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0.1.4 AS5600
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rob tillaart
parent
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commit
4c4b842086
@ -6,15 +6,19 @@
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// DATE: 2022-05-28
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// URL: https://github.com/RobTillaart/AS5600
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// 0.1.0 2022-05-28 initial version
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// 0.1.0 2022-05-28 initial version.
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// 0.1.1 2022-05-31 Add readReg2() to speed up reading 2 byte values.
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// Fix clock wise and counter clock wise
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// Fix shift-direction @ getZPosition, getMPosition,
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// getMaxAngle and getConfigure
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// 0.1.2 2022-06-02 Add getAngularSpeed()
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// 0.1.3 2022-06-26 Add AS5600_RAW_TO_RADIANS
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// Fix clock wise and counter clock wise.
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// Fix shift-direction @ getZPosition, getMPosition,
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// getMaxAngle and getConfigure.
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// 0.1.2 2022-06-02 Add getAngularSpeed().
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// 0.1.3 2022-06-26 Add AS5600_RAW_TO_RADIANS.
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// Add getAngularSpeed() mode parameter.
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// Fix #8 bug in configure.
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// 0.1.4 2022-06-xx Fix #7 use readReg2() to improve I2C performance.
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// define constants for configuration functions.
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// add examples - especially OUT pin related.
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// Fix default parameter of the begin function.
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// TODO
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@ -22,43 +26,42 @@
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// check Timing Characteristics
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#include "AS5600.h"
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// CONFIGURATION REGISTERS
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#define AS5600_ZMCO 0x00
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#define AS5600_ZPOS 0x01 // + 0x02
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#define AS5600_MPOS 0x03 // + 0x04
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#define AS5600_MANG 0x05 // + 0x06
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#define AS5600_CONF 0x07 // + 0x08
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const uint8_t AS5600_ZMCO = 0x00;
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const uint8_t AS5600_ZPOS = 0x01; // + 0x02
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const uint8_t AS5600_MPOS = 0x03; // + 0x04
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const uint8_t AS5600_MANG = 0x05; // + 0x06
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const uint8_t AS5600_CONF = 0x07; // + 0x08
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// CONFIGURATION BIT MASKS - byte level
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#define AS5600_CONF_POWER_MODE 0x03
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#define AS5600_CONF_HYSTERESIS 0x0C
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#define AS5600_CONF_OUTPUT_MODE 0x30
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#define AS5600_CONF_PWM_FREQUENCY 0xC0
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#define AS5600_CONF_SLOW_FILTER 0x03
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#define AS5600_CONF_FAST_FILTER 0x1C
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#define AS5600_CONF_WATCH_DOG 0x20
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const uint8_t AS5600_CONF_POWER_MODE = 0x03;
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const uint8_t AS5600_CONF_HYSTERESIS = 0x0C;
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const uint8_t AS5600_CONF_OUTPUT_MODE = 0x30;
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const uint8_t AS5600_CONF_PWM_FREQUENCY = 0xC0;
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const uint8_t AS5600_CONF_SLOW_FILTER = 0x03;
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const uint8_t AS5600_CONF_FAST_FILTER = 0x1C;
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const uint8_t AS5600_CONF_WATCH_DOG = 0x20;
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// UNKNOWN REGISTERS 0x09-0x0A
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// OUTPUT REGISTERS
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#define AS5600_RAW_ANGLE 0x0C // + 0x0D
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#define AS5600_ANGLE 0x0E // + 0x0F
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const uint8_t AS5600_RAW_ANGLE = 0x0C; // + 0x0D
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const uint8_t AS5600_ANGLE = 0x0E; // + 0x0F
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// STATUS REGISTERS
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#define AS5600_STATUS 0x0B
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#define AS5600_AGC 0x1A
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#define AS5600_MAGNITUDE 0x1B // + 0x1C
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#define AS5600_BURN 0xFF
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const uint8_t AS5600_STATUS = 0x0B;
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const uint8_t AS5600_AGC = 0x1A;
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const uint8_t AS5600_MAGNITUDE = 0x1B; // + 0x1C
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const uint8_t AS5600_BURN = 0xFF;
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// STATUS BITS
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#define AS5600_MAGNET_HIGH 0x08
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#define AS5600_MAGNET_LOW 0x10
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#define AS5600_MAGNET_DETECT 0x20
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const uint8_t AS5600_MAGNET_HIGH = 0x08;
