|
|
|
|
@ -13,15 +13,18 @@ Arduino library for AS5600 and AS5600L magnetic rotation meter.
|
|
|
|
|
|
|
|
|
|
## Description
|
|
|
|
|
|
|
|
|
|
### AS5600
|
|
|
|
|
#### AS5600
|
|
|
|
|
|
|
|
|
|
**AS5600** is a library for an AS5600 / AS5600L based magnetic rotation meter.
|
|
|
|
|
These sensors are pin compatible (always check datasheet).
|
|
|
|
|
**AS5600** is a library for an AS5600 / AS5600L based magnetic **rotation** meter.
|
|
|
|
|
More exact, it measures the angle (rotation wrt reference) and not RPM.
|
|
|
|
|
Multiple angle measurements allows one to calculate / estimate the RPM.
|
|
|
|
|
|
|
|
|
|
The AS5600 and AS5600L sensors are pin compatible (always check datasheet).
|
|
|
|
|
|
|
|
|
|
**Warning: experimental**
|
|
|
|
|
|
|
|
|
|
The sensor can measure a full rotation in 4096 steps.
|
|
|
|
|
The precision is therefore limited to approx 0.1°.
|
|
|
|
|
The precision of the position is therefore limited to approx 0.1°.
|
|
|
|
|
Noise levels are unknown, but one might expect that the sensor is affected by electric
|
|
|
|
|
and or magnetic signals in the environment.
|
|
|
|
|
Also unknown is the influence of metals near the sensor or an unstable
|
|
|
|
|
@ -30,9 +33,7 @@ or fluctuating power supply.
|
|
|
|
|
Please share your experiences.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Related libraries
|
|
|
|
|
|
|
|
|
|
Possible interesting related libraries.
|
|
|
|
|
#### Related libraries
|
|
|
|
|
|
|
|
|
|
- https://github.com/RobTillaart/Angle
|
|
|
|
|
- https://github.com/RobTillaart/AngleConvertor
|
|
|
|
|
@ -46,13 +47,14 @@ The I2C address of the **AS5600** is always 0x36.
|
|
|
|
|
|
|
|
|
|
The AS5600 datasheet states it supports Fast-Mode == 400 KHz
|
|
|
|
|
and Fast-Mode-Plus == 1000 KHz.
|
|
|
|
|
Tests with a AS5600L failed at 400 KHz (needs investigation).
|
|
|
|
|
Tests with an AS5600L (UNO) failed at 400 KHz (needs investigation).
|
|
|
|
|
|
|
|
|
|
The sensor should connect the I2C lines SDA and SCL and the
|
|
|
|
|
VCC and GND to communicate with the processor.
|
|
|
|
|
Do not forget to add the pull up resistors to improve the I2C signals.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### DIR pin
|
|
|
|
|
#### DIR pin
|
|
|
|
|
|
|
|
|
|
From datasheet, page 30 - Direction (clockwise vs. counter-clockwise)
|
|
|
|
|
|
|
|
|
|
@ -82,7 +84,7 @@ parameter set to **255**, Software Direction Control is enabled.
|
|
|
|
|
See Software Direction Control below for more information.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### OUT pin
|
|
|
|
|
#### OUT pin
|
|
|
|
|
|
|
|
|
|
The sensor has an output pin named **OUT**.
|
|
|
|
|
This pin can be used for an analogue or PWM output signal (AS5600),
|
|
|
|
|
@ -95,7 +97,7 @@ Examples are added to show how to use this pin with **setOutputMode()**.
|
|
|
|
|
See more in the sections Analog OUT and PWM OUT below.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### PGO pin
|
|
|
|
|
#### PGO pin
|
|
|
|
|
|
|
|
|
|
Not tested. ==> Read the datasheet!
|
|
|
|
|
|
|
|
|
|
@ -109,12 +111,12 @@ See **Make configuration persistent** below.
