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0.6.0 AS5600

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Rob Tillaart 2024-02-10 13:23:53 +01:00
parent 3200ea3e98
commit 65f1ef0d81
29 changed files with 199 additions and 69 deletions
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52
libraries/AS5600/AS5600.cpp
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@ -1,7 +1,7 @@
//
// FILE: AS56000.cpp
// AUTHOR: Rob Tillaart
// VERSION: 0.5.1
// VERSION: 0.6.0
// PURPOSE: Arduino library for AS5600 magnetic rotation meter
// DATE: 2022-05-28
// URL: https://github.com/RobTillaart/AS5600
@ -509,17 +509,34 @@ int32_t AS5600::resetCumulativePosition(int32_t position)
}
int AS5600::lastError()
{
int value = _error;
_error = AS5600_OK;
return value;
}
/////////////////////////////////////////////////////////
//
// PROTECTED AS5600
//
uint8_t AS5600::readReg(uint8_t reg)
{
_error = AS5600_OK;
_wire->beginTransmission(_address);
_wire->write(reg);
_error = _wire->endTransmission();
_wire->requestFrom(_address, (uint8_t)1);
if (_wire->endTransmission() != 0)
{
_error = AS5600_ERROR_I2C_READ_0;
return 0;
}
uint8_t n = _wire->requestFrom(_address, (uint8_t)1);
if (n != 1)
{
_error = AS5600_ERROR_I2C_READ_1;
return 0;
}
uint8_t _data = _wire->read();
return _data;
}
@ -527,11 +544,20 @@ uint8_t AS5600::readReg(uint8_t reg)
uint16_t AS5600::readReg2(uint8_t reg)
{
_error = AS5600_OK;
_wire->beginTransmission(_address);
_wire->write(reg);
_error = _wire->endTransmission();
_wire->requestFrom(_address, (uint8_t)2);
if (_wire->endTransmission() != 0)
{
_error = AS5600_ERROR_I2C_READ_2;
return 0;
}
uint8_t n = _wire->requestFrom(_address, (uint8_t)2);
if (n != 2)
{
_error = AS5600_ERROR_I2C_READ_3;
return 0;
}
uint16_t _data = _wire->read();
_data <<= 8;
_data += _wire->read();
@ -541,21 +567,29 @@ uint16_t AS5600::readReg2(uint8_t reg)
uint8_t AS5600::writeReg(uint8_t reg, uint8_t value)
{
_error = AS5600_OK;
_wire->beginTransmission(_address);
_wire->write(reg);
_wire->write(value);
_error = _wire->endTransmission();
if (_wire->endTransmission() != 0)
{
_error = AS5600_ERROR_I2C_WRITE_0;
}
return _error;
}
uint8_t AS5600::writeReg2(uint8_t reg, uint16_t value)
{
_error = AS5600_OK;
_wire->beginTransmission(_address);
_wire->write(reg);
_wire->write(value >> 8);
_wire->write(value & 0xFF);
_error = _wire->endTransmission();
if (_wire->endTransmission() != 0)
{
_error = AS5600_ERROR_I2C_WRITE_0;
}
return _error;
}

23
libraries/AS5600/AS5600.h
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@ -2,7 +2,7 @@
//
// FILE: AS5600.h
// AUTHOR: Rob Tillaart
// VERSION: 0.5.1
// VERSION: 0.6.0
// PURPOSE: Arduino library for AS5600 magnetic rotation meter
// DATE: 2022-05-28
// URL: https://github.com/RobTillaart/AS5600
@ -12,7 +12,8 @@
#include "Wire.h"
#define AS5600_LIB_VERSION (F("0.5.1"))
#define AS5600_LIB_VERSION (F("0.6.0"))
// default addresses
const uint8_t AS5600_DEFAULT_ADDRESS = 0x36;
@ -36,6 +37,17 @@ const uint8_t AS5600_MODE_DEGREES = 0;
const uint8_t AS5600_MODE_RADIANS = 1;
const uint8_t AS5600_MODE_RPM = 2;
// ERROR CODES
const int AS5600_OK = 0;
const int AS5600_ERROR_I2C_READ_0 = -100;
const int AS5600_ERROR_I2C_READ_1 = -101;
const int AS5600_ERROR_I2C_READ_2 = -102;
const int AS5600_ERROR_I2C_READ_3 = -103;
const int AS5600_ERROR_I2C_WRITE_0 = -200;
const int AS5600_ERROR_I2C_WRITE_1 = -201;
// CONFIGURE CONSTANTS
// check datasheet for details
@ -202,7 +214,7 @@ public:
// void burnSetting();
// Experimental 0.1.2 - to be tested.
// EXPERIMENTAL 0.1.2 - to be tested.
// approximation of the angular speed in rotations per second.
// mode == 1: radians /second
// mode == 0: degrees /second (default)
@ -220,6 +232,9 @@ public:
// returns last position.
int32_t resetCumulativePosition(int32_t position = 0);
// EXPERIMENTAL 0.5.2
int lastError();
protected:
uint8_t readReg(uint8_t reg);
@ -230,7 +245,7 @@ protected:
uint8_t _address = AS5600_DEFAULT_ADDRESS;
uint8_t _directionPin = 255;
uint8_t _direction = AS5600_CLOCK_WISE;
uint8_t _error = 0;
int _error = AS5600_OK;
TwoWire* _wire;

