mt6701_i2c.h

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#pragma once
 
#include "esphome/components/mt6701/mt6701.h"
#include "esphome/components/i2c/i2c.h"
 
namespace esphome::mt6701_i2c {
 
// Angle: D[13:6] at 0x03, D[5:0] in bits 7:2 of 0x04
static constexpr uint8_t REG_ANGLE_H = 0x03;
static constexpr uint8_t REG_ANGLE_L = 0x04;
 
// EEPROM programming (datasheet 8.2) needs more than 600 ms left alone afterwards
static constexpr uint8_t REG_EEPROM_KEY = 0x09;
static constexpr uint8_t REG_EEPROM_CMD = 0x0A;
static constexpr uint8_t EEPROM_KEY_VALUE = 0xB3;
static constexpr uint8_t EEPROM_CMD_VALUE = 0x05;
static constexpr uint32_t EEPROM_PROGRAM_DELAY_MS = 700;
 
// Configuration registers; reserved bits make every write a read-modify-write
static constexpr uint8_t REG_ABZ_MUX_DIR = 0x29;  // bit6 ABZ_MUX, bit1 DIR
static constexpr uint8_t REG_RES_H = 0x30;        // bits7:4 UVW_RES, bits1:0 ABZ_RES[9:8]
static constexpr uint8_t REG_ABZ_RES_L = 0x31;    // ABZ_RES[7:0]
static constexpr uint8_t REG_CONFIG_H = 0x32;     // bit7 HYST[2], bits6:4 Z_PULSE_WIDTH, bits3:0 ZERO[11:8]
static constexpr uint8_t REG_ZERO_L = 0x33;       // ZERO[7:0]
static constexpr uint8_t REG_HYST_L = 0x34;       // bits7:6 HYST[1:0]
static constexpr uint8_t REG_OUT = 0x38;          // bit7 PWM_FREQ, bit6 PWM_POL, bit5 OUT_MODE
static constexpr uint8_t REG_A_HIGH = 0x3E;       // bits7:4 A_STOP[11:8], bits3:0 A_START[11:8]
static constexpr uint8_t REG_A_START_L = 0x3F;    // A_START[7:0]
static constexpr uint8_t REG_A_STOP_L = 0x40;     // A_STOP[7:0]
 
class MT6701I2CComponent final : public mt6701::MT6701Component, public i2c::I2CDevice {
 public:
  void setup() override;
  void dump_config() override;
 
  // Options left unset are never written, so the chip keeps its EEPROM defaults
  void set_direction(uint8_t direction) { this->direction_ = direction; }
  void set_zero_offset(uint16_t position) { this->zero_offset_ = position; }
  void set_hysteresis(uint8_t hysteresis) { this->hysteresis_ = hysteresis; }
  void set_output_mode(uint8_t output_mode) { this->output_mode_ = output_mode; }
  void set_abz_pulses_per_revolution(uint16_t pulses) { this->abz_pulses_per_revolution_ = pulses; }
  void set_z_pulse_width(uint8_t width) { this->z_pulse_width_ = width; }
  void set_uvw_pole_pairs(uint8_t pole_pairs) { this->uvw_pole_pairs_ = pole_pairs; }
  void set_out_pin_mode(uint8_t out_pin_mode) { this->out_pin_mode_ = out_pin_mode; }
  void set_pwm_frequency(uint8_t pwm_frequency) { this->pwm_frequency_ = pwm_frequency; }
  void set_pwm_polarity(uint8_t pwm_polarity) { this->pwm_polarity_ = pwm_polarity; }
  void set_analog_start(uint16_t position) { this->analog_start_ = position; }
  void set_analog_stop(uint16_t position) { this->analog_stop_ = position; }
 
  void save_eeprom();
 
 protected:
  bool read_count(uint16_t &count) override;
 
  void apply_config_();
  bool update_register_(uint8_t reg, uint8_t mask, uint8_t value);
 
  // Unset options sit above their field's range
  static constexpr uint16_t UNSET_U16 = 0xFFFF;
  static constexpr uint8_t UNSET_U8 = 0xFF;
 
  uint16_t zero_offset_{UNSET_U16};
  uint16_t abz_pulses_per_revolution_{UNSET_U16};
  uint16_t analog_start_{UNSET_U16};
  uint16_t analog_stop_{UNSET_U16};
  uint8_t direction_{UNSET_U8};
  uint8_t hysteresis_{UNSET_U8};
  uint8_t output_mode_{UNSET_U8};
  uint8_t z_pulse_width_{UNSET_U8};
  uint8_t uvw_pole_pairs_{UNSET_U8};
  uint8_t out_pin_mode_{UNSET_U8};
  uint8_t pwm_frequency_{UNSET_U8};
  uint8_t pwm_polarity_{UNSET_U8};
};
 
}  // namespace esphome::mt6701_i2c