Class Tle5012b

• Defined in File TLE5012b.hpp

Nested Relationships

Nested Types

• Struct Tle5012b::safetyWord

Inheritance Relationships

Derived Types

• public tle5012::Tle5012Ino (Class Tle5012Ino)

• public tle5012::Tle5012Wiced (Class Tle5012Wiced)

Class Documentation

class Tle5012b

Subclassed by tle5012::Tle5012Ino, tle5012::Tle5012Wiced

TLE5012b.cpp - core library for the TLx5012B angle sensor family.

GMR-based angle sensor for angular position sensing in automotive applications

SPDX-License-Identifier: MIT

Author

Infineon Technologies AG

Copyright

2019-2024 Infineon Technologies AG

Version

4.0.0

Tle5012b()

destructor stops the Sensor

~Tle5012b()

default begin with standard pin setting

void end()

void enableSensor()

Function enables Sensor by switch on EN pin which is only possible on Sensor2go shields, but also sets chip select high. So it is called always.

void disableSensor()

Functions disables Sensor by switch off EN pin (only possible on Sensor2go shield)

errorTypes readBlockCRC()

Reads the block of _registers from addresses 08 - 0F in order to figure out the CRC. ATTENTION: You need a memory chunk of unit16_t * CRC Registers + 1 * uint16_t for the safety word.

Returns:

CRC error type

errorTypes readFromSensor(uint16_t command, uint16_t &data, updTypes upd = UPD_low, safetyTypes safe = SAFE_high)

General read function for reading _registers from the Tle5012b.

structure of command word, the numbers represent the bit position of the 2 byte command 15 - 0 write, 1 read 14:11 - 0000 for default operational access for addresses between 0x00 - 0x04, 1010 for configuration access for addresses between 0x05 - 0x11 10 - 0 access to current value, 1 access to value in update buffer 9:4 - access to 6 bit register address 3:0 - 4 bit number of data words.

Parameters:

• command – [in] the command for reading

• data – [out] where the data received from the _registers will be stored

• upd – [in] read from update (UPD_high) register or directly (default, UPD_low)

• safe – [in] generate safety word (default, SAFE_high) or not (SAFE_low)

Returns:

CRC error type

errorTypes readMoreRegisters(uint16_t command, uint16_t data[], updTypes upd = UPD_low, safetyTypes safe = SAFE_high)

Can be used to read 1 or more consecutive _registers, and the values used to read 1 or more than 1 consecutive _registers. The maximum amount of registers are limited by the bit 3-0 of the command word, which means you can read max 15 registers and one safety word at once.

Parameters:

• command – [in] the command for reading

• data – [out] where the data received from the _registers will be stored

• upd – [in] read from update (UPD_high) register or directly (default, UPD_low)

• safe – [in] generate safety word (default, SAFE_high) or no (SAFE_low)

Returns:

CRC error type

errorTypes readStatus(uint16_t &data, updTypes upd = UPD_low, safetyTypes safe = SAFE_high)

This functions reads the main status word for the sensor, mainly for checking with the additional safety word

Parameters:

• data – [out] pointer with the received data word

• upd – [in] read from update (UPD_high) register or directly (default, UPD_low)

• safe – [in] generate safety word (default, SAFE_high) or no (SAFE_low)

Returns:

CRC error type

errorTypes readActivationStatus(uint16_t &data, updTypes upd = UPD_low, safetyTypes safe = SAFE_high)

This functions reads activation status word for the sensor, which held on/off information for all optional checks and additional functions

Parameters:

• data – [out] pointer with the received data word

• upd – [in] read from update (UPD_high) register or directly (default, UPD_low)

• safe – [in] generate safety word (default, SAFE_high) or no (SAFE_low)

Returns:

CRC error type

errorTypes readIntMode1(uint16_t &data)

read register offset 0x06

errorTypes readSIL(uint16_t &data)

read register offset 0x07

errorTypes readIntMode2(uint16_t &data)

read register offset 0x08

errorTypes readIntMode3(uint16_t &data)

read register offset 0x09

errorTypes readOffsetX(uint16_t &data)

read register offset 0x0A

errorTypes readOffsetY(uint16_t &data)

read register offset 0x0B

errorTypes readSynch(uint16_t &data)

read register offset 0x0C

errorTypes readIFAB(uint16_t &data)

read register offset 0x0D

errorTypes readIntMode4(uint16_t &data)

read register offset 0x0E

errorTypes readTempCoeff(uint16_t &data)

read register offset 0x0F

errorTypes readTempDMag(uint16_t &data)

read register offset 0x14

errorTypes readTempRaw(uint16_t &data)

read register offset 0x15

errorTypes readTempIIFCnt(uint16_t &data)

read register offset 0x20

errorTypes readTempT25(uint16_t &data)

read register offset 0x30

errorTypes readRawX(int16_t &data)

The rawX value is signed 16 bit value

Parameters:

data – pointer to 16bit word

Returns:

CRC error type

errorTypes readRawY(int16_t &data)

The rawY value is signed 16 bit value

Parameters:

data – pointer to 16bit word

Returns:

CRC error type

errorTypes getAngleRange(double &angleRange)

Returns the Angle Range Angle Range is stored in bytes 14 - 4 of MOD_2.

