106 lines
2.2 KiB
C
106 lines
2.2 KiB
C
#ifndef ZEPHYR_DRIVERS_SENSOR_MA730_MA730_H_
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#define ZEPHYR_DRIVERS_SENSOR_MA730_MA730_H_
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#include <drivers/sensor.h>
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#include <zephyr/types.h>
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#include <drivers/gpio.h>
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#include <sys/util.h>
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#include <drivers/spi.h>
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#define MA730_REG_ZERO_OFF_1 0x0
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#define MA730_REG_ZERO_OFF_2 0x1
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#define MA730_REG_BCT 0x2
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#define MA730_REG_ETX_ETY 0x3
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#define MA730_REG_PPT_ILIP 0x4
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#define MA730_MASK_PPT_ILIP_PPT1 BIT(7)
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#define MA730_SHIFT_PPT_ILIP_PPT1 7
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#define MA730_MASK_PPT_ILIP_PPT0 BIT(7)
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#define MA730_SHIFT_PPT_ILIP_PPT0 6
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#define MA730_REG_PPT 0x5
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#define MA730_MASK_PPT_PPT9 BIT(7)
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#define MA730_SHIFT_PPT_PPT9 7
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#define MA730_MASK_PPT_PPT8 BIT(6)
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#define MA730_SHIFT_PPT_PPT8 6
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#define MA730_MASK_PPT_PPT7 BIT(5)
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#define MA730_SHIFT_PPT_PPT7 5
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#define MA730_MASK_PPT_PPT6 BIT(4)
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#define MA730_SHIFT_PPT_PPT6 4
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#define MA730_MASK_PPT_PPT5 BIT(3)
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#define MA730_SHIFT_PPT_PPT5 3
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#define MA730_MASK_PPT_PPT4 BIT(2)
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#define MA730_SHIFT_PPT_PPT4 2
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#define MA730_MASK_PPT_PPT3 BIT(1)
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#define MA730_SHIFT_PPT_PPT3 1
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#define MA730_MASK_PPT_PPT2 BIT(0)
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#define MA730_SHIFT_PPT_PPT2 0
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#define MA730_REG_MGT 0x6
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#define MA730_MASK_MGT_MGLT2 BIT(7)
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#define MA730_SHIFT_MGT_MGLT2 7
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#define MA730_MASK_MGT_MGLT1 BIT(6)
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#define MA730_SHIFT_MGT_MGLT1 6
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#define MA730_MASK_MGT_MGLT0 BIT(5)
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#define MA730_SHIFT_MGT_MGLT0 5
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#define MA730_MASK_MGT_MGHT2 BIT(4)
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#define MA730_SHIFT_MGT_MGHT2 4
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#define MA730_MASK_MGT_MGHT1 BIT(3)
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#define MA730_SHIFT_MGT_MGHT1 3
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#define MA730_MASK_MGT_MGHT0 BIT(2)
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#define MA730_SHIFT_MGT_MGHT0 2
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#define MA730_REG_RD 0x9
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#define MA730_MASK_RD_RD BIT(7)
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#define MA730_SHIFT_RD_RD 7
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#define MA730_REG_MG 0x1B
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struct ma730_spi_cfg {
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struct spi_config spi_conf;
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const char *cs_gpios_label;
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};
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struct ma730_config {
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char *bus_name;
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int (*bus_init)(const struct device *dev);
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const union ma730_spi_cfg spi_cfg;
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int resolution;
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};
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struct ma730_data;
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struct ma730_transfer_function {
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int (*read_data)(const struct device *dev,
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uint16_t *value);
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};
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struct ma730_data {
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const struct device *bus;
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struct spi_cs_control cs_ctrl;
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uint16_t oldangle;
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uint16_t angle;
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int8_t velocity;
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bool direction;
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const struct ma730_transfer_function *hw_tf;
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};
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int ma730_spi_init(const struct device *dev);
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#endif /* ZEPHYR_DRIVERS_SENSOR_MA730_MA730_H_ */
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