Alexandre Pirotte / Mbed 2 deprecated AS5048

cc

Dependencies:   mbed

Fork of AS5048 by Saxion Lectoraat MT

as5048spi.h@2:2958500883e0, 2014-12-04 (annotated)

Committer:
JSpikker
Date:
Thu Dec 04 10:00:42 2014 +0000
Revision:
2:2958500883e0
Parent:
0:3edcf58e51e7
Child:
3:a8ad32e439d4
Added burst read functionality

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JSpikker 0:3edcf58e51e7 1 #include "mbed.h"
JSpikker 0:3edcf58e51e7 2 typedef enum {
JSpikker 0:3edcf58e51e7 3 AS_FLAG_PARITY = 0x8000,
JSpikker 0:3edcf58e51e7 4 AS_FLAG_READ = 0x4000,
JSpikker 0:3edcf58e51e7 5 } As5048Flag;
JSpikker 0:3edcf58e51e7 6
JSpikker 0:3edcf58e51e7 7 typedef enum {
JSpikker 0:3edcf58e51e7 8 AS_CMD_NOP = 0x0000,
JSpikker 0:3edcf58e51e7 9 AS_CMD_ERROR = 0x0001 | AS_FLAG_READ, // Reads error ireguster and clear error flags
JSpikker 0:3edcf58e51e7 10 AS_CMD_DIAGNOSTICS = 0x3FFD | AS_FLAG_READ, // Reads automatic gain control and diagnostics info
JSpikker 0:3edcf58e51e7 11 AS_CMD_MAGNITUDE = 0x3FFE | AS_FLAG_READ,
JSpikker 0:3edcf58e51e7 12
JSpikker 0:3edcf58e51e7 13 AS_CMD_ANGLE = 0x3FFF| AS_FLAG_PARITY | AS_FLAG_READ,
JSpikker 0:3edcf58e51e7 14 } As5048Command;
JSpikker 0:3edcf58e51e7 15
JSpikker 2:2958500883e0 16 // Masks for bits in the result of the AS_CMD_DIAGNOSTICS command
JSpikker 2:2958500883e0 17 typedef enum {
JSpikker 2:2958500883e0 18 AS_DIAG_CORDIC_OVERFLOW = 0x0200,
JSpikker 2:2958500883e0 19 AS_DIAG_HIGH_MAGNETIC = 0x0400,
JSpikker 2:2958500883e0 20 AS_DIAG_LOW_MAGNETIC = 0x0800,
JSpikker 2:2958500883e0 21 } As5048Diagnostics;
JSpikker 2:2958500883e0 22
JSpikker 0:3edcf58e51e7 23
JSpikker 0:3edcf58e51e7 24
JSpikker 0:3edcf58e51e7 25 class As5048Spi
JSpikker 0:3edcf58e51e7 26 {
JSpikker 0:3edcf58e51e7 27 public:
JSpikker 0:3edcf58e51e7 28 As5048Spi(PinName mosi, PinName miso, PinName sclk, PinName chipselect, int nDevices = 1);
JSpikker 0:3edcf58e51e7 29 ~As5048Spi();
JSpikker 0:3edcf58e51e7 30
JSpikker 0:3edcf58e51e7 31 bool error(int device = -1);
JSpikker 0:3edcf58e51e7 32 void frequency(int frequency = 1000000);
JSpikker 0:3edcf58e51e7 33 const int* read(As5048Command command);
JSpikker 0:3edcf58e51e7 34 const int* read_sequential(As5048Command command);
JSpikker 0:3edcf58e51e7 35
JSpikker 2:2958500883e0 36 /// Performs a single angle measurement on all sensors
JSpikker 2:2958500883e0 37 /// @return Array of raw angle data. To get the 14-bit value representing
JSpikker 2:2958500883e0 38 /// the angle, apply the mask() to the result.
JSpikker 2:2958500883e0 39 /// To get an angle in degrees divide 360 by the result of the call to mask().
JSpikker 0:3edcf58e51e7 40 const int* read_angle();
JSpikker 2:2958500883e0 41
JSpikker 2:2958500883e0 42 /// Performs sequential angle measurements on all sensors. The first time this
JSpikker 2:2958500883e0 43 /// method is called the result is not usefull, the measurement data of the call
JSpikker 2:2958500883e0 44 /// will be returned by the next call to this method.
JSpikker 2:2958500883e0 45 /// @return Array of raw angle data. To get the 14-bit value representing
JSpikker 2:2958500883e0 46 /// the angle, apply the mask() to the result.
JSpikker 2:2958500883e0 47 /// To get an angle in degrees divide 360 by the result of the call to mask().
JSpikker 0:3edcf58e51e7 48 const int* read_angle_sequential();
JSpikker 0:3edcf58e51e7 49
JSpikker 2:2958500883e0 50 /// Returns lowest 14-bits
JSpikker 0:3edcf58e51e7 51 static int mask(int sensor_result);
JSpikker 2:2958500883e0 52 static void mask(int* sensor_results, int n);
JSpikker 2:2958500883e0 53 /// Checks if the return value from the sensor has the right parity
JSpikker 2:2958500883e0 54 /// @return true if ok
JSpikker 0:3edcf58e51e7 55 static bool parity_check(int sensor_result);
JSpikker 0:3edcf58e51e7 56 static int degrees(int sensor_result);
JSpikker 0:3edcf58e51e7 57 static int radian(int sensor_result);
JSpikker 0:3edcf58e51e7 58
JSpikker 0:3edcf58e51e7 59
JSpikker 0:3edcf58e51e7 60 protected:
JSpikker 0:3edcf58e51e7 61 int _nDevices;
JSpikker 0:3edcf58e51e7 62 DigitalOut _chipSelectN;
JSpikker 0:3edcf58e51e7 63 SPI _spi;
JSpikker 0:3edcf58e51e7 64
JSpikker 0:3edcf58e51e7 65 int* _readBuffer; // Stores the results of the last sequential read
JSpikker 0:3edcf58e51e7 66
JSpikker 0:3edcf58e51e7 67 int* _read(As5048Command command);
JSpikker 0:3edcf58e51e7 68 };
JSpikker 0:3edcf58e51e7 69