147 lines
4.9 KiB
C
147 lines
4.9 KiB
C
/****************************************************************************
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* include/nuttx/sensors/as5048a.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_SENSORS_AS5048A_H
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#define __INCLUDE_NUTTX_SENSORS_AS5048A_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/fs/ioctl.h>
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#include <nuttx/spi/spi.h>
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#include <nuttx/sensors/qencoder.h>
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#if defined(CONFIG_SENSORS_AS5048A)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************
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* Prerequisites:
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*
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* CONFIG_SPI
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* Enables support for SPI drivers
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* CONFIG_AS5048A
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* Enables support for the AS5048A driver
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*/
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/* The device always operates in mode 0 */
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#define AS5048A_SPI_MODE SPIDEV_MODE1 /* Mode 1 */
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/* SPI frequency */
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#define AS5048A_SPI_MAXFREQUENCY 1000000 /* 1MHz */
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/* IOCTL Commands ***********************************************************/
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/* Arg: int32_t* pointer */
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#define QEIOC_AS5048A_ZEROPOSITION _QEIOC(QE_AS5048A_FIRST+0)
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/* Arg: uint8_t* pointer */
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#define QEIOC_AS5048A_AUTOGAINCTL _QEIOC(QE_AS5048A_FIRST+1)
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/* Arg: uint8_t* pointer */
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#define QEIOC_AS5048A_DIAGNOSTICS _QEIOC(QE_AS5048A_FIRST+2)
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/* Arg: int32_t* pointer */
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#define QEIOC_AS5048A_MAGNITUDE _QEIOC(QE_AS5048A_FIRST+3)
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/* Resolution ***************************************************************/
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#define AS5048A_MAX 0x3fff /* Maximum value (14 bits) */
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/* Register Definitions *****************************************************/
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/* Register Addresses */
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#define AS5048A_CMD_READ 0x4000 /* flag indicating read attempt */
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#define AS5048A_CMD_WRITE 0x0000 /* flag indicating write attempt */
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#define AS5048A_CLRERR_REG 0x1 /* clear error register */
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#define AS5048A_PROG_REG 0x03 /* Programming Control Register */
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#define AS5048A_ZEROLO_REG 0x17 /* Zero Position Register Bits 0~5 */
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#define AS5048A_ZEROHI_REG 0x16 /* Zero Position Register Bits 6~13 */
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#define AS5048A_AGC_REG 0x3ffd /* Automatic Gain Control Register */
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#define AS5048A_DIAG_REG 0x3ffd /* Diagnostics Register */
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#define AS5048A_MAG_REG 0x3ffe /* Magnitude Register Bits 0~13 */
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#define AS5048A_ANGLE_REG 0x3fff /* Angle Register Bits 0~13 */
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/* Programming Control Register Bit Definitions */
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#define AS5048A_PROG_ENABLE (1 << 0)
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#define AS5048A_PROG_BURN (1 << 3)
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#define AS5048A_PROG_VERIFY (1 << 6)
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/* Diagnostics Register Bit Definitions */
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#define AS5048A_DIAG_OCF (1 << 8) /* Offset Compensation Finished */
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#define AS5048A_DIAG_COF (1 << 9) /* Cordic Overflow */
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#define AS5048A_DIAG_COMPLOW (1 << 10) /* High Magnetic Field */
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#define AS5048A_DIAG_COMPHIGH (1 << 11) /* Low Magnetic Field */
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* Name: as5048a_initialize
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*
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* Description:
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* Initialize the AS5048A device.
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*
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* Input Parameters:
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* spi - An SPI driver instance.
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*
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* Returned Value:
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* A new lower half encoder interface for the AS5048A on success;
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* NULL on failure.
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*
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****************************************************************************/
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FAR struct qe_lowerhalf_s *as5048a_initialize(FAR struct spi_dev_s *spi,
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int spi_devid);
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* CONFIG_SENSORS_AS5048A */
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#endif /* __INCLUDE_NUTTX_SENSORS_AS5048A_H */
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