Parameters:

angleRange – pointer to 16bit double value

Returns:

CRC error type

errorTypes getAngleValue(double &angleValue)

Returns the angleValue calculated on the base of a 15 bit signed integer. However, the register returns 16 bits, so we need to do some bit arithmetic.

Parameters:

angleValue – [inout] pointer to 16bit double angle value

Returns:

CRC error type

errorTypes getAngleValue(double &angleValue, int16_t &rawAngleValue, updTypes upd = UPD_low, safetyTypes safe = SAFE_high)

Same function as before but also returns a pointer to the raw data

Parameters:

• angleValue – [inout] pointer to 16bit double angle value

• rawAngleValue – [inout] point to an int16_t raw data value

• upd – [in] read from update (UPD_high) register or directly (default, UPD_low)

• safe – [in] generate safety word (default, SAFE_high) or no (SAFE_low)

Returns:

CRC error type

errorTypes getNumRevolutions(int16_t &numRev, updTypes upd = UPD_low, safetyTypes safe = SAFE_high)

Returns the number of revolutions done from the angle value which is a 9 bit signed integer. However, the register returns 16 bits, so we need to do some bit arithmetic. Therefore the resulting revolution can b only between -256 < numRev < 256 and it will switch from positive to negative and vice versa values at the borders.

Parameters:

• numRev – [inout] pointer to 16bit word for the number of revolutions

• upd – [in] read from update (UPD_high) register or directly (default, UPD_low)

• safe – [in] generate safety word (default, SAFE_high) or no (SAFE_low)

Returns:

CRC error type

errorTypes getTemperature(double &temp)

Return the temperature. The temperature value is a 9 bit signed integer. However, the register returns 16 bits, so we need to do some bit arithmetic.

Parameters:

temp – [inout] pointer to 16bit double value of the temperature

Returns:

CRC error type

errorTypes getTemperature(double &temp, int16_t &rawTemp, updTypes upd = UPD_low, safetyTypes safe = SAFE_high)

Same as above but also returns a pointer to the raw data

Parameters:

• temp – [inout] pointer to 16bit double value of the temperature

• rawTemp – [inout] pointer to int16_t raw value data

• upd – [in] read from update (UPD_high) register or directly (default, UPD_low)

• safe – [in] generate safety word (default, SAFE_high) or no (SAFE_low)

Returns:

CRC error type

errorTypes getAngleSpeed(double &angleSpeed)

Returns the calculated angle speed. The angle speed is a 15 bit signed integer, however, the register returns 16 bits, so we need to do some bit arithmetic.

Parameters:

angleSpeed – [inout] pointer to 16bit double value

Returns:

CRC error type

errorTypes getAngleSpeed(double &angleSpeed, int16_t &rawSpeed, updTypes upd = UPD_low, safetyTypes safe = SAFE_high)

Same as above but also returns a pointer to the raw data

Parameters:

• angleSpeed – [inout] angleSpeed pointer to 16bit double value

• rawSpeed – [inout] pointer to int16_t raw value data

• upd – [in] read from update (UPD_high) register or directly (default, UPD_low)

• safe – [in] generate safety word (default, SAFE_high) or no (SAFE_low)

Returns:

CRC error type

errorTypes writeSlaveNumber(uint16_t dataToWrite)

Function sets the SNR register with the correct slave number

Parameters:

dataToWrite – [in] the new data that will be written to the register

Returns:

CRC error type

errorTypes writeToSensor(uint16_t command, uint16_t dataToWrite, bool changeCRC)

General write function for writing registers to the Tle5012b. The safety flag will be set always and only some of all registers are writable. See documentation for further information.

Parameters:

• command – [in] the command to execute the write

• dataToWrite – [in] the new data that will be written to the register

• changeCRC – [in] the registerIndex helps figure out in which register the value changed, so that we don’t need to read all the register again to calculate the CRC

Returns:

CRC error type

errorTypes writeTempCoeffUpdate(uint16_t dataToWrite)

This function is used in order to update the CRC in the register 0F(second byte)

Parameters:

dataToWrite – [in] the new data that will be written to the register

Returns:

CRC error type

errorTypes writeActivationStatus(uint16_t dataToWrite)

write register offset 0x01

Standard function used for updating the CRC

Parameters:

dataToWrite – [in] the new data that will be written to the register

Returns:

CRC error type

errorTypes writeIntMode1(uint16_t dataToWrite)

write register offset 0x06

errorTypes writeSIL(uint16_t dataToWrite)

write register offset 0x07

errorTypes writeIntMode2(uint16_t dataToWrite)

write register offset 0x08

errorTypes writeIntMode3(uint16_t dataToWrite)

write register offset 0x09

errorTypes writeOffsetX(uint16_t dataToWrite)

write register offset 0x0A

errorTypes writeOffsetY(uint16_t dataToWrite)

write register offset 0x0B

errorTypes writeSynch(uint16_t dataToWrite)

write register offset 0x0C

errorTypes writeIFAB(uint16_t dataToWrite)

write register offset 0x0D

errorTypes writeIntMode4(uint16_t dataToWrite)

write register offset 0x0E

errorTypes writeTempCoeff(uint16_t dataToWrite)

write register offset 0x0F

errorTypes resetFirmware()

Function reset the Sensor to fuse defaults

Returns:

CRC error type

errorTypes readRegMap()

Function reads all readable sensor registers and separates the information fields. This function is needed for finding the selected interface type.