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const uint8_t AS5600_MAGNET_LOW = 0x10;
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const uint8_t AS5600_MAGNET_DETECT = 0x20;
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AS5600::AS5600(TwoWire *wire)
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@ -68,7 +71,7 @@ AS5600::AS5600(TwoWire *wire)
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#if defined (ESP8266) || defined(ESP32)
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bool AS5600::begin(int dataPin, int clockPin, int directionPin)
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bool AS5600::begin(int dataPin, int clockPin, uint8_t directionPin)
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{
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_directionPin = directionPin;
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pinMode(_directionPin, OUTPUT);
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@ -87,7 +90,7 @@ bool AS5600::begin(int dataPin, int clockPin, int directionPin)
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#endif
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bool AS5600::begin(int directionPin)
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bool AS5600::begin(uint8_t directionPin)
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{
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_directionPin = directionPin;
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pinMode(_directionPin, OUTPUT);
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@ -131,60 +134,52 @@ uint8_t AS5600::getZMCO()
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void AS5600::setZPosition(uint16_t value)
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{
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writeReg(AS5600_ZPOS, (value >> 8) & 0x0F);
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writeReg(AS5600_ZPOS + 1, value & 0xFF);
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writeReg2(AS5600_ZPOS, value & 0x0FFF);
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}
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uint16_t AS5600::getZPosition()
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{
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uint16_t value = (readReg(AS5600_ZPOS) & 0x0F) << 8;
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value += readReg(AS5600_ZPOS + 1);
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uint16_t value = readReg2(AS5600_ZPOS) & 0x0FFF;
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return value;
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}
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void AS5600::setMPosition(uint16_t value)
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{
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writeReg(AS5600_MPOS, (value >> 8) & 0x0F);
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writeReg(AS5600_MPOS + 1, value & 0xFF);
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writeReg2(AS5600_MPOS, value & 0x0FFF);
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}
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uint16_t AS5600::getMPosition()
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{
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uint16_t value = (readReg(AS5600_MPOS) & 0x0F) << 8;
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value += readReg(AS5600_MPOS + 1);
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uint16_t value = readReg2(AS5600_MPOS) & 0x0FFF;
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return value;
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}
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void AS5600::setMaxAngle(uint16_t value)
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{
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writeReg(AS5600_MANG, (value >> 8) & 0x0F);
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writeReg(AS5600_MANG + 1, value & 0xFF);
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writeReg2(AS5600_MANG, value & 0x0FFF);
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}
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uint16_t AS5600::getMaxAngle()
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{
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uint16_t value = (readReg(AS5600_MANG) & 0x0F) << 8;
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value += readReg(AS5600_MANG + 1);
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uint16_t value = readReg2(AS5600_MANG) & 0x0FFF;
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return value;
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}
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void AS5600::setConfigure(uint16_t value)
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{
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writeReg(AS5600_CONF, (value >> 8) & 0x2F);
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writeReg(AS5600_CONF + 1, value & 0xFF);
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writeReg2(AS5600_CONF, value & 0x2FFF);
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}
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uint16_t AS5600::getConfigure()
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{
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uint16_t value = (readReg(AS5600_CONF) & 0x2F) << 8;
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value += readReg(AS5600_CONF + 1);
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uint16_t value = readReg2(AS5600_CONF) & 0x2FFF;
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return value;
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}
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@ -367,7 +362,11 @@ float AS5600::getAngularSpeed(uint8_t mode)
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_lastMeasurement = now;
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_lastAngle = angle;
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// return degrees or radians
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if (mode == 1) return speed * AS5600_RAW_TO_RADIANS;
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if (mode == AS5600_MODE_RADIANS)
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{
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return speed * AS5600_RAW_TO_RADIANS;
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}
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// default return degrees
