f182def47d
Format C/C++ files according to project style guidelines for improved readability and maintainability. 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com>
423 lines
No EOL
13 KiB
C++
423 lines
No EOL
13 KiB
C++
/*!
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* @file Adafruit_AS5600.cpp
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*
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* @mainpage Adafruit AS5600 12-bit contactless position sensor library
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*
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* @section intro_sec Introduction
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*
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* This is the documentation for Adafruit's AS5600 driver for the
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* Arduino platform. It is designed specifically to work with the
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* Adafruit AS5600 breakout:
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*
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* These sensors use I2C to communicate, 2 pins are required to interface.
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*
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* Adafruit invests time and resources providing this open source code,
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* please support Adafruit and open-source hardware by purchasing products
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* from Adafruit!
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*
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* @section author Author
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*
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* Written by Limor Fried for Adafruit Industries.
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*
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* @section license License
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*
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* MIT license, all text above must be included in any redistribution
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*/
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#include "Adafruit_AS5600.h"
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/*!
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* @brief Instantiates a new AS5600 class
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*/
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Adafruit_AS5600::Adafruit_AS5600() {}
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/*!
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* @brief Destructor for AS5600 class
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*/
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Adafruit_AS5600::~Adafruit_AS5600() {
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if (i2c_dev) {
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delete i2c_dev;
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}
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}
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/*!
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* @brief Initializes the sensor
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* @param i2c_addr The I2C address to use (default AS5600_DEFAULT_ADDR)
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* @param wire The Wire object to use for I2C communication
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* @return true if initialization was successful, false otherwise
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*/
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bool Adafruit_AS5600::begin(uint8_t i2c_addr, TwoWire* wire) {
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i2c_dev = new Adafruit_I2CDevice(i2c_addr, wire);
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if (!i2c_dev->begin()) {
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return false;
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}
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return true;
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}
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/*!
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* @brief Get the ZMCO count - number of times ZPOS and MPOS have been burned
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* @return Number of times ZPOS/MPOS have been permanently written (0-3)
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*/
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uint8_t Adafruit_AS5600::getZMCount() {
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Adafruit_BusIO_Register zmco_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_ZMCO, 1);
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uint8_t zmco_value = zmco_reg.read();
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return zmco_value & 0x03; // Only bits 1:0 are used
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}
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/*!
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* @brief Get the zero position (start position) - 12-bit value
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* @return Zero position value (0-4095)
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*/
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uint16_t Adafruit_AS5600::getZPosition() {
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Adafruit_BusIO_Register zpos_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_ZPOS_H, 2, MSBFIRST);
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uint16_t zpos_value = zpos_reg.read();
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return zpos_value & 0x0FFF; // Only 12 bits are used
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}
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/*!
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* @brief Set the zero position (start position) - 12-bit value
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* @param position Zero position value (0-4095)
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* @return true if write was successful, false otherwise
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*/
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bool Adafruit_AS5600::setZPosition(uint16_t position) {
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position &= 0x0FFF; // Ensure only 12 bits are used
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Adafruit_BusIO_Register zpos_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_ZPOS_H, 2, MSBFIRST);
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return zpos_reg.write(position);
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}
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/*!
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* @brief Get the maximum position (stop position) - 12-bit value
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* @return Maximum position value (0-4095)
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*/
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uint16_t Adafruit_AS5600::getMPosition() {
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Adafruit_BusIO_Register mpos_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_MPOS_H, 2, MSBFIRST);
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uint16_t mpos_value = mpos_reg.read();
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return mpos_value & 0x0FFF; // Only 12 bits are used
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}
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/*!
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* @brief Set the maximum position (stop position) - 12-bit value
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* @param position Maximum position value (0-4095)
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* @return true if write was successful, false otherwise
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*/
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bool Adafruit_AS5600::setMPosition(uint16_t position) {
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position &= 0x0FFF; // Ensure only 12 bits are used
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Adafruit_BusIO_Register mpos_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_MPOS_H, 2, MSBFIRST);
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return mpos_reg.write(position);
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}
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/*!
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* @brief Get the maximum angle range - 12-bit value
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* @return Maximum angle value (0-4095, representing 0-360 degrees)
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*/
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uint16_t Adafruit_AS5600::getMaxAngle() {
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Adafruit_BusIO_Register mang_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_MANG_H, 2, MSBFIRST);
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uint16_t mang_value = mang_reg.read();
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return mang_value & 0x0FFF; // Only 12 bits are used
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}
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/*!
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* @brief Set the maximum angle range - 12-bit value
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* @param angle Maximum angle value (0-4095, representing 0-360 degrees)
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* @return true if write was successful, false otherwise
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*/
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bool Adafruit_AS5600::setMaxAngle(uint16_t angle) {
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angle &= 0x0FFF; // Ensure only 12 bits are used
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Adafruit_BusIO_Register mang_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_MANG_H, 2, MSBFIRST);
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return mang_reg.write(angle);
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}
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/*!
