100 lines
2.3 KiB
C
100 lines
2.3 KiB
C
/*
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* Copyright (c) 2022, Felipe Neves
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT ams_as5600
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#include <errno.h>
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#include <zephyr/sys/__assert.h>
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#include <zephyr/sys/util.h>
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#include <zephyr/device.h>
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#include <zephyr/init.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/drivers/i2c.h>
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(ams_as5600, CONFIG_SENSOR_LOG_LEVEL);
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#define AS5600_ANGLE_REGISTER_H 0x0E
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#define AS5600_FULL_ANGLE 360
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#define AS5600_PULSES_PER_REV 4096
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struct as5600_dev_cfg {
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struct i2c_dt_spec i2c_port;
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};
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/* Device run time data */
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struct as5600_dev_data {
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uint16_t position;
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};
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static int as5600_fetch(const struct device *dev, enum sensor_channel chan)
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{
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struct as5600_dev_data *dev_data = dev->data;
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const struct as5600_dev_cfg *dev_cfg = dev->config;
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uint8_t read_data[2] = {0, 0};
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uint8_t angle_reg = AS5600_ANGLE_REGISTER_H;
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int err = i2c_write_read_dt(&dev_cfg->i2c_port,
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&angle_reg,
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1,
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&read_data,
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sizeof(read_data));
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/* invalid readings preserves the last good value */
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if (!err) {
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dev_data->position = ((uint16_t)read_data[0] << 8) | read_data[1];
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}
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return err;
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}
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static int as5600_get(const struct device *dev, enum sensor_channel chan,
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struct sensor_value *val)
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{
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struct as5600_dev_data *dev_data = dev->data;
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if (chan == SENSOR_CHAN_ROTATION) {
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val->val1 = ((int32_t)dev_data->position * AS5600_FULL_ANGLE) /
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AS5600_PULSES_PER_REV;
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val->val2 = ((int32_t)dev_data->position * AS5600_FULL_ANGLE) -
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(val->val1 * AS5600_PULSES_PER_REV);
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} else {
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return -ENOTSUP;
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}
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return 0;
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}
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static int as5600_initialize(const struct device *dev)
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{
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struct as5600_dev_data *const dev_data = dev->data;
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dev_data->position = 0;
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LOG_INF("Device %s initialized", dev->name);
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return 0;
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}
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static const struct sensor_driver_api as5600_driver_api = {
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.sample_fetch = as5600_fetch,
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.channel_get = as5600_get,
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};
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#define AS5600_INIT(n) \
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static struct as5600_dev_data as5600_data##n; \
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static const struct as5600_dev_cfg as5600_cfg##n = {\
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.i2c_port = I2C_DT_SPEC_INST_GET(n) \
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}; \
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\
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SENSOR_DEVICE_DT_INST_DEFINE(n, as5600_initialize, NULL, \
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&as5600_data##n, &as5600_cfg##n, \
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POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \
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&as5600_driver_api);
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DT_INST_FOREACH_STATUS_OKAY(AS5600_INIT)
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