Miranda.h

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#ifndef _MIRANDA_H
#define _MIRANDA_H
 
/*
 **************************************************************
 * Defines, Macros and Typedefs 
 **************************************************************/
/*** Constant Macros ***/
/* Default Yes and No defines */
#ifndef TRUE
 #define TRUE (1u)
#endif
#ifndef CLEAR
 #define CLEAR (0u)
#endif
#ifndef BITS_IN_NIBBLE
 #define BITS_IN_NIBBLE (4u)
#endif
#ifndef BITS_IN_BYTE
 #define BITS_IN_BYTE (8u)
#endif
#ifndef BITS_IN_16
 #define BITS_IN_16 (16u)
#endif
#ifndef BYTES_IN_16
 #define BYTES_IN_16  (2u)
#endif
#ifndef BYTES_IN_32
 #define BYTES_IN_32  (4u)
#endif
#ifndef BIT_DEFINITION
 #define BIT_DEFINITION
 #define BIT0  (1u << 0u)
 #define BIT1  (1u << 1u)
 #define BIT2  (1u << 2u)
 #define BIT3  (1u << 3u)
 #define BIT4  (1u << 4u)
 #define BIT5  (1u << 5u)
 #define BIT6  (1u << 6u)
 #define BIT7  (1u << 7u)
 #define BIT8  (1u << 8u)
 #define BIT9  (1u << 9u)
 #define BIT10 (1u << 10)
 #define BIT11 (1u << 11)
 #define BIT12 (1u << 12)
 #define BIT13 (1u << 13)
 #define BIT14 (1u << 14)
 #define BIT15 (1u << 15)
 #define BIT16 (1u << 16)
 #define BIT17 (1u << 17)
 #define BIT18 (1u << 18)
 #define BIT19 (1u << 19)
 #define BIT20 (1u << 20)
 #define BIT21 (1u << 21)
 #define BIT22 (1u << 22)
 #define BIT23 (1u << 23)
 #define BIT24 (1u << 24)
 #define BIT25 (1u << 25)
 #define BIT26 (1u << 26)
 #define BIT27 (1u << 27)
 #define BIT28 (1u << 28)
 #define BIT29 (1u << 29)
 #define BIT30 (1u << 30)
 #define BIT31 (1u << 31)
#endif


/* Register Addresses for the device - Protocol 0 and Protocol 1 */
/* (5 because MOSI bit 20 is ignored by Miranda) */
#define MIRANDA_MEMORY_MAP_SIZE      (0x2Eu)
#define MIRANDA_SN_0                 (0x00u << 5u)
#define MIRANDA_SN_1                 (0x02u << 5u)
#define MIRANDA_ID_0                 (0x04u << 5u)
#define MIRANDA_ID_1                 (0x06u << 5u)
#define MIRANDA_DEVCFG_0             (0x08u << 5u)
#define MIRANDA_DEVCFG_1             (0x0Au << 5u)
#define MIRANDA_CD_0C                (0x0Cu << 5u)
#define MIRANDA_CD_0E                (0x0Eu << 5u)
#define MIRANDA_CD_10                (0x10u << 5u)
#define MIRANDA_CD_12                (0x12u << 5u)
#define MIRANDA_CD_14                (0x14u << 5u)
#define MIRANDA_CD_16                (0x16u << 5u)
#define MIRANDA_CD_18                (0x18u << 5u)
#define MIRANDA_CD_1A                (0x1Au << 5u)
#define MIRANDA_CD_1C                (0x1Cu << 5u)
#define MIRANDA_CD_1E                (0x1Eu << 5u)
#define MIRANDA_DEVSTAT              (0x20u << 5u)
#define MIRANDA_DEVCTL               (0x22u << 5u)
#define MIRANDA_TEST                 (0x24u << 5u)
#define MIRANDA_RATE_X               (0x26u << 5u)
#define MIRANDA_ACC_Y                (0x28u << 5u)
#define MIRANDA_ACC_Z                (0x2Au << 5u)
#define MIRANDA_TEMP                 (0x2Cu << 5u)
#define MIRANDA_COUNT                (0x2Eu << 5u)

