Diff: AS5600.cpp

Revision:

1:378dc5a174ce

Parent:

0:ec69fa9832e5

--- a/AS5600.cpp	Tue Feb 28 12:26:56 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,95 +0,0 @@
-// AS5600 Verson 1.3
-// 20/03/2015  GR : fonction limitant la dynamique autour de zero à -max , +max
-#include "AS5600.h"
-//#include "mbed.h"
-
-
-
-AS5600::AS5600(PinName sda, PinName scl) : i2c(sda,scl)
-{
-    addresse=0x36;
-    i2c.frequency(400000);
-}
-int AS5600::isMagnetPresent()
-{
-    char cmd=0x0B,data=0,value=0;
-    data=this->read(cmd);
-    value=(char) (data & 0x20) >> 5 ;
-
-    return value;
-}
-
-
-int AS5600::getAngleAbsolute()
-{
-    char cmd1=0x0E,cmd2=0x0F;
-    int data=0;
-
-    data=this->read(cmd1) << 8;
-    data=data+this->read(cmd2);
-
-    return data;
-}
-
-int AS5600::getAngleRelative()
-{
-    return ((this->getAngleAbsolute() + (2047 - relative_zero)) % 4096) - 2047;
-}
-
-
-float AS5600::getAngleDegrees()
-{
-    return ((float)this->getAngleRelative() * 180) / 2048 ;
-}
-
-void AS5600::setZero()
-{
-    relative_zero=0;
-    relative_zero=this->getAngleAbsolute();
-}
-
-
-char AS5600::read(char address)
-{
-    char retval;
-    i2c.write(addresse * 2, &address, 1);
-    i2c.read(addresse * 2, &retval, 1);
-    return retval;
-}
-
-void AS5600::init()
-{
-
-    for (int i=0; i<100; i++)
-        this->setZero();
-
-}
-
-float AS5600::getAngleMinMax(float angleMax)
-{
-    static unsigned char etat=0;           // etat de l'automate
-    static int anglePrec=0;                // angle precedent
-    float angle=0;                         // angle courant
-    float angleX=0;                        //angle en sortie borne
-    //
-    angle=this->getAngleDegrees();         // lecture de l'angle courant
-    switch(etat) {
-        case 0 :    // angle compris entre min et max
-            angleX = angle;
-            if(angle > angleMax)  etat = 2;
-            if(angle < -angleMax) etat = 1;
-            break;
-        case 1 :    // angle inferieur a -max
-            angleX = -angleMax;
-            if((anglePrec <= -angleMax) && (angle >= -angleMax) && (angle < 0)) etat = 0;
-            break;
-        case 2 :
-            angleX = angleMax;
-            if((anglePrec >=  angleMax) && (angle <= angleMax) && (angle > 0))etat = 0;
-            break;
-        default :
-            break;
-    }
-    anglePrec=angle;
-    return angleX;
-}
\ No newline at end of file