131 lines
4.9 KiB
C
131 lines
4.9 KiB
C
/****************************************************************************
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* include/nuttx/sensors/as5048b.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_AS5048B_H
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#define __INCLUDE_NUTTX_SENSORS_AS5048B_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/sensors/qencoder.h>
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#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_QENCODER) && defined(CONFIG_SENSORS_AS5048B)
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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_I2C
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* Enables support for I2C drivers
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* CONFIG_SENSORS_AS5048B
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* Enables support for the AS5048B driver
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*/
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/* IOCTL Commands ***********************************************************/
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#define QEIOC_ZEROPOSITION _QEIOC(QE_AS5048B_FIRST+0) /* Arg: int32_t* pointer */
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#define QEIOC_AUTOGAINCTL _QEIOC(QE_AS5048B_FIRST+1) /* Arg: uint8_t* pointer */
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#define QEIOC_DIAGNOSTICS _QEIOC(QE_AS5048B_FIRST+2) /* Arg: uint8_t* pointer */
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#define QEIOC_MAGNITUDE _QEIOC(QE_AS5048B_FIRST+3) /* Arg: int32_t* pointer */
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/* Resolution ***************************************************************/
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#define AS5048B_MAX 0x3fff /* Maximum value (14 bits) */
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/* Register Definitions *****************************************************/
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/* Register Addresses */
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#define AS5048B_PROG_REG 0x03 /* Programming Control Register */
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#define AS5048B_ADDR_REG 0x15 /* I2C Slave Address Register */
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#define AS5048B_ZEROLO_REG 0x16 /* Zero Position Register Bits 0 to 5 */
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#define AS5048B_ZEROHI_REG 0x17 /* Zero Position Register Bits 6 to 13 */
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#define AS5048B_AGC_REG 0xfa /* Automatic Gain Control Register */
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#define AS5048B_DIAG_REG 0xfb /* Diagnostics Register */
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#define AS5048B_MAGLO_REG 0xfc /* Magnitude Register Bits 0 to 5 */
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#define AS5048B_MAGHI_REG 0xfd /* Magnitude Register Bits 6 to 13 */
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#define AS5048B_ANGLO_REG 0xfe /* Angle Register Bits 0 to 5 */
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#define AS5048B_ANGHI_REG 0xff /* Angle Register Bits 6 to 13 */
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/* Programming Control Register Bit Definitions */
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#define AS5048B_PROG_ENABLE (1 << 0)
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#define AS5048B_PROG_BURN (1 << 3)
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#define AS5048B_PROG_VERIFY (1 << 6)
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/* Diagnostics Register Bit Definitions */
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#define AS5048B_DIAG_OCF (1 << 0) /* Offset Compensation Finished */
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#define AS5048B_DIAG_COF (1 << 1) /* Cordic Overflow */
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#define AS5048B_DIAG_COMPLOW (1 << 2) /* High Magnetic Field */
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#define AS5048B_DIAG_COMPHIGH (1 << 3) /* Low Magnetic Field */
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/****************************************************************************
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* Public Types
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****************************************************************************/
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struct i2c_master_s;
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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: as5048b_initialize
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*
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* Description:
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* Initialize the AS5048B device.
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*
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* Input Parameters:
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* i2c - An I2C driver instance.
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* addr - The I2C address of the AS5048B.
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*
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* Returned Value:
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* A new lower half quadrature encoder interface for the AS5048B
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* 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 *as5048b_initialize(FAR struct i2c_master_s *i2c,
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uint8_t addr,
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uint32_t frequency);
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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_I2C && CONFIG_SENSORS_QENCODER && CONFIG_SENSORS_AS5048B */
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#endif /* __INCLUDE_NUTTX_SENSORS_AS5048B_H */
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