Initial commit

AS5600L/AS5600L.h

@@ -0,0 +1,47 @@
+#ifndef AS5600L_H
+#define AS5600L_H
+
+#include "hardware/i2c.h"
+#include "pico/stdlib.h"
+#include "pico/time.h"
+#include <stdio.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#define I2C_TIMEOUT_US (100000)
+
+#define AS560x_STATUS_REG (0x0B)
+#define AS560x_RAW_ANGLE_REG (0x0C)
+#define AS5600L_ADDRESS 0x40
+#define ENCODER_RESOLUTION 4096
+
+
+
+typedef struct {
+    i2c_inst_t *I2C_PORT;
+    int FREQUENCE;
+    int I2C_SDA_PIN;
+    int I2C_SCL_PIN;
+} AS5600L_I2C;
+
+typedef struct {
+    AS5600L_I2C serial_instance;
+    int last_angle;
+    int curr_angle ;
+    int  abs_pos ;
+    int start_pos;
+} AS5600L;
+
+
+void as560x_init(AS5600L* as5600l, i2c_inst_t *I2C_ID, int frq , int sda, int scl);
+int update_pos(AS5600L* as5600l);
+int __bswap16(int value);
+void i2cError();
+int as560xReadReg(AS5600L* as5600l,int addr, bool wide, int mask);
+void AS560x_print_reg16(AS5600L* as5600l,const char *formatStr, int addr, int mask);
+void AS560x_print_reg8(AS5600L* as5600l,const char *formatStr, int addr, uint8_t mask);
+int as560xReadAngle(AS5600L* as5600l);
+uint8_t as560xGetStatus(AS5600L* as5600l);
+void sensorData(AS5600L* as5600l);
+
+#endif /* AS5600L_H */