|
|
|
|
|
|
|
|
|
|
## I2C
|
|
|
|
|
|
|
|
|
|
### Address
|
|
|
|
|
#### Address
|
|
|
|
|
|
|
|
|
|
| sensor | address | changeable |
|
|
|
|
|
|:--------:|:---------:|:-------------|
|
|
|
|
|
| AS5600 | 0x36 | NO |
|
|
|
|
|
| AS5600L | 0x40 | YES, check setAddress() |
|
|
|
|
|
| AS5600 | 0x36 | NO |
|
|
|
|
|
| AS5600L | 0x40 | YES, check setAddress() |
|
|
|
|
|
|
|
|
|
|
To use more than one **AS5600** on one I2C bus, see Multiplexing below.
|
|
|
|
|
|
|
|
|
|
@ -122,18 +124,38 @@ The **AS5600L** supports the change of I2C address, optionally permanent.
|
|
|
|
|
Check the **setAddress()** function for non-permanent change.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Performance
|
|
|
|
|
#### Performance
|
|
|
|
|
|
|
|
|
|
| board | sensor | results | notes |
|
|
|
|
|
|:-----------:|:---------:|:----------------|:---------|
|
|
|
|
|
| Arduino UNO | AS5600 | up to 900 KHz. | see #22 |
|
|
|
|
|
| Arduino UNO | AS5600L | up to 300 KHz. | |
|
|
|
|
|
| board | sensor | results | notes |
|
|
|
|
|
|:-------------:|:---------:|:-----------------|:--------|
|
|
|
|
|
| Arduino UNO | AS5600 | up to 900 KHz. | https://github.com/RobTillaart/AS5600/issues/22
|
|
|
|
|
| Arduino UNO | AS5600L | up to 300 KHz. |
|
|
|
|
|
| ESP32 | AS5600 | no data |
|
|
|
|
|
| ESP32 | AS5600L | up to 800 KHz |
|
|
|
|
|
|
|
|
|
|
No other boards tested yet.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### ESP32 and I2C
|
|
|
|
|
|
|
|
|
|
When polling the AS5600 with an ESP32 to measure RPM an issue has been reported.
|
|
|
|
|
See https://github.com/RobTillaart/AS5600/issues/28
|
|
|
|
|
|
|
|
|
|
The problem is that the ESP32 can be blocking for up to one second if there is a
|
|
|
|
|
problem in the connection with the sensor. Using **setWireTimeout()** does not seem
|
|
|
|
|
to solve the problem (2023-01-31). In the issue the goal was to measure the turns
|
|
|
|
|
of a rotating device at around 3800 RPM. To do this one need roughly 1 angle measurement
|
|
|
|
|
per 5 milliseconds.
|
|
|
|
|
which
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
## Interface
|
|
|
|
|
|
|
|
|
|
```cpp
|
|
|
|
|
#include "AS5600.h"
|
|
|
|
|
```
|
|
|
|
|
|
|
|
|
|
### Constants
|
|
|
|
|
#### Constants
|
|
|
|
|
|
|
|
|
|
Most important are:
|
|
|
|
|
|
|
|
|
|
@ -159,7 +181,7 @@ See AS5600.h file (and datasheet) for all constants.
|
|
|
|
|
Also Configuration bits below for configuration related ones.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Constructor + I2C
|
|
|
|
|
#### Constructor + I2C
|
|
|
|
|
|
|
|
|
|
- **AS5600(TwoWire \*wire = &Wire)** Constructor with optional Wire
|
|
|
|
|
interface as parameter.
|
|
|
|
|
@ -177,7 +199,7 @@ See below.
|
|
|
|
|
- **uint8_t getAddress()** returns the fixed device address 0x36 (AS5600).
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Direction
|
|
|
|
|
#### Direction
|
|
|
|
|
|
|
|
|
|
To define in which way the sensor counts up.
|
|
|
|
|
|
|
|
|
|
@ -188,7 +210,7 @@ AS5600_COUNTERCLOCK_WISE (1).
|
|
|
|
|
See Software Direction Control below for more information.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Configuration registers
|
|
|
|
|
#### Configuration registers
|
|
|
|
|
|
|
|
|
|
Please read the datasheet for details.
|
|
|
|
|
|
|
|
|
|
@ -214,16 +236,17 @@ Returns false if parameter is out of range.
