/**
* @file MT6816_ATY.h
*
* @param Project DEVICE_DRIVER_ATY_LIB
*
* @author ATY
*
* @copyright
*       - Copyright 2017 - 2026 MZ-ATY
*       - This code follows:
*           - MZ-ATY Various Contents Joint Statement -
*               <a href="https://mengze.top/MZ-ATY_VCJS">
*                        https://mengze.top/MZ-ATY_VCJS</a>
*           - CC 4.0 BY-NC-SA -
*               <a href="https://creativecommons.org/licenses/by-nc-sa/4.0/">
*                        https://creativecommons.org/licenses/by-nc-sa/4.0/</a>
*       - Your use will be deemed to have accepted the terms of this statement.
*
* @brief functions of MT6816 magnetic encoder for C platform
*
* @version
*       - 1_01_251222 > ATY
*           -# Preliminary version, first Release
********************************************************************************
*/

#ifndef __MT6816_ATY_H
#define __MT6816_ATY_H

#include "INCLUDE_ATY.h"

/******************************* For user *************************************/

/******************************************************************************/

struct MT6816_ATY_Dev{
    void (*nssSet)(uint8_t level);
    uint8_t (*spiProcess)(uint8_t* data_t, uint16_t len, uint8_t rw);

    uint16_t angleValue;
    float angle;
    float angleLast;
    float angleStart;
    float angleTotal;
    uint32_t turnCount;
    uint8_t start;

    uint8_t error;
    uint16_t zeroPoint;
    uint8_t angleReverseDir;

    uint8_t lock;
};

// MT6816 Register Addresses
#define MT6816_REG_ANGLE_13_6           0x03
#define MT6816_REG_ANGLE_5_0            0x04
#define MT6816_REG_ANGLE_OVER_SPEED     0x05

#define MT6816_PARITY_CHECK_MASK        0x01
#define MT6816_NO_MAG_WARNING_MASK      0x02
#define MT6816_OVER_SPEED_MASK          0x08

uint8_t MT6816_ParityCheck(struct MT6816_ATY_Dev* dev, uint16_t data);
uint8_t MT6816_ErrorCheck(struct MT6816_ATY_Dev* dev, uint8_t* data);

uint8_t MT6816_ReadAngleBase(struct MT6816_ATY_Dev* dev);
uint8_t MT6816_ReadAngleFull(struct MT6816_ATY_Dev* dev);
uint16_t MT6816_SetZeroPoint(struct MT6816_ATY_Dev* dev);

float MT6816_CalculateAngle(struct MT6816_ATY_Dev* dev, uint16_t angle);
float MT6816_CalculateAngleReal(struct MT6816_ATY_Dev* dev, uint16_t angle);

uint32_t MT6816_TurnCount(struct MT6816_ATY_Dev* dev);
uint32_t MT6816_TurnCountOffset(struct MT6816_ATY_Dev* dev);
void MT6816_TurnCountOffsetStart(struct  MT6816_ATY_Dev* dev, uint8_t dir);
void MT6816_TurnCountOffsetStop(struct  MT6816_ATY_Dev* dev);

#endif /* __MT6816_ATY_H */

/******************************** End Of File *********************************/