge,
// cleared by reading STATUS
#define x_STATUS_DIR 0x0010 // Indicates current motor direction.
// High is FWD, Low is REV.
#define x_STATUS_NOTPERF_CMD 0x0080 // Last command not performed.
#define x_STATUS_WRONG_CMD 0x0100 // Last command not valid.
#define x_STATUS_UVLO 0x0200 // Undervoltage lockout is active
#define x_STATUS_TH_WRN 0x0400 // Thermal warning
#define x_STATUS_TH_SD 0x0800 // Thermal shutdown
#define x_STATUS_OCD 0x1000 // Overcurrent detected
#define x_STATUS_STEP_LOSS_A 0x2000 // Stall detected on A bridge
#define x_STATUS_STEP_LOSS_B 0x4000 // Stall detected on B bridge
#define x_STATUS_SCK_MOD 0x8000 // Step clock mode is active
// Status register motor status field
#define x_STATUS_MOT_STATUS 0x0060 // field mask
#define x_STATUS_MOT_STATUS_STOPPED (0x0000)<<13 // Motor stopped
#define x_STATUS_MOT_STATUS_ACCELERATION (0x0001)<<13 // Motor accelerating
#define x_STATUS_MOT_STATUS_DECELERATION (0x0002)<<13 // Motor decelerating
#define x_STATUS_MOT_STATUS_CONST_SPD (0x0003)<<13 // Motor at constant speed
// Register address redefines.
// See the x_Param_Handler() function for more info about these.
#define x_ABS_POS 0x01
#define x_EL_POS 0x02
#define x_MARK 0x03
#define x_SPEED 0x04
#define x_ACC 0x05
#define x_DEC 0x06
#define x_MAX_SPEED 0x07
#define x_MIN_SPEED 0x08
#define x_FS_SPD 0x15
#define x_KVAL_HOLD 0x09
#define x_KVAL_RUN 0x0A
#define x_KVAL_ACC 0x0B
#define x_KVAL_DEC 0x0C
#define x_INT_SPD 0x0D
#define x_ST_SLP 0x0E
#define x_FN_SLP_ACC 0x0F
#define x_FN_SLP_DEC 0x10
#define x_K_THERM 0x11
#define x_ADC_OUT 0x12
#define x_OCD_TH 0x13
#define x_STALL_TH 0x14
#define x_STEP_MODE 0x16
#define x_ALARM_EN 0x17
#define x_CONFIG 0x18
#define x_STATUS 0x19
//x commands
#define x_NOP 0x00
#define x_SET_PARAM 0x00
#define x_GET_PARAM 0x20
#define x_RUN 0x50
#define x_STEP_CLOCK 0x58
#define x_MOVE 0x40
#define x_GOTO 0x60
#define x_GOTO_DIR 0x68
#define x_GO_UNTIL 0x82
#define x_RELEASE_SW 0x92
#define x_GO_HOME 0x70
#define x_GO_MARK 0x78
#define x_RESET_POS 0xD8
#define x_RESET_DEVICE 0xC0
#define x_SOFT_STOP 0xB0
#define x_HARD_STOP 0xB8
#define x_SOFT_HIZ 0xA0
#define x_HARD_HIZ 0xA8
#define x_GET_STATUS 0xD0 // use Get_and_Clear_Status
/* x direction options */
#define FWD 0x01
#define REV 0x00
/* x action options */
#define ACTION_RESET 0x00
#define ACTION_COPY 0x01
//class cL6470 {
//public:
//Default constuctot
//cL6470();
//Overload Constructor
//@param int MOSI, int MISO, int CS, int CLK, int BUSY, int RESET
//cL6470(int, int, int, int, int, int);
#include "../../../DataDef.h"
void init();
unsigned long GetParam(byte);
byte Data_To_Transfer(byte);
unsigned long ParamHandler(byte, unsigned long);
void SetParam(byte, unsigned long);
unsigned long Param(unsigned long, byte);
int GetStatus();
uint32_t SpdCalc(float);
unsigned long IntSpdCalc(float);
unsigned long FSCalc(float);
unsigned long MinSpdCalc(float);
unsigned long MaxSpdCalc(float);
unsigned long DecCalc(float);
unsigned long AccCalc(float);
void SetLSPDOpt(boolean);
void Run(byte, unsigned long);
void Step_Clock(byte);
void Move(byte, unsigned long);
void GoTo(unsigned long);
void GoTo_DIR(byte, unsigned long);
void GoUntil(byte, byte, unsigned long);
void ReleaseSW(byte, byte);
void GoHome();
void GoMark();
void ResetPos();
void ResetDev();
void SoftStop();
void HardStop();
void SoftHiZ();
void HardHiZ();
float CurrentSpdCalc(uint32_t stepspertick);// for Speed response
void delay(int number_of_seconds);
void Run_tx_test(byte dir, unsigned long spd);
////TODO update the addresses
//#define MOSI_BASE 0x00000001 //
//#define MISO_BASE 0x00000002 //
//#define CS_BASE 0x00000003 //
//#define CLK_BASE 0x00000004 //
//#define BUSY_BASE 0x00000005 //
//#define RESET_BASE 0x00000006 //
//#define TX_BASE 0x00000006 //
//#define RX_BASE 0x00000007 //
//extern int volatile * const MOSI_Reg;
//extern int volatile * const MISO_Reg;
//extern int volatile * const CS_Reg;
//extern int volatile * const CLK_Reg;
//extern int volatile * const BUSY_Reg;
//extern int volatile * const RESET_Reg;
//extern char volatile * const TX_Reg;
//extern char volatile * const RX_Reg;
//*MOSI = value; /* write to port */
//value = *MOSI; /* read from port */
///////////////
////@param int MOSI
//void Set_MOSI(int);
////@param int MISO
//void Set_MISO(int);
////@param int CS
//void Set_CS(int);
////@param int CLK
//void Set_CLK(int);
////@param int BUSY
//void Set_BUSY(int);
////@param int RESET
//void Set_RESET(int);
//int Get_MOSI();
//int Get_MISO();
//int Get_CS();
//int Get_CLK();
//int Get_BUSY();
//int Get_RESET();
//private:
// Member Variable
//int MOSI = 0;
//int MISO = 0;
//int CS = 0;
//int CLK = 0;
//int BUSY = 0;
//int RESET = 0;
//};
#endif /* CL6470_H_ */
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