|
|
|
|
|
- **uint16_t getConfigure()** returns the current configuration register a bit mask.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| Bit | short | Description | Values |
|
|
|
|
|
|:-----:|:------|:--------------|:------------------------------------------------------|
|
|
|
|
|
| 0-1 | PM | Power mode | 00 = NOM, 01 = LPM1, 10 = LPM2, 11 = LPM3 |
|
|
|
|
|
| 2-3 | HYST | Hysteresis | 00 = OFF, 01 = 1 LSB, 10 = 2 LSB, 11 = 3 LSB |
|
|
|
|
|
| 4-5 | OUTS | Output Stage | 00 = analog (0-100%), 01 = analog (10-90%), 10 = PWM |
|
|
|
|
|
| 6-7 | PWMF | PWM frequency | 00 = 115, 01 = 230, 10 = 460, 11 = 920 (Hz) |
|
|
|
|
|
| 8-9 | SF | Slow Filter | 00 = 16x, 01 = 8x, 10 = 4x, 11 = 2x |
|
|
|
|
|
| 10-12 | FTH | Fast Filter | Threshold 000 - 111 check datasheet |
|
|
|
|
|
| 13 | WD | Watch Dog | 0 = OFF, 1 = ON |
|
|
|
|
|
| 15-14 | | not used |
|
|
|
|
|
| Bit | short | Description | Values |
|
|
|
|
|
|:-------:|:--------|:----------------|:-------------------------------------------------------|
|
|
|
|
|
| 0-1 | PM | Power mode | 00 = NOM, 01 = LPM1, 10 = LPM2, 11 = LPM3 |
|
|
|
|
|
| 2-3 | HYST | Hysteresis | 00 = OFF, 01 = 1 LSB, 10 = 2 LSB, 11 = 3 LSB |
|
|
|
|
|
| 4-5 | OUTS | Output Stage | 00 = analog (0-100%), 01 = analog (10-90%), 10 = PWM |
|
|
|
|
|
| 6-7 | PWMF | PWM frequency | 00 = 115, 01 = 230, 10 = 460, 11 = 920 (Hz) |
|
|
|
|
|
| 8-9 | SF | Slow Filter | 00 = 16x, 01 = 8x, 10 = 4x, 11 = 2x |
|
|
|
|
|
| 10-12 | FTH | Fast Filter | Threshold 000 - 111 check datasheet |
|
|
|
|
|
| 13 | WD | Watch Dog | 0 = OFF, 1 = ON |
|
|
|
|
|
| 15-14 | | not used |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
The library has functions to address these fields directly.
|
|
|
|
|
The setters() returns false if parameter is out of range.
|
|
|
|
|
@ -246,7 +269,7 @@ In a way one is trading precision for stability.
|
|
|
|
|
- **uint8_t getWatchDog()**
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Read Angle
|
|
|
|
|
#### Read Angle
|
|
|
|
|
|
|
|
|
|
- **uint16_t rawAngle()** returns 0 .. 4095. (12 bits)
|
|
|
|
|
Conversion factor AS5600_RAW_TO_DEGREES = 360 / 4096 = 0.087890625
|
|
|
|
|
@ -265,13 +288,13 @@ measurements as floats have only 7 significant digits.
|
|
|
|
|
Verify this for your application.
|
|
|
|
|
- **float getOffset()** returns offset in degrees.
|
|
|
|
|
|
|
|
|
|
In #14 there is a discussion about **setOffset()**.
|
|
|
|
|
In issue #14 there is a discussion about **setOffset()**.
|
|
|
|
|
A possible implementation is to ignore all values outside the
|
|
|
|
|
-359.99 - 359.99 range.
|
|
|
|
|
This would help to keep the precision high. User responsibility.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Angular Speed
|
|
|
|
|
#### Angular Speed
|
|
|
|
|
|
|
|
|
|
- **float getAngularSpeed(uint8_t mode = AS5600_MODE_DEGREES)** is an experimental function that returns
|
|
|
|
|
an approximation of the angular speed in rotations per second.
|
|
|
|
|
@ -301,13 +324,14 @@ with a short interval. The only limitation then is that both measurements
|
|
|
|
|
should be within 180° = half a rotation.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Cumulative position (experimental)
|
|
|
|
|
#### Cumulative position (experimental)
|
|
|
|
|
|
|
|
|
|
Since 0.3.3 an experimental cumulative position can be requested from the library.
