as5600.h

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#pragma once
 
#include <stdbool.h>
#include <stdint.h>
 
#include "sense_bus.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define AS5600_ADDR          0x36u
#define AS5600_REG_STATUS    0x0Bu
#define AS5600_REG_RAW_ANGLE 0x0Cu
#define AS5600_REG_ANGLE     0x0Eu
#define AS5600_REG_AGC       0x1Au
#define AS5600_REG_MAGNITUDE 0x1Bu
 
#define AS5600_STATUS_MH     0x08u
#define AS5600_STATUS_ML     0x10u
#define AS5600_STATUS_MD     0x20u
#define AS5600_STATUS_MASK   (AS5600_STATUS_MH | AS5600_STATUS_ML | AS5600_STATUS_MD)

#define AS5600_COUNTS        4096u
#define AS5600_CDEG_TURN     36000

uint16_t as5600_u12(const uint8_t *b);

bool as5600_status_possible(uint8_t status);

bool as5600_md(uint8_t status);
bool as5600_ml(uint8_t status);
bool as5600_mh(uint8_t status);

int16_t as5600_delta(uint16_t a, uint16_t b);

int32_t as5600_cdeg(int32_t counts);
 
/* -------------------------------------------------------------- driver */
 
typedef struct {
    sense_part_t part;
} as5600_t;

void as5600_init(as5600_t *d, sense_bus_t *bus);

bool as5600_step(as5600_t *d, uint32_t now_ms);

sense_state_t as5600_state(const as5600_t *d);

sense_err_t as5600_read_status(as5600_t *d, uint8_t *status);

sense_err_t as5600_read_raw(as5600_t *d, uint16_t *raw);

sense_err_t as5600_read_agc(as5600_t *d, uint8_t *agc);

sense_err_t as5600_read_mag(as5600_t *d, uint16_t *magnitude);

sense_err_t as5600_read_angle(as5600_t *d, uint8_t *status, uint16_t *raw);

sense_err_t as5600_read_magnitude(as5600_t *d, uint8_t *agc,
                                  uint16_t *magnitude);
 
#ifdef __cplusplus
}
#endif