/* Register Addresses for the device - Protocol 2 */
#define MIRANDA_MEMORY_MAP_SIZE_P2    (0x1Fu)
#define MIRANDA_RATE_X_P2             (0x01u << 10u)
#define MIRANDA_ACC_Y_P2              (0x05u << 10u)
#define MIRANDA_ACC_Z_P2              (0x06u << 10u)
#define MIRANDA_TEMP_P2               (0x07u << 10u)
#define MIRANDA_BANK_P2               (0x08u << 10u)
#define MIRANDA_TEST_P2               (0x15u << 10u)
#define MIRANDA_RESET_P2              (0x16u << 10u)
#define MIRANDA_SENS_SYNC_P2          (0x18u << 10u)
#define MIRANDA_DEVSTAT_P2            (0x19u << 10u)
#define MIRANDA_DEVCTL_P2             (0x1Au << 10u)
#define MIRANDA_COUNT_P2              (0x1Bu << 10u)
#define MIRANDA_DEV_ID_P2             (0x1Du << 10u)
#define MIRANDA_SN_0_P2               (0x10u << 10u)
#define MIRANDA_SN_1_P2               (0x11u << 10u)
#define MIRANDA_ID_0_P2               (0x12u << 10u)
#define MIRANDA_ID_1_P2               (0x13u << 10u)
#define MIRANDA_DEVCFG_0_P2           (0x14u << 10u)
#define MIRANDA_DEVCFG_1_P2           (0x15u << 10u)
#define MIRANDA_CD_0C_P2              (0x16u << 10u)
#define MIRANDA_CD_0E_P2              (0x17u << 10u)
#define MIRANDA_CD_10_P2              (0x18u << 10u)
#define MIRANDA_CD_12_P2              (0x19u << 10u)
#define MIRANDA_CD_14_P2              (0x1Au << 10u)
#define MIRANDA_CD_16_P2              (0x1Bu << 10u)
#define MIRANDA_CD_18_P2              (0x1Cu << 10u)
#define MIRANDA_CD_1A_P2              (0x1Du << 10u)
#define MIRANDA_CD_1C_P2              (0x1Eu << 10u)
#define MIRANDA_CD_1E_P2              (0x1Fu << 10u)

/* Register related */
#define MIRANDA_READ_REGISTER    (0x00u)   
#define MIRANDA_WRITE_REGISTER   (0x80u)

/* Inertial reading settings */
#define MIRANDA_READ_X          (0x0001u)
#define MIRANDA_READ_Y          (0x0002u)
#define MIRANDA_READ_Z          (0x0003u)

/* Inertial data request */
#define MIRANDA_READ_ACCEL       (0x2000u)

/* Error bits */
#define MIRANDA_INVALID_PARITY          (0x10u)
#define MIRANDA_TIMED_OUT               (0x20u)
#define MIRANDA_INVALID_MEMORY_LOCATION (0x40u)
#define MIRANDA_ERROR_PROTOCOL          (0x80u)
#define MIRANDA_EXCEPTION               (0x11u)
#define MIRANDA_INVALID_CRC             (0x12u)

/* Exception Mask */
#define MIRANDA_EXCEPTION_MASK          (0x07u)
#define MIRANDA_INTERNAL_ERROR          (0x03u)
#define MIRANDA_SPI_FAULT               (0x05u)
#define MIRANDA_MISO_COMPARE_FAULT      (0x06u)

/* To filter out inertial data */
#define MIRANDA_RAW_INERTIAL_MASK_UPPER          (0x03FFu)
#define MIRANDA_RAW_INERTIAL_MASK_LOWER          (0xFC00u)

/* Communication protocol */
#define PROTOCOL_0   0
#define PROTOCOL_1   1
#define PROTOCOL_2   2

/*** Function Macros ***/
#ifndef N_ELEMENTS
 #define N_ELEMENTS(X)           (sizeof(X)/sizeof(*(X)))
#endif

/*** Enums ***/

/*** TypeDefs ***/

/*
 **************************************************************
 * Declarations 
 **************************************************************/
/*** Extern ***/
extern const uint16_t cau16MirandaReadAllRegisters[];
extern const uint16_t cau16MirandaReset[];
extern const uint16_t cau16MirandaPerformAccelReading[];
extern const uint16_t cau16MirandaPerformAccelReadingSPI[];
/*** Globals ***/

