File content as of revision 0:ec69fa9832e5:

// 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;
}