a4963_lib.h

/*
 * A4963 Library
 * Meric SARIISIK
 * 01/2019
 */

 #ifndef __A4963_DEF__
 #define __A4963_DEF__


//how many bits to shift in register
 // register address (in the 16 word)
 #define REG_CONFIG0 0x0000
 #define REG_CONFIG1 0x2000
 #define REG_CONFIG2 0x4000
 #define REG_CONFIG3 0x6000
 #define REG_CONFIG4 0x8000
 #define REG_CONFIG5 0xA000
 #define REG_MASK 0xC000
 #define REG_RUN 0xE000

 #define WR 10
 #define REG_READ 0
 #define REG_WRITE (1<<WR)

 // register config0 bits
 #define DT0 0
 #define DT1 1
 #define DT2 2
 #define DT3 3
 #define DT4 4
 #define DT5 5
 #define BT0 6
 #define BT1 7
 #define BT2 8
 #define BT3 9
 #define RM0 10
 #define RM1 11

 // register config1 bits
 #define VT0 0
 #define VT1 1
 #define VT2 2
 #define VT3 3
 #define VT4 4
 #define VDQ 5
 #define VIL0 6
 #define VIL1 7
 #define VIL2 8
 #define VIL3 9
 #define IPI 10
 #define PFD 11

 // register config2 bits
 #define PW0 0
 #define PW1 1
 #define PW2 2
 #define PW3 3
 #define PW4 4
 #define DGC 5
 #define SH0 6
 #define SH1 7
 #define CP0 8
 #define CP1 9
 #define CP2 10
 #define CP3 11

 // register config3 bits
 #define HT0 0
 #define HT1 1
 #define HT2 2
 #define HT3 3
 #define HD0 4
 #define HD1 5
 #define HD2 6
 #define HD3 7
 #define CI0 8
 #define CI1 9
 #define CI2 10
 #define CI3 11

 // register config4 bits
 #define SS0 0
 #define SS1 1
 #define SS2 2
 #define SS3 3
 #define SD0 4
 #define SD1 5
 #define SD2 6
 #define SD3 7
 #define SP0 8
 #define SP1 9
 #define SP2 10
 #define SP3 11

 // register config5 bits
 #define PA0 0
 #define PA1 1
 #define PA2 2
 #define PA3 3
 #define SMX0 4
 #define SMX1 5
 #define SMX2 6
 #define SPO 7
 #define SI0 8
 #define SI1 9
 #define SI2 10
 #define SI3 11

 // register run bits
 #define RUN 0
 #define DIR 1
 #define BRK 2
 #define RSC 3
 #define DI0 4
 #define DI1 5
 #define DI2 6
 #define DI3 7
 #define DI4 8
 #define ESF 9
 #define CM0 10
 #define CM1 11

 // register diagnostic/mask bits
 #define CL 0
 #define CH 1
 #define BL 2
 #define BH 3
 #define AL 4
 #define AH 5
 #define VS 7
 #define LOS 9
 #define OT 10
 #define TW 11
 #define SE 13
 #define POR 14
 #define FF 15


 //config0 constants
 #define RECIRCULATION_AUTO 0
 #define RECIRCULATION_HIGH (1<<RM0)
 #define RECIRCULATION_LOW (1<<RM1)
 #define RECIRCULATION_ASYNC ((1<<RM1)|(1<<RM0))
 #define BLANK_TIME(N) ((N&0x0F)<<BT0)
 #define DEAD_TIME(N) ((N&0x3F)<<DT0)

 //config1 constants
 #define PERCENT_FAST_DECAY_12_5 0
 #define PERCENT_FAST_DECAY_25 (1<<PFD)
 #define INVERT_PWM (1<<IPI)
 #define CURRENT_LIMIT(N) ((N&0x0F)<<VIL0)
 #define VDS_DEBOUNCE_MODE 0
 #define VDS_BLANK_MODE (1<<VDQ)
 #define VDS_THRESHOLD(N) ((N&0x1F)<<VT0)

 //config2 constants
 #define POSITION_P_GAIN(N) ((N&0x0F)<<CP0)
 #define OVERSPEED_100 0
 #define OVERSPEED_125 (1<<SH0)
 #define OVERSPEED_150 (1<<SH1)
 #define OVERSPEED_200 ((1<<SH0)|(1<<SH1))
 #define DEGAUSS_COMPENSATION (1<<DGC)
 #define INDIRECT_PWM_PERIOD(N) ((N&0x1F)<<PW0)

 //config3 constants
 #define POSITION_I_GAIN(N) ((N&0x0F)<<CI0)
 #define HOLD_DUTY_CYCLE(N) ((N&0x0F)<<HD0)
 #define HOLD_TIME(N) ((N&0x0F)<<HT0)

 //config4 constants
 #define SPEED_P_GAIN(N) ((N&0x0F)<<SP0)
 #define STARTUP_DUTY_CYCLE(N) ((N&0x0F)<<SD0)
 #define START_SPEED(N) ((N&0x0F)<<SS0)

 //config5 constants
 #define SPEED_I_GAIN(N) ((N&0x0F)<<SI0)
 #define SPEED_FG 0
 #define SPEED_TACHO (1<<SPO)
 #define MAXIMUM_SPEED(N) ((N&0x07)<<SMX0)
 #define PHASE_ADVANCE(N) ((N&0x0F)<<PA0)

 // run mode constants
 #define RUN_ENABLE (1<<RUN)
 #define DIR_BACKWARD (1<<DIR)
 #define BRAKE_ENABLE (1<<BRK)
 #define RESTART_ENABLE (1<<RSC)
 #define STOP_ON_FAIL (1<<ESF)
 #define CONTROL_OPEN_SPEED_INDIRECT 0
 #define CONTROL_OPEN_SPEED_DIRECT (1<<CM0)
 #define CONTROL_CLOSED_CURRENT (1<<CM1)
 #define CONTROL_CLOSED_SPEED ((1<<CM1)|(1<<CM0))

 // Range is given in RPM, for a motor with one pole pair
 // Divide by the number of pole pair of your motor to get
 // the actual speed range

 //#define SPEED_RANGE_1530 0
 //#define SPEED_RANGE_3066 1
 //#define SPEED_RANGE_6138 2
 //#define SPEED_RANGE_12282 3
 //#define SPEED_RANGE_24570 4
 //#define SPEED_RANGE_49146 5
 //#define SPEED_RANGE_98298 6
 //#define SPEED_RANGE_196602 7
#endif