/*** Static Globals ***/

/*
 **************************************************************
 * Function Prototypes 
 **************************************************************/
/*
 ******************************************************************************
 *
 * Function:          u8fnMirandaReadRegister()
 *
 */
uint8_t u8fnMirandaReadRegister(const uint8_t cu8DSPIInstance, \
                                const uint8_t cu8ChipSelect,   \
                                uint16_t u16Register,          \
                                uint16_t* pu16DataRead,        \
                                const uint8_t cu8Protocol);
/*
 ******************************************************************************
 *
 * Function:          u8fnMirandaWriteRegister()
 *
 */
uint8_t u8fnMirandaWriteRegister(const uint8_t cu8DSPIInstance, \
                                 const uint8_t cu8ChipSelect,   \
                                 uint16_t u16Register,          \
                                 uint16_t u16ValueToWrite,      \
                                 uint16_t* pu16DataRead,        \
                                 const uint8_t cu8Protocol);
/*
 ******************************************************************************
 *
 * Function:          u8fnMirandaReset()
 *
 */
uint8_t u8fnMirandaReset(const uint8_t cu8DSPIInstance, \
                         const uint8_t cu8ChipSelect,   \
                         const uint8_t cu8Protocol);
/*
 ******************************************************************************
 *
 * Function:        u8fnMirandaReadAccelRegisters()
 *
 */
uint8_t u8fnMirandaReadAccelRegisters(const uint8_t cu8DSPIInstance, \
                                      const uint8_t cu8ChipSelect,   \
                                      const uint8_t cu8Protocol);
/*
 ******************************************************************************
 *
 * Function:        u8fnMirandaReadAllRegisters()
 *
 */
uint8_t u8fnMirandaReadAllRegisters(const uint8_t cu8DSPIInstance, \
                                    const uint8_t cu8ChipSelect,   \
                                    const uint8_t cu8Protocol);
/*
 ******************************************************************************
 *
 * Function:          u8fnMirandaReadAccelSPI()
 *
 */
uint8_t u8fnMirandaReadAccelSPI(const uint8_t cu8DSPIInstance, \
                                const uint8_t cu8ChipSelect, 
                                const uint8_t cu8Axis,
                                uint16_t* pu16AccelResults);
/*
 ******************************************************************************
 *
 * Function:          u8fnMirandaBatchOp()
 *
 */
uint8_t u8fnMirandaBatchOp(const uint8_t cu8DSPIInstance,        \
                           const uint8_t cu8ChipSelect,          \
                           const uint16_t* pu16DataToSend,       \
                           uint16_t* pu16UnfilteredDataReceived, \
                           uint8_t u8Size,                       \
                           const uint8_t cu8Protocol);
/*
 ******************************************************************************
 *
 * Function:          u8fnMMA6800ExtractRegisterResponse()
 *
 */
uint8_t u8fnMirandaExtractRegisterResponse(const uint16_t* pu16RawResponse, \
                                           uint16_t* pu16Response,            \
                                           uint8_t u8Size,                  \
                                           const uint8_t cu8Protocol);
/*
 ******************************************************************************
 *
 * Function:          u8fnMirandaExtractAccelResponse()
 *
 */
uint8_t u8fnMirandaExtractAccelResponse(const uint16_t* pu16RawResponse, \
                                        uint16_t* pu16Response,          \
                                        uint8_t u8Size);
/*
 ******************************************************************************
 *
 * Function:          u8fnMirandaRegisterOperation()
 *
 */
static uint8_t u8fnMirandaRegisterOperation(const uint8_t u8RegisterOperation,\
                                            const uint8_t cu8DSPIInstance,    \
                                            const uint8_t cu8ChipSelect,      \
                                            uint16_t u16Register,             \
                                            const uint16_t u16ValueToWrite,   \
                                            uint16_t* pu16DataRead,           \
                                            const uint8_t cu8Protocol);
/*
 ******************************************************************************
 *
 * Function:          u8fnMirandaErrorResponseAnalysis()
 *
 */
static uint8_t u8fnMirandaErrorResponseAnalysis(const uint32_t cu32ReceivedWord,\
                                                        const uint8_t cu8Protocol);
/*
 ******************************************************************************
 *
 * Function:          u16fnMirandaAddParityToCommand()
 *
 */
static uint16_t u16fnMirandaAddParityToCommand(uint32_t u32RawCommand);
#endif /* _FILENAME_H */