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return speed * AS5600_RAW_TO_DEGREES;
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}
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@ -412,6 +411,17 @@ uint8_t AS5600::writeReg(uint8_t reg, uint8_t value)
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}
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uint8_t AS5600::writeReg2(uint8_t reg, uint16_t value)
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{
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_wire->beginTransmission(_address);
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_wire->write(reg);
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_wire->write(value >> 8);
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_wire->write(value & 0xFF);
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_error = _wire->endTransmission();
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return _error;
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}
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// -- END OF FILE --
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@ -2,7 +2,7 @@
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//
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// FILE: AS5600.h
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// AUTHOR: Rob Tillaart
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// VERSION: 0.1.3
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// VERSION: 0.1.4
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// PURPOSE: Arduino library for AS5600 magnetic rotation meter
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// DATE: 2022-05-28
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// URL: https://github.com/RobTillaart/AS5600
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@ -12,14 +12,42 @@
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#include "Wire.h"
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#define AS5600_LIB_VERSION (F("0.1.3"))
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#define AS5600_LIB_VERSION (F("0.1.4"))
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#define AS5600_CLOCK_WISE 0 // LOW
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#define AS5600_COUNTERCLOCK_WISE 1 // HIGH
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// setDirection
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const uint8_t AS5600_CLOCK_WISE = 0; // LOW
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const uint8_t AS5600_COUNTERCLOCK_WISE = 1; // HIGH
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// 0.0879120879120879121;
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const float AS5600_RAW_TO_DEGREES = 360.0 / 4095.0;
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// 0.00153435538636864138630654133494;
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const float AS5600_RAW_TO_RADIANS = PI * 2.0 / 4095.0;
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// getAngularSpeed
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const uint8_t AS5600_MODE_DEGREES = 0;
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const uint8_t AS5600_MODE_RADIANS = 1;
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// setOutputMode
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const uint8_t AS5600_OUTMODE_ANALOG_100 = 0;
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const uint8_t AS5600_OUTMODE_ANALOG_90 = 1;
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const uint8_t AS5600_OUTMODE_PWM = 2;
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// setPowerMode
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const uint8_t AS5600_POWERMODE_NOMINAL = 0;
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const uint8_t AS5600_POWERMODE_LOW1 = 1;
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const uint8_t AS5600_POWERMODE_LOW2 = 2;
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const uint8_t AS5600_POWERMODE_LOW3 = 3;
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// setPWMFrequency
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const uint8_t AS5600_PWM_115 = 0;
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const uint8_t AS5600_PWM_230 = 1;
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const uint8_t AS5600_PWM_460 = 2;
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const uint8_t AS5600_PWM_920 = 3;
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// setWatchDog
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const uint8_t AS5600_WATCHDOG_OFF = 0;
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const uint8_t AS5600_WATCHDOG_ON = 1;
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#define AS5600_RAW_TO_DEGREES (0.0879120879120879121)
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#define AS5600_RAW_TO_RADIANS (0.00153435538636864138630654133494)
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class AS5600
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@ -28,9 +56,9 @@ public:
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AS5600(TwoWire *wire = &Wire);
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#if defined (ESP8266) || defined(ESP32)
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bool begin(int sda, int scl, int directionPin = AS5600_CLOCK_WISE);
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bool begin(int sda, int scl, uint8_t directionPin);
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#endif
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bool begin(int directionPin = AS5600_CLOCK_WISE);
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bool begin(uint8_t directionPin);
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bool isConnected();
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uint8_t getAddress() { return _address; }; // 0x36
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@ -68,7 +96,7 @@ public:
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// 0 = analog 0-100%
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// 1 = analog 10-90%
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// 2 = PWM
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// 2 = PWM
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void setOutputMode(uint8_t outputMode); // 0..2
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uint8_t getOutputMode();
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@ -111,22 +139,23 @@ public:
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// approximation of the angular speed in rotations per second.
