try to fix submodule

2023-11-09 19:02:15 -05:00
parent c1d45aa443
commit deea94b076
366 changed files with 40228 additions and 2 deletions
--- a/firmware/lib/Arduino-FOC-drivers/src/encoders/ma330/MA330.h
+++ b/firmware/lib/Arduino-FOC-drivers/src/encoders/ma330/MA330.h
@@ -0,0 +1,82 @@
+#ifndef __MA330_H__
+#define __MA330_H__
+
+
+#include "Arduino.h"
+#include "SPI.h"
+
+enum FieldStrength : uint8_t {
+    FS_NORMAL = 0x00,
+    FS_LOW = 0x01,
+    FS_HIGH = 0x02,
+    FS_ERR = 0x03 // impossible state
+};
+
+
+#define _2PI 6.28318530718f
+#define MA330_CPR 65536.0f
+
+#define MA330_REG_ZERO_POSITION_LSB 0x00
+#define MA330_REG_ZERO_POSITION_MSB 0x01
+#define MA330_REG_BCT 0x02
+#define MA330_REG_ET 0x03
+#define MA330_REG_ILIP_PPT_LSB 0x04
+#define MA330_REG_PPT_MSB 0x05
+#define MA330_REG_MGLT_MGHT 0x06
+#define MA330_REG_NPP 0x07
+#define MA330_REG_RD 0x09
+#define MA330_REG_FW 0x0E
+#define MA330_REG_HYS 0x10
+#define MA330_REG_MGH_MGL 0x1B
+
+#define MA330_BITORDER MSBFIRST
+
+static SPISettings MA330SPISettings(1000000, MA330_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
+
+class MA330 {
+public:
+	MA330(SPISettings settings = MA330SPISettings, int nCS = -1);
+	virtual ~MA330();
+
+	virtual void init(SPIClass* _spi = &SPI);
+
+	float getCurrentAngle(); // angle in radians, return current value
+
+	uint16_t readRawAngle(); // 9-14bit angle value
+
+    uint16_t getZero();
+    uint8_t getBiasCurrentTrimming();
+    bool isBiasCurrrentTrimmingX();
+    bool isBiasCurrrentTrimmingY();
+    uint16_t getPulsesPerTurn();
+    uint8_t getIndexLength();
+    uint8_t getNumberPolePairs();
+    uint8_t getRotationDirection();
+    uint8_t getFilterWidth();
+    uint8_t getHysteresis();
+    uint8_t getFieldStrengthHighThreshold();
+    uint8_t getFieldStrengthLowThreshold();
+    FieldStrength getFieldStrength();
+
+    void setZero(uint16_t);
+    void setBiasCurrentTrimming(uint8_t);
+    void setBiasCurrrentTrimmingEnabled(bool Xenabled, bool Yenabled);
+    void setPulsesPerTurn(uint16_t);
+    void setIndexLength(uint8_t);
+    void setNumberPolePairs(uint8_t);
+    void setRotationDirection(uint8_t);
+    void setFilterWidth(uint8_t);
+    void setHysteresis(uint8_t);
+    void setFieldStrengthThresholds(uint8_t high, uint8_t low);
+
+private:
+	SPIClass* spi;
+	SPISettings settings;
+	int nCS = -1;
+
+    uint16_t transfer16(uint16_t outValue);
+    uint8_t readRegister(uint8_t reg);
+    uint8_t writeRegister(uint8_t reg, uint8_t value);
+};
+
+#endif