driver_as5600.h

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#ifndef DRIVER_AS5600_H
#define DRIVER_AS5600_H
 
#include <stdio.h>
#include <stdint.h>
#include <string.h>
 
#ifdef __cplusplus
extern "C"{
#endif



typedef enum
{
    AS5600_BOOL_FALSE = 0x00,        
    AS5600_BOOL_TRUE  = 0x01,        
} as5600_bool_t;

typedef enum
{
    AS5600_POWER_MODE_NOM  = 0x00,        
    AS5600_POWER_MODE_LPM1 = 0x01,        
    AS5600_POWER_MODE_LPM2 = 0x02,        
    AS5600_POWER_MODE_LPM3 = 0x03,        
} as5600_power_mode_t;

typedef enum
{
    AS5600_HYSTERESIS_OFF  = 0x00,        
    AS5600_HYSTERESIS_1LSB = 0x01,        
    AS5600_HYSTERESIS_2LSB = 0x02,        
    AS5600_HYSTERESIS_3LSB = 0x03,        
} as5600_hysteresis_t;

typedef enum
{
    AS5600_OUTPUT_STAGE_ANALOG_FULL    = 0x00,        
    AS5600_OUTPUT_STAGE_ANALOG_REDUCED = 0x01,        
    AS5600_OUTPUT_STAGE_PWM            = 0x02,        
} as5600_output_stage_t;

typedef enum
{
    AS5600_PWM_FREQUENCY_115HZ = 0x00,        
    AS5600_PWM_FREQUENCY_230HZ = 0x01,        
    AS5600_PWM_FREQUENCY_460HZ = 0x02,        
    AS5600_PWM_FREQUENCY_920HZ = 0x03,        
} as5600_pwm_frequency_t;

typedef enum
{
    AS5600_SLOW_FILTER_16X = 0x00,        
    AS5600_SLOW_FILTER_8X  = 0x01,        
    AS5600_SLOW_FILTER_4X  = 0x02,        
    AS5600_SLOW_FILTER_2X  = 0x03,        
} as5600_slow_filter_t;

typedef enum
{
    AS5600_FAST_FILTER_THRESHOLD_SLOW_FILTER_ONLY = 0x00,        
    AS5600_FAST_FILTER_THRESHOLD_6LSB             = 0x01,        
    AS5600_FAST_FILTER_THRESHOLD_7LSB             = 0x02,        
    AS5600_FAST_FILTER_THRESHOLD_9LSB             = 0x03,        
    AS5600_FAST_FILTER_THRESHOLD_10LSB            = 0x07,        
    AS5600_FAST_FILTER_THRESHOLD_18LSB            = 0x04,        
    AS5600_FAST_FILTER_THRESHOLD_21LSB            = 0x05,        
    AS5600_FAST_FILTER_THRESHOLD_24LSB            = 0x06,        
} as5600_fast_filter_threshold_t;

typedef enum
{
    AS5600_STATUS_MD = (1 << 5),        
    AS5600_STATUS_ML = (1 << 4),        
    AS5600_STATUS_MH = (1 << 3),        
} as5600_status_t;

typedef enum
{
    AS5600_BURN_CMD1    = 0x01,        
    AS5600_BURN_CMD2    = 0x11,        
    AS5600_BURN_CMD3    = 0x10,        
    AS5600_BURN_ANGLE   = 0x80,        
    AS5600_BURN_SETTING = 0x40,        
} as5600_burn_t;

typedef struct as5600_handle_s
{
    uint8_t (*iic_init)(void);                                                          
    uint8_t (*iic_deinit)(void);                                                        
    uint8_t (*iic_read)(uint8_t addr, uint8_t reg, uint8_t *buf, uint16_t len);         
    uint8_t (*iic_write)(uint8_t addr, uint8_t reg, uint8_t *buf, uint16_t len);        
    void (*delay_ms)(uint32_t ms);                                                      
    void (*debug_print)(const char *const fmt, ...);                                    
    uint8_t inited;                                                                     
} as5600_handle_t;

typedef struct as5600_info_s
{
    char chip_name[32];                
    char manufacturer_name[32];        
    char interface[8];                 
    float supply_voltage_min_v;        
    float supply_voltage_max_v;        
    float max_current_ma;              
    float temperature_min;             
    float temperature_max;             
    uint32_t driver_version;           
} as5600_info_t;



#define DRIVER_AS5600_LINK_INIT(HANDLE, STRUCTURE)           memset(HANDLE, 0, sizeof(STRUCTURE))