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// mode == 1: radians /second
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// mode == 0: degrees /second (default)
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float getAngularSpeed(uint8_t mode = 0);
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float getAngularSpeed(uint8_t mode = AS5600_MODE_DEGREES);
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private:
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uint8_t readReg(uint8_t reg);
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uint16_t readReg2(uint8_t reg);
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uint8_t writeReg(uint8_t reg, uint8_t value);
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uint8_t writeReg2(uint8_t reg, uint16_t value);
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const uint8_t _address = 0x36;
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uint8_t _directionPin;
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uint8_t _error = 0;
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TwoWire* _wire;
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uint32_t _lastMeasurement = 0;
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uint16_t _lastAngle = 0;
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uint16_t _lastAngle = 0;
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};
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@ -15,23 +15,58 @@ Arduino library for AS5600 magnetic rotation meter.
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### AS5600
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**AS5600** is a library for a AS5600 magnetic rotation meter.
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**AS5600** is a library for an AS5600 based magnetic rotation meter.
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**Warning: experimental - not tested yet**
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**Warning: experimental - not tested**
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TODO: buy hardware to test the library.
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The sensor can measure a full rotation in 4096 steps.
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The precision is therefore limited to 0.1°.
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Noise levels unknown, but one might expect it to be effected by electric
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and or magnetic signals in the environment.
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Also unknown is the influence of metals near the sensor or an unstable or fluctuating power supply.
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TODO: buy hardware to test the library and get hands on experience with the sensor.
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### I2C Address
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The I2C address of the **AS5600** is always 0x36.
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To use more than one **AS5600** on one I2C bus, one needs an I2C multiplexer,
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e.g. https://github.com/RobTillaart/TCA9548
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To use more than one **AS5600** on one I2C bus, see Multiplexing below.
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### OUT pin
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Not tested.
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The sensor has an output pin named **OUT**.
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This pin can be used for an analogue or PWM output signal.
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Examples are added to show how to use this pin with **setOutputMode()**.
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### GPO pin
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### PGO pin
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TODO
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Not tested.
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PGO stand for Programming Option, it is used to calibrate / program the sensor.
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As the sensor can be programmed only a few times one should
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use this functionality with extreme care.
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See datasheet for a detailed list of steps to be done.
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See also **Make configuration persistent** below.
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## Hardware connection
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The sensor should connect the I2C lines SDA and SCL and the
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VCC and GND to communicate with the processor.
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The DIR (direction) pin of the sensor should be connected to:
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- GND = fixed clockwise
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- VCC = fixed counter clock wise
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- a free IO pin of the processor = library control.
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In the latter setup the library can control the direction of counting by initializing this pin in **begin(pin)**, followed by **setDirection(direction)**. For the direction the library defines two constants named:
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- **AS5600_CLOCK_WISE (0)**
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- **AS5600_COUNTERCLOCK_WISE (1)**
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## Interface
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@ -39,15 +74,43 @@ TODO
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The I2C address of the **AS5600** is always 0x36.
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### Constants
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### Defines
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**NOT** to be adjusted.
