mirror of https://github.com/rusefi/bldc.git
52 lines
1.7 KiB
C
52 lines
1.7 KiB
C
/*
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Copyright 2016 - 2022 Benjamin Vedder benjamin@vedder.se
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Copyright 2022 Zach O'Brien
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef ENC_AS5x47U_H_
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#define ENC_AS5x47U_H_
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#include "encoder/encoder_datatype.h"
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// Functions
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/**
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* @brief Initalized the SPI peripheral used to communicate with the AS5x47U encoder.
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*/
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bool enc_as5x47u_init(AS5x47U_config_t *AS504x_config);
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/**
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* @brief Resets the SPI peripheral used to communicate with the AS5x47U encoder.
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*/
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void enc_as5x47u_deinit(AS5x47U_config_t *cfg);
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/**
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* @brief Starts a new SPI transaction to get the current position from the position sensor.
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*
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* Every call of enc_as5x47u_routine ends up doing two SPI transactions. The first one
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* always receives position, but will request one of MAGN, AGC, DIAG, or ERRFL. The next
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* transaction receives the requested register while requesting pos for the next
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* transaction.
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* @param cfg A pointer to the encoder config struct.
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*/
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void enc_as5x47u_routine(AS5x47U_config_t *cfg);
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// Macros
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#define AS5x47U_LAST_ANGLE(cfg) ((cfg)->state.last_enc_angle)
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#endif /* ENC_AS5x47U_H_ */
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