Returns:

CRC error type

errorTypes writeInterfaceType(Reg::interfaceType_t iface)

Functions switches between all possible interface types. ATTENTION: The different interfaces support not always all values, see documentation for the ability of each interface. If you want to be save, than choose the default SSC interface which always supports all possible parameter.

Parameters:

iface – type of interface to switch to

Returns:

CRC error type

errorTypes setCalibration(Reg::calibrationMode_t calMode)

Function set the sensors calibration mode. Keep in mind, not all Sensor interface setups have the auto calibration switched on, so maybe you have to set it explicitly.

Parameters:

calMode – [in] the auto calibration mode to set

Returns:

CRC error type

errorTypes regularCrcUpdate()

This function is called each time any register in the range 08 - 0F(first byte) is changed. It calculates the new CRC based on the value of all the _registers and then stores the value in 0F(second byte)

Returns:

CRC error type

errorTypes checkSafety(uint16_t safety, uint16_t command, uint16_t *readreg, uint16_t length)

checks the safety by looking at the safety word and calculating the CRC such that the data received is valid

Parameters:

• safety – register with the CRC check data

• command – the command to execute the write

• readreg – pointer to the read data

• length – the length of the data structure

Returns:

CRC error type

void resetSafety()

When an error occurs in the safety word, the error bit remains 0(error), until the status register is read again. Flushes out safety errors, that might have occurred by reading the register without a safety word. In case the safety word sends an error, this function is called so that the error bit is reset to 1.

Public Types

enum slaveNum

Offset for the slave number register to identify the right selected slave. Max 4 slaves with separated CSQ lines are possible. If more than one sensor is used on the SPI interface, than the SNR register must we written with the correct slave number

Values:

enumerator TLE5012B_S0

TLE5012B_S0 default setting for only one sensor on the SPI.

enumerator TLE5012B_S1

TLE5012B_S1 second sensor needs also a second CS pin.

enumerator TLE5012B_S2

TLE5012B_S2 third sensor and ditto.

enumerator TLE5012B_S3

TLE5012B_S3 fourth sensor and ditto.

Public Functions

errorTypes begin()

errorTypes begin(uint8_t csPin, slaveNum slave = TLE5012B_S0)

begin method with default assignments for the SPI bus and the slave setting.

Ends the communication and switches the sensor off, if possible (only Sensor2go kit)

Parameters:

• csPin – pin number of the CS pin

• slave – slave offset setting for the SNR register, default is TLE5012B_S0

errorTypes readActiveStatus(uint16_t &data)

read register offset 0x01

The next functions are used primarily for storing the parameters and control of how the sensor works. The values stored in them are used to calculate the CRC, and their values are stored in the private component of the class, _registers.

Parameters:

data – [out] where the data received from the _registers will be stored

Returns:

CRC error type

Public Members

SPICPAL *sBus

SPI cover class as representation of the SPI bus.

GPIOPAL *en

shield enable GPIOPal to switch sensor2go on/off

Reg reg

Register map.

slaveNum mSlave

actual set slave number

struct tle5012::Tle5012b::safetyWord safetyWord_t

constructor for the Sensor

safetyWord safetyStatus

uint16_t safetyWord

the last fetched safety word

Protected Attributes

uint16_t _command[2]

command write data [0] = command [1] = data to write

uint16_t _received[0x0030]

fetched data from sensor with last word = safety word

uint16_t _registers[0x0008 + 1]

keeps track of the values stored in the 8 _registers, for which the CRC is calculated

struct safetyWord

Public Functions

inline slaveNum responseSlave()

Returns the safety word slave number to identify the sensor.

Returns:

slaveNum setting in safety word

inline uint16_t fetch_Safety(uint16_t reg)

Function separates safety word bits.

Parameters:

reg – [inout] actual safety or last fetched as default

Returns:

safety word

Public Members

bool STAT_RES

<

Safety word bit setting

bits 15:15 Indication of chip reset or watchdog overflow

bool STAT_ERR

bits 14:14 System error

bool STAT_ACC

bits 13:13 Interface access error

bool STAT_ANG

bits 12:12 Invalid angle value

uint8_t RESP

bits 11:8 Sensor number response indicator

uint8_t CRC

bits 7:0 Status ADC Test