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* @brief Get the raw angle reading - 12-bit value (unscaled/unmodified)
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* @return Raw angle value (0-4095)
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*/
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uint16_t Adafruit_AS5600::getRawAngle() {
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Adafruit_BusIO_Register rawangle_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_RAWANGLE_H, 2, MSBFIRST);
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uint16_t rawangle_value = rawangle_reg.read();
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return rawangle_value & 0x0FFF; // Only 12 bits are used
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}
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/*!
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* @brief Get the scaled angle reading - 12-bit value
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* @return Angle value (0-4095, scaled according to ZPOS/MPOS/MANG settings)
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*/
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uint16_t Adafruit_AS5600::getAngle() {
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Adafruit_BusIO_Register angle_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_ANGLE_H, 2, MSBFIRST);
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uint16_t angle_value = angle_reg.read();
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return angle_value & 0x0FFF; // Only 12 bits are used
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}
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/*!
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* @brief Check if AGC minimum gain overflow occurred (magnet too strong)
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* @return true if MH bit is set (magnet too strong), false otherwise
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*/
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bool Adafruit_AS5600::isAGCminGainOverflow() {
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Adafruit_BusIO_Register status_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_STATUS, 1);
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Adafruit_BusIO_RegisterBits mh_bit =
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Adafruit_BusIO_RegisterBits(&status_reg, 1, 3);
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return mh_bit.read();
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}
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/*!
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* @brief Check if AGC maximum gain overflow occurred (magnet too weak)
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* @return true if ML bit is set (magnet too weak), false otherwise
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*/
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bool Adafruit_AS5600::isAGCmaxGainOverflow() {
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Adafruit_BusIO_Register status_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_STATUS, 1);
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Adafruit_BusIO_RegisterBits ml_bit =
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Adafruit_BusIO_RegisterBits(&status_reg, 1, 4);
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return ml_bit.read();
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}
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/*!
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* @brief Check if magnet is detected
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* @return true if MD bit is set (magnet detected), false otherwise
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*/
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bool Adafruit_AS5600::isMagnetDetected() {
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Adafruit_BusIO_Register status_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_STATUS, 1);
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Adafruit_BusIO_RegisterBits md_bit =
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Adafruit_BusIO_RegisterBits(&status_reg, 1, 5);
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return md_bit.read();
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}
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/*!
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* @brief Get the AGC (Automatic Gain Control) value
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* @return AGC value (0-255 in 5V mode, 0-128 in 3.3V mode)
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*/
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uint8_t Adafruit_AS5600::getAGC() {
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Adafruit_BusIO_Register agc_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_AGC, 1);
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return agc_reg.read();
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}
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/*!
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* @brief Get the magnitude value from the CORDIC processor
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* @return Magnitude value (0-4095)
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*/
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uint16_t Adafruit_AS5600::getMagnitude() {
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Adafruit_BusIO_Register magnitude_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_MAGNITUDE_H, 2, MSBFIRST);
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uint16_t magnitude_value = magnitude_reg.read();
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return magnitude_value & 0x0FFF; // Only 12 bits are used
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}
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/*!
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* @brief Enable or disable watchdog timer
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* @param enable true to enable watchdog, false to disable
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* @return true if write was successful, false otherwise
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*/
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bool Adafruit_AS5600::enableWatchdog(bool enable) {
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Adafruit_BusIO_Register conf_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_CONF_H, 2, MSBFIRST);
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Adafruit_BusIO_RegisterBits wd_bit =
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Adafruit_BusIO_RegisterBits(&conf_reg, 1, 13);
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return wd_bit.write(enable ? 1 : 0);
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}
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/*!
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* @brief Get watchdog timer status
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* @return true if watchdog is enabled, false otherwise
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*/
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bool Adafruit_AS5600::getWatchdog() {
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Adafruit_BusIO_Register conf_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_CONF_H, 2, MSBFIRST);
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Adafruit_BusIO_RegisterBits wd_bit =
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Adafruit_BusIO_RegisterBits(&conf_reg, 1, 13);
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return wd_bit.read();
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}
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/*!
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* @brief Set power mode
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* @param mode Power mode to set (AS5600_POWER_MODE_NOM, LPM1, LPM2, LPM3)
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* @return true if write was successful, false otherwise
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*/
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bool Adafruit_AS5600::setPowerMode(as5600_power_mode_t mode) {
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Adafruit_BusIO_Register conf_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_CONF_L, 1);
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Adafruit_BusIO_RegisterBits pm_bits =
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Adafruit_BusIO_RegisterBits(&conf_reg, 2, 0);
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return pm_bits.write((uint8_t)mode);
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}
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/*!
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* @brief Get current power mode
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* @return Current power mode setting
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*/
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as5600_power_mode_t Adafruit_AS5600::getPowerMode() {
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Adafruit_BusIO_Register conf_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_CONF_L, 1);
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Adafruit_BusIO_RegisterBits pm_bits =
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Adafruit_BusIO_RegisterBits(&conf_reg, 2, 0);
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return (as5600_power_mode_t)pm_bits.read();
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}
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/*!