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To be adjusted via command line (or in AS5600.h file)
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```cpp
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// setDirection
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const uint8_t AS5600_CLOCK_WISE = 0; // LOW
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const uint8_t AS5600_COUNTERCLOCK_WISE = 1; // HIGH
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- **AS5600_CLOCK_WISE 1**
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- **AS5600_COUNTERCLOCK_WISE 0**
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- **AS5600_RAW_TO_DEGREES 0.0879120879120879121**
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- **AS5600_RAW_TO_RADIANS 0.00153435538636864138630654133494**
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const float AS5600_RAW_TO_DEGREES = 360.0 / 4095.0; // 0.0879120879120879121;
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const float AS5600_RAW_TO_RADIANS = 2 * PI / 4095.0; // 0.00153435538636864138630654133494;
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// getAngularSpeed
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const uint8_t AS5600_MODE_DEGREES = 0;
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const uint8_t AS5600_MODE_RADIANS = 1;
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// setOutputMode
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const uint8_t AS5600_OUTMODE_ANALOG_100 = 0;
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const uint8_t AS5600_OUTMODE_ANALOG_90 = 1;
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const uint8_t AS5600_OUTMODE_PWM = 2;
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// setPowerMode
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const uint8_t AS5600_POWERMODE_NOMINAL = 0;
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const uint8_t AS5600_POWERMODE_LOW1 = 1;
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const uint8_t AS5600_POWERMODE_LOW2 = 2;
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const uint8_t AS5600_POWERMODE_LOW3 = 3;
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// setPWMFrequency
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const uint8_t AS5600_PWM_115 = 0;
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const uint8_t AS5600_PWM_230 = 1;
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const uint8_t AS5600_PWM_460 = 2;
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const uint8_t AS5600_PWM_920 = 3;
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// setWatchDog
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const uint8_t AS5600_WATCHDOG_OFF = 0;
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const uint8_t AS5600_WATCHDOG_ON = 1;
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```
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### Constructor + I2C
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@ -108,15 +171,15 @@ This is the one most used.
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### Angular Speed
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- **getAngularSpeed(uint8_t mode = 0)** is an experimental function that returns
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- **getAngularSpeed(uint8_t mode = AS5600_MODE_DEGREES)** is an experimental function that returns
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an approximation of the angular speed in rotations per second.
|
||||
The function needs to be called at least **four** times per rotation
|
||||
to get a reasonably accuracy.
|
||||
|
||||
(0.1.3 added mode parameter).
|
||||
- mode == 1: radians /second
|
||||
- mode == 0: degrees /second (default)
|
||||
- mode == ?: degrees /second
|
||||
- mode == AS5600_MODE_RADIANS (1): radians /second
|
||||
- mode == AS5600_MODE_DEGREES (0): degrees /second (default)
|
||||
- mode other => degrees /second
|
||||
|
||||
Negative values indicate reverse rotation.
|
||||
What that means depends on the setup of your project.
|
||||
@ -172,6 +235,20 @@ You can only burn a new Angle maximum **THREE** times to the AS5600.
|
||||
You can write this only **ONE** time to the AS5600.
|
||||
|
||||
|
||||
## Multiplexing
|
||||
|
||||
The I2C address of the **AS5600** is always 0x36.
|
||||
|
||||
To use more than one **AS5600** on one I2C bus, one needs an I2C multiplexer,
|
||||
e.g. https://github.com/RobTillaart/TCA9548.
|
||||
Alternative could be the use of a AND port for the I2C clock line to prevent
|
||||
the sensor from listening to signals on the I2C bus.
|
||||
|
||||
Finally the sensor has an analogue output **OUT**.
|
||||
This output could be used to connect multiple sensors to different analog ports of the processor.
|
||||
|
||||
**Warning**: If and how well this analog option works is not verified or tested. (TODO)
|
||||
|
||||
|
||||
## Operational
|
||||
|
||||
@ -208,17 +285,17 @@ Some ideas are kept here so they won't get lost.
|
||||
|
||||
### high prio
|
||||
|
||||
- improve documentation
|
||||
- improve performance (I2C issue)
|
||||
- get hardware to test.
|
||||
- improve documentation
|
||||
- investigate PGO programming pin.
|
||||
- investigate OUT output pin.
|
||||
- PWM, analog_90 and analog_100
|
||||
- write examples
|
||||
- as5600_calibration.ino ?
|
||||
- add functions
|
||||
- **setOutputMode()** + constants.
|
||||
- **setPowerMode()** + constants
|
||||
- **magnetStrength()**
|
||||
- add constants for remaining configure functions
|
||||
- hysteresis, fast / slow filter
|
||||
- investigate **magnetStrength()**
|
||||
- combination of AGC and MD, ML and MH flags?
