encoder_functions.h

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#ifndef ENCODER_FUNCTIONS_H
#define ENCODER_FUNCTIONS_H

#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <fcntl.h>
//#include <linux/i2c-dev.h>

#define SUCCESS 1
#define FAILURE -1

/* Commands */
#define ENCODER_NO_OP         0x00
#define ENCODER_RD_POS        0x10
#define ENCODER_SET_ZERO_PT   0x70
#define ENCODER_EEPROM_WR     0x80
#define ENCODER_EEPROM_RD     0x90

/* Responses */
#define ENCODER_WAIT_RESP     0xA5

#define INT_MAX 5

typedef struct enconder_data{
  int spi_dev;
  unsigned short int position;
  struct calibrate{
  unsigned short int position;
  }calib;
  int new_data;
}ENC_DATA_STRUCT;

/*
 * @brief INITIALIZE ENCODER
 * @ingroup enc
 * @param spi Communication Port
 * @param[in] status Register
 * @param[in] data Data to write
 
 * @return flag with SUCCESS or FAILURE
 */

//int encoder_init(int spi,);


int enc_read_pos(int spi_dev,unsigned short int *data);


int enc_zero_set(int spi_dev);
 

int enc_wait_for_ack(int spi_dev, uint8_t ack, int max_errors);
  
 
#endif