Initial Commit

.gitignore

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+# Ignore output directories
+/out/
+/install/

.vscode/c_cpp_properties.json

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+{
+    "configurations": [
+        {
+            "name": "Win32",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [
+                "_DEBUG",
+                "UNICODE",
+                "_UNICODE"
+            ],
+            "windowsSdkVersion": "10.0.18362.0",
+            "compilerPath": "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Tools/MSVC/14.25.28610/bin/Hostx64/x64/cl.exe",
+            "cStandard": "c11",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "msvc-x64",
+            "configurationProvider": "vector-of-bool.cmake-tools"
+        }
+    ],
+    "version": 4
+}

.vscode/launch.json

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+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Launch for Azure Sphere High-Level Applications (gdb)",
+            "type": "azurespheredbg",
+            "request": "launch",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}",
+            "environment": [],
+            "externalConsole": true,
+            "targetCore": "HLCore",
+            "partnerComponents": [],
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ]
+        }
+    ]
+}

.vscode/settings.json

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+{
+    "cmake.generator": "Ninja",
+    "cmake.buildDirectory": "${workspaceRoot}/out/${buildType}-${command:azuresphere.AzureSphereTargetApiSet}",
+    "cmake.buildToolArgs": [ "-v" ],
+    "cmake.configureSettings": {
+        "CMAKE_TOOLCHAIN_FILE": "${command:azuresphere.AzureSphereSdkDir}/CMakeFiles/AzureSphereToolchain.cmake",
+        "AZURE_SPHERE_TARGET_API_SET": "latest-lts"
+    },
+    "cmake.configureOnOpen": true,
+    "files.associations": {
+        "xutility": "c",
+        "xlocale": "c",
+        "ostream": "c"
+    }
+}

