Line data    Source code

       1             : #include "SIM_config.h"
       2             : 
       3             : #if AP_SIM_AS5600_ENABLED
       4             : 
       5             : #include "SIM_I2CDevice.h"
       6             : 
       7             : namespace SITL {
       8             : 
       9             : // datasheet: https://ams.com/documents/20143/36005/AS5600_DS000365_5-00.pdf
      10             : 
      11             : class AS5600DevReg : public I2CRegEnum {
      12             : public:
      13             :     // low
      14             :     static const uint8_t ZMCO           = 0x00;
      15             :     static const uint8_t ZPOS_HIGH      = 0x01;
      16             :     static const uint8_t ZPOS_LOW       = 0x02;
      17             :     static const uint8_t MPOS_HIGH      = 0x03;
      18             :     static const uint8_t MPOS_LOW       = 0x04;
      19             :     static const uint8_t MANG_HIGH      = 0x05;
      20             :     static const uint8_t MANG_LOW       = 0x06;
      21             :     static const uint8_t CONF_HIGH      = 0x07;
      22             :     static const uint8_t CONF_LOW       = 0x08;
      23             : 
      24             :     // output registers
      25             :     static const uint8_t RAW_ANGLE_HIGH = 0x0C;
      26             :     static const uint8_t RAW_ANGLE_LOW  = 0x0D;
      27             :     static const uint8_t ANGLE_HIGH     = 0x0E;
      28             :     static const uint8_t ANGLE_LOW      = 0x0F;
      29             : 
      30             :     // status registers
      31             :     static const uint8_t STATUS         = 0x0B;
      32             :     static const uint8_t AGC            = 0x1A;
      33             :     static const uint8_t MAGNITUDE_HIGH = 0x1B;
      34             :     static const uint8_t MAGNITUDE_LOW  = 0x1C;
      35             : 
      36             :     // Burn commands
      37             :     static const uint8_t BURN           = 0xFF;
      38             : };
      39             : 
      40             : class AS5600 : public I2CDevice, protected I2CRegisters_8Bit
      41             : {
      42             : public:
      43             :     void init() override;
      44             : 
      45             :     void update(const class Aircraft &aircraft) override;
      46             : 
      47           0 :     int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override {
      48           0 :         return I2CRegisters_8Bit::rdwr(data);
      49             :     }
      50             : 
      51             : private:
      52             : 
      53             : };
      54             : 
      55             : } // namespace SITL
      56             : 
      57             : #endif  // AP_SIM_AS5600_ENABLED