|
||||
- do we need **ANGLE_FACTOR** = 0.0879121
|
||||
|
||||
|
||||
### low prio
|
||||
|
||||
@ -0,0 +1,39 @@
|
||||
//
|
||||
// FILE: AS5600_demo_radians.ino
|
||||
// AUTHOR: Rob Tillaart
|
||||
// PURPOSE: demo
|
||||
|
||||
|
||||
#include "AS5600.h"
|
||||
#include "Wire.h"
|
||||
|
||||
AS5600 as5600; // use default Wire
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
Serial.println(__FILE__);
|
||||
Serial.print("AS5600_LIB_VERSION: ");
|
||||
Serial.println(AS5600_LIB_VERSION);
|
||||
|
||||
Wire.begin();
|
||||
|
||||
as5600.begin(4); // set direction pin.
|
||||
as5600.setDirection(AS5600_CLOCK_WISE); // default, just be explicit.
|
||||
}
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
Serial.print(millis());
|
||||
Serial.print("\t");
|
||||
Serial.print(as5600.readAngle());
|
||||
Serial.print("\t");
|
||||
Serial.println(as5600.rawAngle() * AS5600_RAW_TO_RADIANS);
|
||||
|
||||
delay(1000);
|
||||
}
|
||||
|
||||
|
||||
// -- END OF FILE --
|
||||
@ -0,0 +1,42 @@
|
||||
//
|
||||
// FILE: AS5600_outmode_analog_100.ino
|
||||
// AUTHOR: Rob Tillaart
|
||||
// PURPOSE: experimental demo
|
||||
|
||||
// connect the OUT pin to the analog port of the processor
|
||||
|
||||
|
||||
#include "AS5600.h"
|
||||
#include "Wire.h"
|
||||
|
||||
AS5600 as5600; // use default Wire
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
Serial.println(__FILE__);
|
||||
Serial.print("AS5600_LIB_VERSION: ");
|
||||
Serial.println(AS5600_LIB_VERSION);
|
||||
|
||||
Wire.begin();
|
||||
|
||||
as5600.begin(4); // set direction pin.
|
||||
as5600.setDirection(AS5600_CLOCK_WISE); // default, just be explicit.
|
||||
as5600.setOutputMode(AS5600_OUTMODE_ANALOG_100);
|
||||
}
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
Serial.print(millis());
|
||||
Serial.print("\t");
|
||||
Serial.print(as5600.readAngle());
|
||||
Serial.print("\t");
|
||||
Serial.println(analogRead(A0));
|
||||
|
||||
delay(1000);
|
||||
}
|
||||
|
||||
|
||||
// -- END OF FILE --
|
||||
@ -0,0 +1,42 @@
|
||||
//
|
||||
// FILE: AS5600_outmode_analog_90.ino
|
||||
// AUTHOR: Rob Tillaart
|
||||
// PURPOSE: experimental demo
|
||||
|
||||
// connect the OUT pin to the analog port of the processor
|
||||
|
||||
|
||||
#include "AS5600.h"
|
||||
#include "Wire.h"
|
||||
|
||||
AS5600 as5600; // use default Wire
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
Serial.println(__FILE__);
|
||||
Serial.print("AS5600_LIB_VERSION: ");
|
||||
Serial.println(AS5600_LIB_VERSION);
|
||||
|
||||
Wire.begin();
|
||||
|
||||
as5600.begin(4); // set direction pin.
|
||||
as5600.setDirection(AS5600_CLOCK_WISE); // default, just be explicit.
