AS5600-Driver 0.1.1

A platform-agnostic driver for the AS5600 magnetic rotary encoder using embedded-hal.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140

/// Power consumption modes of the AS5600.
///
/// Lower power modes reduce current consumption by increasing the sampling interval.
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum PowerMode {
    /// No power saving, continuous sampling. (Current: ~6.5mA)
    Nominal = 0b00,
    /// Low Power Mode 1 (Sampling: 1ms)
    LPM1 = 0b01,
    /// Low Power Mode 2 (Sampling: 10ms)
    LPM2 = 0b10,
    /// Low Power Mode 3 (Sampling: 100ms)
    LPM3 = 0b11,
}

/// Hysteresis settings to suppress noise in the output.
///
/// Defines the number of LSBs the position must change before the output is updated.
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum Hysteresis {
    /// No hysteresis.
    Off = 0b00,
    /// 1 LSB hysteresis.
    Lsb1 = 0b01,
    /// 2 LSBs hysteresis.
    Lsb2 = 0b10,
    /// 3 LSBs hysteresis.
    Lsb3 = 0b11,
}

/// Output stage configuration for the OUT pin.
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum OutputStage {
    /// Ratiometric analog output (0V to VDD).
    AnalogFull = 0b00,
    /// Ratiometric analog output (10% to 90% of VDD).
    AnalogReduced = 0b01,
    /// Pulse Width Modulation (PWM) output.
    PWM = 0b10,
}

/// PWM signal frequency when using PWM output stage.
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum PwmFrequency {
    /// 115 Hz PWM frequency.
    Hz115 = 0b00,
    /// 230 Hz PWM frequency.
    Hz230 = 0b01,
    /// 460 Hz PWM frequency.
    Hz460 = 0b10,
    /// 920 Hz PWM frequency.
    Hz920 = 0b11,
}

/// Slow filter settings for noise reduction.
///
/// Higher values mean more averaging and less noise, but higher step response time.
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum SlowFilter {
    /// 16x averaging.
    X16 = 0b00,
    /// 8x averaging.
    X8 = 0b01,
    /// 4x averaging.
    X4 = 0b10,
    /// 2x averaging.
    X2 = 0b11,
}

/// Fast filter threshold for adaptive filtering.
///
/// If the position change exceeds this threshold, the slow filter is bypassed
/// to provide a fast response.
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum FastFilterThreshold {
    /// Fast filter disabled, only slow filter is used.
    SlowOnly = 0b000,
    /// 6 LSB threshold.
    Lsb6 = 0b001,
    /// 7 LSB threshold.
    Lsb7 = 0b010,
    /// 9 LSB threshold.
    Lsb9 = 0b011,
    /// 18 LSB threshold.
    Lsb18 = 0b100,
    /// 21 LSB threshold.
    Lsb21 = 0b101,
    /// 24 LSB threshold.
    Lsb24 = 0b110,
    /// 10 LSB threshold.
    Lsb10 = 0b111,
}

/// Status of the magnetic system.
///
/// Provides information about magnet detection and field strength.
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub struct MagnetStatus {
    /// True if a magnet is detected by the Hall sensors.
    pub detected: bool,
    /// True if the magnetic field is too weak (magnet too far).
    pub too_weak: bool,
    /// True if the magnetic field is too strong (magnet too close).
    pub too_strong: bool,
}

/// Full configuration of the AS5600 chip.
///
/// This struct maps to the CONF_HI and CONF_LO registers.
#[derive(Debug, Clone, Copy)]
pub struct Configuration {
    /// Current power mode.
    pub power_mode: PowerMode,
    /// Hysteresis setting.
    pub hysteresis: Hysteresis,
    /// Output pin functionality.
    pub output_stage: OutputStage,
    /// Frequency for PWM output.
    pub pwm_frequency: PwmFrequency,
    /// Slow filter averaging factor.
    pub slow_filter: SlowFilter,
    /// Threshold for fast filter bypass.
    pub fast_filter_threshold: FastFilterThreshold,
    /// Enable/Disable the watchdog timer (auto-low-power after 1 minute of inactivity).
    pub watchdog: bool,
}

impl Default for Configuration {
    fn default() -> Self {
        Self {
            power_mode: PowerMode::Nominal,
            hysteresis: Hysteresis::Lsb1,
            output_stage: OutputStage::AnalogFull,
            pwm_frequency: PwmFrequency::Hz115,
            slow_filter: SlowFilter::X16,
            fast_filter_threshold: FastFilterThreshold::SlowOnly,
            watchdog: true,
        }
    }
}