#define DRIVER_AS5600_LINK_IIC_INIT(HANDLE, FUC)             (HANDLE)->iic_init = FUC

#define DRIVER_AS5600_LINK_IIC_DEINIT(HANDLE, FUC)           (HANDLE)->iic_deinit = FUC

#define DRIVER_AS5600_LINK_IIC_READ(HANDLE, FUC)             (HANDLE)->iic_read = FUC

#define DRIVER_AS5600_LINK_IIC_WRITE(HANDLE, FUC)            (HANDLE)->iic_write = FUC

#define DRIVER_AS5600_LINK_DELAY_MS(HANDLE, FUC)             (HANDLE)->delay_ms = FUC

#define DRIVER_AS5600_LINK_DEBUG_PRINT(HANDLE, FUC)          (HANDLE)->debug_print = FUC



uint8_t as5600_info(as5600_info_t *info);

uint8_t as5600_init(as5600_handle_t *handle);

uint8_t as5600_deinit(as5600_handle_t *handle);

uint8_t as5600_read(as5600_handle_t *handle, uint16_t *angle_raw, float *deg);

uint8_t as5600_angle_convert_to_register(as5600_handle_t *handle, float deg, uint16_t *reg);

uint8_t as5600_angle_convert_to_data(as5600_handle_t *handle, uint16_t reg, float *deg);

uint8_t as5600_set_start_position(as5600_handle_t *handle, uint16_t pos);

uint8_t as5600_get_start_position(as5600_handle_t *handle, uint16_t *pos);

uint8_t as5600_set_stop_position(as5600_handle_t *handle, uint16_t pos);

uint8_t as5600_get_stop_position(as5600_handle_t *handle, uint16_t *pos);

uint8_t as5600_set_max_angle(as5600_handle_t *handle, uint16_t ang);

uint8_t as5600_get_max_angle(as5600_handle_t *handle, uint16_t *ang);

uint8_t as5600_set_watch_dog(as5600_handle_t *handle, as5600_bool_t enable);

uint8_t as5600_get_watch_dog(as5600_handle_t *handle, as5600_bool_t *enable);

uint8_t as5600_set_fast_filter_threshold(as5600_handle_t *handle, as5600_fast_filter_threshold_t threshold);

uint8_t as5600_get_fast_filter_threshold(as5600_handle_t *handle, as5600_fast_filter_threshold_t *threshold);

uint8_t as5600_set_slow_filter(as5600_handle_t *handle, as5600_slow_filter_t filter);

uint8_t as5600_get_slow_filter(as5600_handle_t *handle, as5600_slow_filter_t *filter);

uint8_t as5600_set_pwm_frequency(as5600_handle_t *handle, as5600_pwm_frequency_t freq);

uint8_t as5600_get_pwm_frequency(as5600_handle_t *handle, as5600_pwm_frequency_t *freq);

uint8_t as5600_set_output_stage(as5600_handle_t *handle, as5600_output_stage_t stage);

uint8_t as5600_get_output_stage(as5600_handle_t *handle, as5600_output_stage_t *stage);

uint8_t as5600_set_hysteresis(as5600_handle_t *handle, as5600_hysteresis_t hysteresis);

uint8_t as5600_get_hysteresis(as5600_handle_t *handle, as5600_hysteresis_t *hysteresis);

uint8_t as5600_set_power_mode(as5600_handle_t *handle, as5600_power_mode_t mode);

uint8_t as5600_get_power_mode(as5600_handle_t *handle, as5600_power_mode_t *mode);

uint8_t as5600_get_raw_angle(as5600_handle_t *handle, uint16_t *ang);

uint8_t as5600_get_angle(as5600_handle_t *handle, uint16_t *ang);

uint8_t as5600_get_status(as5600_handle_t *handle, uint8_t *status);

uint8_t as5600_get_agc(as5600_handle_t *handle, uint8_t *agc);

uint8_t as5600_get_magnitude(as5600_handle_t *handle, uint16_t *magnitude);

uint8_t as5600_set_burn(as5600_handle_t *handle, as5600_burn_t burn);



uint8_t as5600_set_reg(as5600_handle_t *handle, uint8_t reg, uint8_t *buf, uint16_t len);

uint8_t as5600_get_reg(as5600_handle_t *handle, uint8_t reg, uint8_t *buf, uint16_t len);


 
#ifdef __cplusplus
}
#endif
 
#endif