esp32_as5047u_test_config.hpp

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#pragma once
 
#include <cstdint>
 
//==============================================================================
// COMPILE-TIME CONFIGURATION FLAGS
//==============================================================================
 
#ifndef ESP32_AS5047U_ENABLE_DETAILED_SPI_LOGGING
#define ESP32_AS5047U_ENABLE_DETAILED_SPI_LOGGING 1
#endif
 
namespace AS5047U_TestConfig {
 
struct SPIPins {
    static constexpr uint8_t MISO = 13;          
    static constexpr uint8_t MOSI = 11;          
    static constexpr uint8_t SCLK = 12;          
    static constexpr uint8_t CS   = 10;          
};
 
struct ControlPins {
    static constexpr int8_t INDEX_PIN = -1;     
    static constexpr int8_t PWM_PIN = -1;       
    static constexpr int8_t ABI_A = -1;         
    static constexpr int8_t ABI_B = -1;         
};
 
struct SPIParams {
    static constexpr uint32_t FREQUENCY = 1000000;    
    static constexpr uint8_t MODE = 1;                
    static constexpr uint8_t QUEUE_SIZE = 1;          
    static constexpr uint8_t CS_ENA_PRETRANS = 1;     
    static constexpr uint8_t CS_ENA_POSTTRANS = 1;   
    static constexpr uint8_t SPI_HOST_ID = 2;
};
 
struct EncoderSpecs {
    static constexpr uint16_t RESOLUTION_BITS = 14;          
    static constexpr uint16_t COUNTS_PER_REV = 16384;        
    static constexpr float DEGREES_PER_COUNT = 360.0f / 16384.0f; 
    static constexpr float MAX_ROTATION_SPEED_RPM = 28000.0f; 
};
 
struct SupplyVoltage {
    static constexpr float VDD_MIN = 3.0f;     
    static constexpr float VDD_NOM = 3.3f;     
    static constexpr float VDD_MAX = 3.6f;     
    static constexpr float VDD5V_MIN = 4.5f;   
    static constexpr float VDD5V_NOM = 5.0f;   
    static constexpr float VDD5V_MAX = 5.5f;   
};
 
struct Temperature {
    static constexpr int16_t OPERATING_MIN = -40;    
    static constexpr int16_t OPERATING_MAX = 150;    
    static constexpr int16_t WARNING_THRESHOLD = 130; 
};
 
struct Timing {
    static constexpr uint16_t POWER_ON_DELAY_MS = 10;       
    static constexpr uint16_t READOUT_LATENCY_US = 100;     
    static constexpr uint16_t INTER_FRAME_US = 1;           
};
 
struct Diagnostics {
    static constexpr uint16_t POLL_INTERVAL_MS = 100;      
    static constexpr uint8_t MAX_RETRY_COUNT = 3;          
    static constexpr uint8_t CORDIC_OVERFLOW_LIMIT = 5;    
};
 
struct TestConfig {
    static constexpr uint16_t ANGLE_READ_COUNT = 100;       
    static constexpr uint16_t VELOCITY_SAMPLE_MS = 10;      
    static constexpr uint16_t TEST_DURATION_MS = 5000;      
    static constexpr float ANGLE_TOLERANCE_DEG = 0.5f;      
};
 
struct AppConfig {
    // Logging
    static constexpr bool ENABLE_DEBUG_LOGGING = true;     
    static constexpr bool ENABLE_SPI_LOGGING = false;      
    
    // Performance
    static constexpr bool ENABLE_PERFORMANCE_MONITORING = true;  
    static constexpr uint16_t STATS_REPORT_INTERVAL_MS = 10000;  
    
    // Error handling
    static constexpr bool ENABLE_AUTO_RECOVERY = true;     
    static constexpr uint8_t MAX_ERROR_COUNT = 10;         
};
 
} // namespace AS5047U_TestConfig
 
static_assert(AS5047U_TestConfig::SPIParams::FREQUENCY <= 10000000,
              "SPI frequency exceeds AS5047U maximum of 10MHz");
 
static_assert(AS5047U_TestConfig::SPIParams::MODE == 1,
              "AS5047U requires SPI Mode 1 (CPOL=0, CPHA=1)");
 
static_assert(AS5047U_TestConfig::EncoderSpecs::RESOLUTION_BITS == 14,
              "AS5047U is a 14-bit encoder");
 
static_assert(AS5047U_TestConfig::EncoderSpecs::COUNTS_PER_REV == (1 << 14),
              "Counts per revolution must match 2^RESOLUTION_BITS");
 
#define AS5047U_VALIDATE_GPIO(pin) \
    static_assert((pin) >= 0 && (pin) < 30, "Invalid GPIO pin number for ESP32-C6")