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lib/obp60task/AS5600.h

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+
+/****************************************************
+  AMS 5600 class for Arduino platform
+  Author: Tom Denton
+  Date: 15 Dec 2014
+  File: AMS_5600.h 
+  Version 1.00
+  www.ams.com
+   
+  Description:  This class has been designed to
+  access the AMS 5600 “potuino” shield.
+***************************************************/
+
+// updated jan 2022 by isc - read two bytes together
+
+// datasheet: https://ams.com/documents/20143/36005/AS5600_DS000365_5-00.pdf
+
+#ifndef AMS_5600_h
+#define AMS_5600_h
+
+#include <Arduino.h>
+
+class AMS_5600
+{
+public:
+
+  AMS_5600(void);
+  int getAddress();
+
+  word setMaxAngle(word newMaxAngle = -1);
+  word getMaxAngle();
+
+  word setStartPosition(word startAngle = -1);
+  word getStartPosition();
+
+  word setEndPosition(word endAngle = -1);
+  word getEndPosition();
+
+  word getRawAngle();
+  word getScaledAngle();
+
+  int detectMagnet();
+  int getMagnetStrength();
+  int getAgc();
+  word getMagnitude();
+  word getConf();
+  void setConf(word _conf);
+
+  int getBurnCount();
+  int burnAngle();
+  int burnMaxAngleAndConfig();
+  void setOutPut(uint8_t mode);
+
+private:
+
+  // i2c address
+  static const uint8_t _ams5600_Address = 0x36;
+  
+  // single byte registers
+  static const uint8_t _addr_status = 0x0b; // magnet status
+  static const uint8_t _addr_agc    = 0x1a; // automatic gain control
+  static const uint8_t _addr_burn   = 0xff; // permanent burning of configs (zpos, mpos, mang, conf)
+  static const uint8_t _addr_zmco   = 0x00; // number of times zpos/mpos has been permanently burned
+                                            // zpos/mpos can be permanently burned 3x
+                                            // mang/conf can be burned only once
+  
+  // double byte registers, specify starting address (lower addr, but higher byte data)
+  // addr   = upper byte of data (MSB), only bits 0:3 are used
+  // addr+1 = lower byte of data (LSB)
+  static const uint8_t _addr_zpos      = 0x01; // zero position (start)
+                                               // 0x02 - lower byte
+  static const uint8_t _addr_mpos      = 0x03; // maximum position (stop)
+                                               // 0x04 - lower byte
+  static const uint8_t _addr_mang      = 0x05; // maximum angle
+                                               // 0x06 - lower byte
+  static const uint8_t _addr_conf      = 0x07; // configuration
+                                               // 0x08 - lower byte
+  static const uint8_t _addr_raw_angle = 0x0c; // raw angle
+                                               // 0x0d - lower byte
+  static const uint8_t _addr_angle     = 0x0e; // mapped angle
+                                               // 0x0f - lower byte
+  static const uint8_t _addr_magnitude = 0x1b; // magnitude of internal CORDIC
+                                               // 0x1c - lower byte
+
+  int readOneByte(int in_adr);
+  word readTwoBytesSeparately(int addr_in);
+  word readTwoBytesTogether(int addr_in);
+  void writeOneByte(int adr_in, int dat_in);
+
+};
+#endif