AS5600.c

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+
+
+#include <Arduino.h>
+#include "AS5600.h"
+#include <applibs/i2c.h>
+#include "Wire.h"
+static int i2cFd = -1;
+int _ic2Id;
+int ang, lang = 0;
+
+void AS5600_open(int ic2Id)
+{
+  /* set i2c address */
+  _ic2Id = ic2Id;
+TwoWire(ic2Id);
+begin2();
+  //_ams5600_Address = 0x36;
+  /* load register values*/
+  /* c++ class forbids pre loading of variables */
+  _zmco = 0x00;
+  _zpos_hi = 0x01;
+  _zpos_lo = 0x02;
+  _mpos_hi = 0x03;
+  _mpos_lo = 0x04;
+  _mang_hi = 0x05;
+  _mang_lo = 0x06;
+  _conf_hi = 0x07;
+  _conf_lo = 0x08;
+  _raw_ang_hi = 0x0c;
+  _raw_ang_lo = 0x0d;
+  _ang_hi = 0x0e;
+  _ang_lo = 0x0f;
+  _stat = 0x0b;
+  _agc = 0x1a;
+  _mag_hi = 0x1b;
+  _mag_lo = 0x1c;
+  _burn = 0xff;
+  // i2cFd = I2CMaster_Open(_ams5600_Address);
+  //i2cFd = I2CMaster_Open(AVNET_AESMS_ISU0_I2C);
+  i2cFd = I2CMaster_Open(_ic2Id);
+  if (i2cFd == -1)
+  {
+    Log_Debug("ERROR: I2CMaster_Open: errno=%d (%s)\n", errno, strerror(errno));
+    return;
+  }
+
+  int result;
+  result = I2CMaster_SetBusSpeed(i2cFd, I2C_BUS_SPEED_STANDARD);
+
+  //result = I2CMaster_SetTimeout(i2cFd, 100);
+  //result = I2CMaster_SetDefaultTargetAddress(i2cFd, _ams5600_Address);
+  Log_Debug("I2C Result %s\n", result);
+}
+
+/* mode = 0, output PWM, mode = 1 output analog (full range from 0% to 100% between GND and VDD*/
+void setOutPut(uint8_t mode)
+{
+  uint8_t config_status;
+  config_status = readOneByte(_conf_lo);
+  if (mode == 1)
+  {
+    config_status = config_status & 0xcf;
+  }
+  else
+  {
+    config_status = config_status & 0xef;
+  }
+  writeOneByte(_conf_lo, lowByte(config_status));
+}
+
+uint8_t getAddress()
+{
+  return _ams5600_Address;
+}
+
+word setMaxAngle(word newMaxAngle)
+{
+  word retVal;
+  if (newMaxAngle == -1)
+  {
+    _maxAngle = getRawAngle();
+  }
+  else
+    _maxAngle = newMaxAngle;
+
+  writeOneByte(_mang_hi, highByte(_maxAngle));
+  delay(2);
+  writeOneByte(_mang_lo, lowByte(_maxAngle));
+  delay(2);
+
+  retVal = readTwoBytes(_mang_hi, _mang_lo);
+  return retVal;
+}
+
+word getMaxAngle()
+{
+  return readTwoBytes(_mang_hi, _mang_lo);
+}
+
+word setStartPosition(word startAngle)
+{
+  if (startAngle == -1)
+  {
+    _rawStartAngle = getRawAngle();
+  }
+  else
+    _rawStartAngle = startAngle;
+
+  writeOneByte(_zpos_hi, highByte(_rawStartAngle));
+  delay(2);
+  writeOneByte(_zpos_lo, lowByte(_rawStartAngle));
+  delay(2);
+  _zPosition = readTwoBytes(_zpos_hi, _zpos_lo);
+
+  return (_zPosition);
+}
+
+word getStartPosition()
+{
+  return readTwoBytes(_zpos_hi, _zpos_lo);
+}
+
+word setEndPosition(word endAngle)
+{
+  if (endAngle == -1)
+    _rawEndAngle = getRawAngle();
+  else
+    _rawEndAngle = endAngle;
+
+  writeOneByte(_mpos_hi, highByte(_rawEndAngle));
+  delay(2);
+  writeOneByte(_mpos_lo, lowByte(_rawEndAngle));
+  delay(2);
+  _mPosition = readTwoBytes(_mpos_hi, _mpos_lo);
+
+  return (_mPosition);
+}
+
+word getEndPosition()
+{
+  word retVal = readTwoBytes(_mpos_hi, _mpos_lo);
+  return retVal;
+}
+
+word getRawAngle()
+{
+  return readTwoBytes(_raw_ang_hi, _raw_ang_lo);
+}
+
+word getScaledAngle()
+{
+  return readTwoBytes(_ang_hi, _ang_lo);
+}
+
+uint8_t detectMagnet()
+{
+  uint8_t magStatus;
+  uint8_t retVal = 0;
+
+  magStatus = readOneByte(_stat);
+
+  if (magStatus & 0x20)
+    retVal = 1;
+
+  return retVal;
+}
+
+uint8_t getMagnetStrength()
+{
+  uint8_t magStatus;
+  uint8_t retVal = 0;
+
+  magStatus = readOneByte(_stat);
+  if (detectMagnet() == 1)
+  {
+    retVal = 2; /*just right */
+    if (magStatus & 0x10)
+      retVal = 1; /*to weak */
+    else if (magStatus & 0x08)
+      retVal = 3; /*to strong */
+  }
+
+  return retVal;
+}
+
+uint8_t getAgc()
+{
+  return readOneByte(_agc);
+}
+
+word getMagnitude()
+{
+  return readTwoBytes(_mag_hi, _mag_lo);
+}
+
+uint8_t getBurnCount()
+{
+  return readOneByte(_zmco);
+}
+
+uint8_t burnAngle()
+{
+  uint8_t retVal = 1;
+  _zPosition = getStartPosition();
+  _mPosition = getEndPosition();
+  _maxAngle = getMaxAngle();
+
+  if (detectMagnet() == 1)
+  {
+    if (getBurnCount() < 3)
+    {
+      if ((_zPosition == 0) && (_mPosition == 0))
+        retVal = -3;
+      else
+        writeOneByte(_burn, 0x80);
+    }
+    else
+      retVal = -2;
+  }
+  else
+    retVal = -1;
+
+  return retVal;
+}
+
+uint8_t burnMaxAngleAndConfig()
+{
+  uint8_t retVal = 1;
+  _maxAngle = getMaxAngle();
+
+  if (getBurnCount() == 0)
+  {
+    if (_maxAngle * 0.087 < 18)
+      retVal = -2;
+    else
+      writeOneByte(_burn, 0x40);
+  }
+  else
+    retVal = -1;
+
+  return retVal;
+}
+
+uint8_t readOneByte(uint8_t in_adr)
+{
+  uint8_t retVal;
+  //ssize_t transferredBytes =
+  I2CMaster_WriteThenRead(i2cFd, _ams5600_Address, &in_adr, sizeof(in_adr), &retVal, sizeof(retVal));
+  return retVal;
+}
+
+
+word readTwoBytes(int in_adr_hi, int in_adr_lo)
+{
+  word retVal = -1;
+
+  /* Read Low Byte */
+  beginTransmission(_ams5600_Address);
+  wire_write(in_adr_lo);
+  endTransmission(true);
+  requestFrom(_ams5600_Address, 1);
+  while(wire_available() == 0);
+  int low = wire_read();
+
+  /* Read High Byte */  
+  beginTransmission(_ams5600_Address);
+  wire_write(in_adr_hi);
+  endTransmission(true);
+  requestFrom(_ams5600_Address, 1);
+
+  while(wire_available() == 0);
+
+  word high = wire_read();
+
+  high = high << 8;
+  retVal = high | low;
+
+  return retVal;
+}
+
+
+void writeOneByte(int adr_in, int dat_in)
+{
+  beginTransmission(_ams5600_Address);
+  wire_write(adr_in); 
+  wire_write(dat_in);
+  endTransmission(true);
+}
+
+float convertRawAngleToDegrees(word newAngle)
+{
+    /* Raw data reports 0 - 4095 segments, which is 0.087 of a degree */
+    float retVal = newAngle * 0.087;
+    ang = retVal;
+    return ang;
+}