|
||||
as5600.setOutputMode(AS5600_OUTMODE_ANALOG_90);
|
||||
}
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
Serial.print(millis());
|
||||
Serial.print("\t");
|
||||
Serial.print(as5600.readAngle());
|
||||
Serial.print("\t");
|
||||
Serial.println(analogRead(A0));
|
||||
|
||||
delay(1000);
|
||||
}
|
||||
|
||||
|
||||
// -- END OF FILE --
|
||||
@ -0,0 +1,49 @@
|
||||
//
|
||||
// FILE: AS5600_outmode_analog_pwm.ino
|
||||
// AUTHOR: Rob Tillaart
|
||||
// PURPOSE: experimental
|
||||
|
||||
|
||||
// connect the OUT pin to the analog port of the processor
|
||||
// use a resistor and a capacitor to create a low pass filter
|
||||
// so the PWM behave a bit like a analog signal
|
||||
//
|
||||
// alternative one can read the PWM with interrupt pin and
|
||||
// determine the duty cycle
|
||||
|
||||
|
||||
#include "AS5600.h"
|
||||
#include "Wire.h"
|
||||
|
||||
AS5600 as5600; // use default Wire
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
Serial.println(__FILE__);
|
||||
Serial.print("AS5600_LIB_VERSION: ");
|
||||
Serial.println(AS5600_LIB_VERSION);
|
||||
|
||||
Wire.begin();
|
||||
|
||||
as5600.begin(4); // set direction pin.
|
||||
as5600.setDirection(AS5600_CLOCK_WISE); // default, just be explicit.
|
||||
as5600.setOutputMode(AS5600_OUTMODE_PWM);
|
||||
as5600.setPWMFrequency(AS5600_PWM_920);
|
||||
}
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
Serial.print(millis());
|
||||
Serial.print("\t");
|
||||
Serial.print(as5600.readAngle());
|
||||
Serial.print("\t");
|
||||
Serial.println(analogRead(A0));
|
||||
|
||||
delay(1000);
|
||||
}
|
||||
|
||||
|
||||
// -- END OF FILE --
|
||||
@ -19,8 +19,10 @@ setZPosition KEYWORD2
|
||||
getZPosition KEYWORD2
|
||||
setMPosition KEYWORD2
|
||||
getMPosition KEYWORD2
|
||||
|
||||
setMaxAngle KEYWORD2
|
||||
getMaxAngle KEYWORD2
|
||||
|
||||
setConfigure KEYWORD2
|
||||
getConfigure KEYWORD2
|
||||
|
||||
@ -30,6 +32,7 @@ readAngle KEYWORD2
|
||||
readStatus KEYWORD2
|
||||
readAGC KEYWORD2
|
||||
readMagnitude KEYWORD2
|
||||
detectMagnet KEYWORD2
|
||||
|
||||
burnAngle KEYWORD2
|
||||
burnSetting KEYWORD2
|
||||
@ -37,11 +40,50 @@ burnSetting KEYWORD2
|
||||
getAngularSpeed KEYWORD2
|
||||
|
||||
|
||||
# CONFIGURATION FIELDS
|
||||
setPowerMode KEYWORD2
|
||||
getPowerMode KEYWORD2
|
||||
setHysteresis KEYWORD2
|
||||
getHysteresis KEYWORD2
|
||||
setOutputMode KEYWORD2
|
||||
getOutputMode KEYWORD2
|
||||
setPWMFrequency KEYWORD2
|
||||
getPWMFrequency KEYWORD2
|
||||
setSlowFilter KEYWORD2
|
||||
getSlowFilter KEYWORD2
|
||||
setFastFilter KEYWORD2
|
||||
getFastFilter KEYWORD2
|
||||
setWatchDog KEYWORD2
|
||||
getWatchDog KEYWORD2
|
||||
|
||||
|
||||
|
