Diff: As5048.h

Revision:

3:579e12eda4e6

Parent:

2:111641f7e672

Child:

4:56d59ce73270

--- a/As5048.h	Tue Aug 23 15:01:38 2016 +0000
+++ b/As5048.h	Tue Aug 23 15:09:35 2016 +0000
@@ -2,44 +2,6 @@
 #define _AS5048_H_
 
 #include "mbed.h"
-
-const int kNumSensorBits        = 14;      // 14-bits sensor
-const uint16_t kCountsPerRev    = 0x4000;  // 2**NUM_SENSOR_BITS
-const uint16_t kMask            = 0x3FFF;  // 2**NUM_SENSOR_BITS - 1
-const int kParity               = 1;       // even parity
-
-const int kSpiFrequency         = 1000000; // AS5048 max 10 MHz
-const int kSpiBitsPerTransfer   = 8;
-const int kSpiMode              = 1;
-
-const float kDegPerRev          = 360.0f;  // 360 degrees/rev
-const float kRadPerRev          = 6.28318530718f; // 2*pi rad/rev
-
-// AS5048 flags
-typedef enum {
-    AS_FLAG_PARITY          = 0x8000,
-    AS_FLAG_READ            = 0x4000,
-} As5048Flag;
-
-// AS5048 commands
-typedef enum {
-    AS_CMD_NOP              = 0x0000,
-    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,
-    AS_CMD_ANGLE            = 0x3FFF | AS_FLAG_PARITY | AS_FLAG_READ,
-} As5048Command;
-
-// AS5048 diagnostics
-typedef enum {
-    AS_DIAG_CORDIC_OVERFLOW = 0x0200,
-    AS_DIAG_HIGH_MAGNETIC   = 0x0400,
-    AS_DIAG_LOW_MAGNETIC    = 0x0800,
-} As5048Diagnostics;
-
-
-
-
 /**
  * Interfacing with the AMS AS5048A magnetic rotary sensor using SPI protocol
  * AS5048 uses 16-bit transfer;
@@ -54,8 +16,31 @@
  */
 class As5048 {
 
+
 public:
 
+    // AS5048 flags
+    typedef enum {
+        AS_FLAG_PARITY          = 0x8000,
+        AS_FLAG_READ            = 0x4000,
+    } As5048Flag;
+    
+    // AS5048 commands
+    typedef enum {
+        AS_CMD_NOP              = 0x0000,
+        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,
+        AS_CMD_ANGLE            = 0x3FFF | AS_FLAG_PARITY | AS_FLAG_READ,
+    } As5048Command;
+    
+    // AS5048 diagnostics
+    typedef enum {
+        AS_DIAG_CORDIC_OVERFLOW = 0x0200,
+        AS_DIAG_HIGH_MAGNETIC   = 0x0400,
+        AS_DIAG_LOW_MAGNETIC    = 0x0800,
+    } As5048Diagnostics;
+
     /**
      * Creates an object of num_sensors daisy chained AS5048 sensors;
      * default number of sensors in chain is 1
@@ -312,6 +297,18 @@
 
 protected:
 
+    static const int kNumSensorBits        = 14;      // 14-bits sensor
+    static const uint16_t kCountsPerRev    = 0x4000;  // 2**NUM_SENSOR_BITS
+    static const uint16_t kMask            = 0x3FFF;  // 2**NUM_SENSOR_BITS - 1
+    static const int kParity               = 1;       // even parity
+    
+    static const int kSpiFrequency         = 1000000; // AS5048 max 10 MHz
+    static const int kSpiBitsPerTransfer   = 8;
+    static const int kSpiMode              = 1;
+    
+    static const float kDegPerRev          = 360.0f;  // 360 degrees/rev
+    static const float kRadPerRev          = 6.28318530718f; // 2*pi rad/rev
+
     /**
      * Select (low) chip, and wait 1 us (at least 350 ns)
      */