61 lines
1.1 KiB
C
61 lines
1.1 KiB
C
/*
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* AS5043.h
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*
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* Created on: Feb 28, 2012
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* Author: sebastian
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*/
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#ifndef AS5043_H_
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#define AS5043_H_ AS5043_H_
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#include <stdint.h>
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#include <avr/io.h>
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#include <util/delay.h>
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#include "uart.h"
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void AS5043_setup(void);
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uint16_t AS5043_readout(void);
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uint8_t AS5043_calcParity(uint16_t data);
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/*
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* Helper functions to retrieve single bits from AS5043_readout()
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* Format used in the unit16_t returned by AS5043_readout:
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* D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 OCF COF LIN INC DEC ParityCheckresult
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*/
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static inline uint8_t AS5043_checkParity(uint16_t data) {
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return data & 1;
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}
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static inline uint8_t AS5043_getDEC(uint16_t data) {
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return data & (1 << 2);
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}
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static inline uint8_t AS5043_getINC(uint16_t data) {
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return data & (1 << 3);
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}
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static inline uint8_t AS5043_getLIN(uint16_t data) {
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return data & (1 << 4);
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}
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static inline uint8_t AS5043_getCOF(uint16_t data) {
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return data & (1 << 5);
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}
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static inline uint8_t AS5043_getOCF(uint16_t data) {
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return data & (1 << 6);
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}
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static inline uint16_t AS5043_getPos(uint16_t data) {
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return (data & 0xFFC0) >> 6;
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}
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#endif /* AS5043_H_ */
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