Diff: as5048spi.h

Revision:

2:2958500883e0

Parent:

0:3edcf58e51e7

Child:

3:a8ad32e439d4

--- a/as5048spi.h	Thu Sep 18 19:28:25 2014 +0000
+++ b/as5048spi.h	Thu Dec 04 10:00:42 2014 +0000
@@ -13,6 +13,13 @@
     AS_CMD_ANGLE = 0x3FFF| AS_FLAG_PARITY | AS_FLAG_READ,
 } As5048Command;
 
+// Masks for bits in the result of the AS_CMD_DIAGNOSTICS command
+typedef enum {
+    AS_DIAG_CORDIC_OVERFLOW = 0x0200,
+    AS_DIAG_HIGH_MAGNETIC = 0x0400,
+    AS_DIAG_LOW_MAGNETIC = 0x0800,
+} As5048Diagnostics;
+
 
 
 class As5048Spi
@@ -26,12 +33,25 @@
     const int* read(As5048Command command);
     const int* read_sequential(As5048Command command);
     
+    /// Performs a single angle measurement on all sensors
+    /// @return Array of raw angle data. To get the 14-bit value representing
+    ///     the angle, apply the mask() to the result.
+    ///     To get an angle in degrees divide 360 by the result of the call to mask().
     const int* read_angle();
+    
+    /// Performs sequential angle measurements on all sensors. The first time this
+    /// method is called the result is not usefull, the measurement data of the call
+    /// will be returned by the next call to this method.
+    /// @return Array of raw angle data. To get the 14-bit value representing
+    ///     the angle, apply the mask() to the result.
+    ///     To get an angle in degrees divide 360 by the result of the call to mask().
     const int* read_angle_sequential();
 
-    
+    /// Returns lowest 14-bits
     static int mask(int sensor_result);
-   
+    static void mask(int* sensor_results, int n);
+    /// Checks if the return value from the sensor has the right parity
+    /// @return true if ok
     static bool parity_check(int sensor_result);
     static int degrees(int sensor_result);
     static int radian(int sensor_result);