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* @brief Set hysteresis setting
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* @param hysteresis Hysteresis to set (AS5600_HYSTERESIS_OFF, 1LSB, 2LSB, 3LSB)
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* @return true if write was successful, false otherwise
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*/
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bool Adafruit_AS5600::setHysteresis(as5600_hysteresis_t hysteresis) {
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Adafruit_BusIO_Register conf_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_CONF_L, 1);
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Adafruit_BusIO_RegisterBits hyst_bits =
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Adafruit_BusIO_RegisterBits(&conf_reg, 2, 2);
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return hyst_bits.write((uint8_t)hysteresis);
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}
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/*!
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* @brief Get current hysteresis setting
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* @return Current hysteresis setting
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*/
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as5600_hysteresis_t Adafruit_AS5600::getHysteresis() {
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Adafruit_BusIO_Register conf_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_CONF_L, 1);
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Adafruit_BusIO_RegisterBits hyst_bits =
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Adafruit_BusIO_RegisterBits(&conf_reg, 2, 2);
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return (as5600_hysteresis_t)hyst_bits.read();
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}
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/*!
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* @brief Set output stage configuration
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* @param output Output stage to set (ANALOG_FULL, ANALOG_REDUCED, DIGITAL_PWM,
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* RESERVED)
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* @return true if write was successful, false otherwise
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*/
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bool Adafruit_AS5600::setOutputStage(as5600_output_stage_t output) {
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Adafruit_BusIO_Register conf_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_CONF_L, 1);
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Adafruit_BusIO_RegisterBits outs_bits =
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Adafruit_BusIO_RegisterBits(&conf_reg, 2, 4);
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return outs_bits.write((uint8_t)output);
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}
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/*!
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* @brief Get current output stage configuration
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* @return Current output stage setting
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*/
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as5600_output_stage_t Adafruit_AS5600::getOutputStage() {
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Adafruit_BusIO_Register conf_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_CONF_L, 1);
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Adafruit_BusIO_RegisterBits outs_bits =
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Adafruit_BusIO_RegisterBits(&conf_reg, 2, 4);
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return (as5600_output_stage_t)outs_bits.read();
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}
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/*!
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* @brief Set PWM frequency
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* @param freq PWM frequency to set (115Hz, 230Hz, 460Hz, 920Hz)
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* @return true if write was successful, false otherwise
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*/
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bool Adafruit_AS5600::setPWMFreq(as5600_pwm_freq_t freq) {
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Adafruit_BusIO_Register conf_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_CONF_L, 1);
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Adafruit_BusIO_RegisterBits pwmf_bits =
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Adafruit_BusIO_RegisterBits(&conf_reg, 2, 6);
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return pwmf_bits.write((uint8_t)freq);
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}
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/*!
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* @brief Get current PWM frequency setting
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* @return Current PWM frequency setting
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*/
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as5600_pwm_freq_t Adafruit_AS5600::getPWMFreq() {
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Adafruit_BusIO_Register conf_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_CONF_L, 1);
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Adafruit_BusIO_RegisterBits pwmf_bits =
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Adafruit_BusIO_RegisterBits(&conf_reg, 2, 6);
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return (as5600_pwm_freq_t)pwmf_bits.read();
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}
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/*!
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* @brief Set slow filter setting
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* @param filter Slow filter to set (16x, 8x, 4x, 2x)
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* @return true if write was successful, false otherwise
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*/
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bool Adafruit_AS5600::setSlowFilter(as5600_slow_filter_t filter) {
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Adafruit_BusIO_Register conf_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_CONF_H, 1);
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Adafruit_BusIO_RegisterBits sf_bits =
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Adafruit_BusIO_RegisterBits(&conf_reg, 2, 0);
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return sf_bits.write((uint8_t)filter);
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}
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/*!
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* @brief Get current slow filter setting
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* @return Current slow filter setting
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*/
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as5600_slow_filter_t Adafruit_AS5600::getSlowFilter() {
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Adafruit_BusIO_Register conf_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_CONF_H, 1);
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Adafruit_BusIO_RegisterBits sf_bits =
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Adafruit_BusIO_RegisterBits(&conf_reg, 2, 0);
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return (as5600_slow_filter_t)sf_bits.read();
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}
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/*!
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* @brief Set fast filter threshold
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* @param thresh Fast filter threshold to set
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* @return true if write was successful, false otherwise
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*/
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bool Adafruit_AS5600::setFastFilterThresh(as5600_fast_filter_thresh_t thresh) {
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Adafruit_BusIO_Register conf_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_CONF_H, 1);
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Adafruit_BusIO_RegisterBits fth_bits =
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Adafruit_BusIO_RegisterBits(&conf_reg, 3, 2);
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return fth_bits.write((uint8_t)thresh);
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}
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/*!
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* @brief Get current fast filter threshold setting
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* @return Current fast filter threshold setting
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*/
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as5600_fast_filter_thresh_t Adafruit_AS5600::getFastFilterThresh() {
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Adafruit_BusIO_Register conf_reg =
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Adafruit_BusIO_Register(i2c_dev, AS5600_REG_CONF_H, 1);
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Adafruit_BusIO_RegisterBits fth_bits =
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Adafruit_BusIO_RegisterBits(&conf_reg, 3, 2);
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return (as5600_fast_filter_thresh_t)fth_bits.read();
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} |