Diff: as5048spi.h

Revision:

3:a8ad32e439d4

Parent:

2:2958500883e0

Child:

4:06b89a41109e

--- a/as5048spi.h	Thu Dec 04 10:00:42 2014 +0000
+++ b/as5048spi.h	Tue Mar 17 14:46:45 2015 +0000
@@ -6,7 +6,7 @@
 
 typedef enum {
     AS_CMD_NOP = 0x0000,
-    AS_CMD_ERROR = 0x0001 | AS_FLAG_READ, // Reads error ireguster and clear error flags
+    AS_CMD_ERROR = 0x0001 | AS_FLAG_READ,       // Reads error register of sensor and clear error flags
     AS_CMD_DIAGNOSTICS = 0x3FFD |  AS_FLAG_READ, // Reads automatic gain control and diagnostics info
     AS_CMD_MAGNITUDE = 0x3FFE | AS_FLAG_READ,
     
@@ -29,8 +29,18 @@
     ~As5048Spi();
     
     bool error(int device = -1);
+    
+    /// Sets the SPI clock frequency in Hz. Maximum tested frequency is 10MHz.
     void frequency(int frequency = 1000000);
+    
+    /// Sends a read command to the sensor.
     const int* read(As5048Command command);
+    
+    /// Sends a read command to the sensor. 
+    /// A call to this function will not directly return the requested value. The
+    /// requested value will be returned in a next read_sequential call. 
+    /// Use this function to read sensor values with minimum speed impact on SPI-bus
+    /// and microcontroller.
     const int* read_sequential(As5048Command command);
     
     /// Performs a single angle measurement on all sensors
@@ -49,11 +59,19 @@
 
     /// Returns lowest 14-bits
     static int mask(int sensor_result);
+
+    /// Applies the mask to the first n bytes in the read buffer (for daisychained sensors).
     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);
+    
+    /// Returns an angle from 0 to 36000 (degrees times 100).
+    /// @param sensor_result is one of the values returned by read_angle or read_angle_sequential
     static int degrees(int sensor_result);
+    
+    /// Returns an angle from 0 to 2*PI*100 
+    /// @param sensor_result is one of the values returned by read_angle or read_angle_sequential
     static int radian(int sensor_result);