||||
# Constants (LITERAL1)
|
||||
AS5600_LIB_VERSION LITERAL1
|
||||
|
||||
AS5600_CLOCK_WISE LITERAL1
|
||||
AS5600_COUNTERCLOCK_WISE LITERAL1
|
||||
AS5600_RAW_TO_DEGREES LITERAL1
|
||||
AS5600_RAW_TO_RADIANS LITERAL1
|
||||
|
||||
AS5600_MODE_DEGREES LITERAL1
|
||||
AS5600_MODE_RADIANS LITERAL1
|
||||
|
||||
AS5600_OUTMODE_ANALOG_100 LITERAL1
|
||||
AS5600_OUTMODE_ANALOG_90 LITERAL1
|
||||
AS5600_OUTMODE_PWM LITERAL1
|
||||
|
||||
AS5600_POWERMODE_NOMINAL LITERAL1
|
||||
AS5600_POWERMODE_LOW1 LITERAL1
|
||||
AS5600_POWERMODE_LOW2 LITERAL1
|
||||
AS5600_POWERMODE_LOW3 LITERAL1
|
||||
|
||||
AS5600_PWM_115 LITERAL1
|
||||
AS5600_PWM_230 LITERAL1
|
||||
AS5600_PWM_460 LITERAL1
|
||||
AS5600_PWM_920 LITERAL1
|
||||
|
||||
AS5600_WATCHDOG_OFF LITERAL1
|
||||
AS5600_WATCHDOG_ON LITERAL1
|
||||
|
||||
|
||||
|
||||
@ -15,7 +15,7 @@
|
||||
"type": "git",
|
||||
"url": "https://github.com/RobTillaart/AS5600.git"
|
||||
},
|
||||
"version": "0.1.3",
|
||||
"version": "0.1.4",
|
||||
"license": "MIT",
|
||||
"frameworks": "arduino",
|
||||
"platforms": "*",
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
name=AS5600
|
||||
version=0.1.3
|
||||
version=0.1.4
|
||||
author=Rob Tillaart <rob.tillaart@gmail.com>
|
||||
maintainer=Rob Tillaart <rob.tillaart@gmail.com>
|
||||
sentence=Arduino library for AS5600 magnetic rotation meter
|
||||
|
||||
@ -50,8 +50,28 @@ unittest(test_constants)
|
||||
{
|
||||
assertEqual(0, AS5600_CLOCK_WISE);
|
||||
assertEqual(1, AS5600_COUNTERCLOCK_WISE);
|
||||
assertEqual(0, AS5600_MODE_DEGREES);
|
||||
assertEqual(1, AS5600_MODE_RADIANS);
|
||||
|
||||
assertEqualFloat(360.0/4095, AS5600_RAW_TO_DEGREES, 0.0001);
|
||||
assertEqualFloat(PI*2.0/4095, AS5600_RAW_TO_RADIANS, 0.0001);
|
||||
assertEqualFloat((PI*2.0)/4095, AS5600_RAW_TO_RADIANS, 0.0001);
|
||||
|
||||
assertEqual(0, AS5600_OUTMODE_ANALOG_100);
|
||||
assertEqual(1, AS5600_OUTMODE_ANALOG_90);
|
||||
assertEqual(2, AS5600_OUTMODE_PWM);
|
||||
|
||||
assertEqual(0, AS5600_POWERMODE_NOMINAL);
|
||||
assertEqual(1, AS5600_POWERMODE_LOW1);
|
||||
assertEqual(2, AS5600_POWERMODE_LOW2);
|
||||
assertEqual(3, AS5600_POWERMODE_LOW3);
|
||||
|
||||
assertEqual(0, AS5600_PWM_115);
|
||||
assertEqual(1, AS5600_PWM_230);
|
||||
assertEqual(2, AS5600_PWM_460);
|
||||
assertEqual(3, AS5600_PWM_920);
|
||||
|
||||
assertEqual(0, AS5600_WATCHDOG_OFF);
|
||||
assertEqual(1, AS5600_WATCHDOG_ON);
|
||||
}
|
||||
|
||||
|
||||
@ -78,7 +98,7 @@ unittest(test_direction)
|
||||
AS5600 as5600;
|
||||
|
||||
as5600.begin(4);
|
||||
|
||||
|
||||
as5600.setDirection();
|
||||
assertEqual(AS5600_CLOCK_WISE, as5600.getDirection());
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user