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