|
|
|
|
|
The sensor does not provide interrupts to indicate a movement or revolution
|
|
|
|
|
Therefore one has to poll the sensor at a frequency at least 3 times per revolution with **getCumulativePosition()**
|
|
|
|
|
Therefore one has to poll the sensor at a frequency at least **three** times
|
|
|
|
|
per revolution with **getCumulativePosition()**
|
|
|
|
|
|
|
|
|
|
The cumulative position consists of 3 parts
|
|
|
|
|
The cumulative position (32 bits) consists of 3 parts
|
|
|
|
|
|
|
|
|
|
| bit | meaning | notes |
|
|
|
|
|
|:-------:|:--------------|:--------|
|
|
|
|
|
@ -325,7 +349,7 @@ Convenience function.
|
|
|
|
|
The cumulative position does not reset to 0 but to the last known raw angle.
|
|
|
|
|
This way the cumulative position always indicate the (absolute) angle too.
|
|
|
|
|
|
|
|
|
|
As this code is experimental, names might change in the future.
|
|
|
|
|
As this code is experimental, names might change in the future (0.4.0).
|
|
|
|
|
As the function are mostly about counting revolutions the current thoughts for new names are:
|
|
|
|
|
|
|
|
|
|
```cpp
|
|
|
|
|
@ -335,7 +359,7 @@ int32_t resetRevolutions() replaces resetPosition()
|
|
|
|
|
```
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Status registers
|
|
|
|
|
#### Status registers
|
|
|
|
|
|
|
|
|
|
- **uint8_t readStatus()** see Status bits below.
|
|
|
|
|
- **uint8_t readAGC()** returns the Automatic Gain Control.
|
|
|
|
|
@ -361,7 +385,7 @@ Please read datasheet for details.
|
|
|
|
|
| 6-7 | | not used | |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Make configuration persistent.
|
|
|
|
|
## Make configuration persistent.
|
|
|
|
|
|
|
|
|
|
**USE AT OWN RISK**
|
|
|
|
|
|
|
|
|
|
@ -384,6 +408,8 @@ and **TWO** times for the AS5600L.
|
|
|
|
|
- **void burnSetting()** writes the MANG register to permanent memory.
|
|
|
|
|
You can write this only **ONE** time to the AS5600.
|
|
|
|
|
|
|
|
|
|
**USE AT OWN RISK**
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
## Software Direction Control
|
|
|
|
|
|
|
|
|
|
@ -532,12 +558,12 @@ As the I2C address can be changed in the AS5600L, the address is a parameter of
|
|
|
|
|
This is a difference with the AS5600 constructor.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Setting I2C address
|
|
|
|
|
#### Setting I2C address
|
|
|
|
|
|
|
|
|
|
- **bool setAddress(uint8_t address)** Returns false if the I2C address is not in valid range (8-119).
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Setting I2C UPDT
|
|
|
|
|
#### Setting I2C UPDT
|
|
|
|
|
|
|
|
|
|
UPDT = update page 30 - AS5600L
|
|
|
|
|
|
|
|
|
|
@ -591,6 +617,8 @@ priority is relative.
|
|
|
|
|
- other class hierarchy?
|
|
|
|
|
- base class with commonalities?
|
|
|
|
|
- just ignore?
|
|
|
|
|
- rename revolution functions (0.4.0)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### Should
|
|
|
|
|
|
|
|
|
|
@ -613,6 +641,8 @@ priority is relative.
|
|
|
|
|
- 1 minute (need HW)
|
|
|
|
|
- check Timing Characteristics (datasheet)
|
|
|
|
|
- is there improvement possible.
|
|
|
|
|
- investigate why AS5600L failed at 400 KHz I2C
|
|
|
|
|
- repeatable?
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### Could
|
|
|
|
|
@ -620,3 +650,6 @@ priority is relative.
|
|
|
|
|
- add error handling
|
|
|
|
|
- investigate PGO programming pin.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#### Wont
|
|
|
|
|
|
|
|
|
|
|
rob tillaart