10
libraries/AS5600/CHANGELOG.md
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@ -5,12 +5,20 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
and this project adheres to [Semantic Versioning](http://semver.org/).
## [0.6.0] - 2024-01-25
- add experimental error handling
- add **int lastError()** so user can check the status of last I2C actions.
- update readme.md
- update examples
- minor edits
----
## [0.5.1] - 2023-12-31
- fix #51, add **increaseOffset(float degrees)**
- update keywords.txt
- update readme.md (several cleanups)
## [0.5.0] - 2023-12-07
- refactor API, begin()
- update readme.md

85
libraries/AS5600/README.md
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@ -118,6 +118,7 @@ See more in the sections Analog OUT and PWM OUT below.
##### Note: (From Zipdox2 - See issue #36)
Some AS5600 modules seem to have a resistor between **PGO** and **GND**.
This causes the AS5600 to disable the output (to use it for programming, see datasheet).
This resistor needs to be removed to use the **OUT** pin.
@ -137,6 +138,8 @@ See **Make configuration persistent** below.
## I2C
The I2C address of the **AS5600** is always 0x36.
#### Address
| sensor | address | changeable |
@ -150,6 +153,32 @@ The **AS5600L** supports the change of I2C address, optionally permanent.
Check the **setAddress()** function for non-permanent change.
#### I2C multiplexing
Sometimes you need to control more devices than possible with the default
address range the device provides.
This is possible with an I2C multiplexer e.g. TCA9548 which creates up
to eight channels (think of it as I2C subnets) which can use the complete
address range of the device.
Drawback of using a multiplexer is that it takes more administration in
your code e.g. which device is on which channel.
This will slow down the access, which must be taken into account when
deciding which devices are on which channel.
Also note that switching between channels will slow down other devices
too if they are behind the multiplexer.
- 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 analogue ports of the processor.
**Warning**: If and how well this analog option works is not verified or tested.
#### Performance
| board | sensor | results | notes |
@ -439,6 +468,40 @@ Please read datasheet for details.
| 6-7 | | not used | |
#### Error handling
Since 0.5.2 the library has added **experimental** error handling.
For now only lowest level I2C errors are checked for transmission errors.
Error handling might be improved upon in the future.
Note: The public functions do not act on error conditions.
This might change in the future.
So the user should check for error conditions.
```cpp
int e = lastError();
if (e != AS5600_OK)
{
// handle error
}
```
- **int lastError()** returns the last error code.
After reading the error status is cleared to **AS5600_OK**.
| Error codes | value | notes |
|:--------------------------|:-------:|:----------|
| AS5600_OK | 0 | default |
| AS5600_ERROR_I2C_READ_0 | -100 |
| AS5600_ERROR_I2C_READ_1 | -101 |
| AS5600_ERROR_I2C_READ_2 | -102 |
| AS5600_ERROR_I2C_READ_3 | -103 |
| AS5600_ERROR_I2C_WRITE_0 | -200 |
| AS5600_ERROR_I2C_WRITE_1 | -201 |
## Make configuration persistent. BURN
#### Read burn count
@ -599,20 +662,6 @@ with enough precision to get the max resolution.
When PWM OUT is selected **readAngle()** will still return valid values.
## 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 analogue ports of the processor.
**Warning**: If and how well this analog option works is not verified or tested.
----
## AS5600L class
@ -697,9 +746,9 @@ priority is relative.
- is there improvement possible.
#### Could
- add error handling
- investigate PGO programming pin.
- check for compatible devices
- AS5200 ?
@ -707,6 +756,12 @@ priority is relative.
- basic performance per function
- I2C improvements
- software direction
- implement extended error handling in public functions.
- will increase footprint !! how much?
- writeReg() only if readReg() is OK ==> prevent incorrect writes
- ```if (_error != 0) return false;```
- set AS5600_ERROR_PARAMETER e.g. setZPosition()
- a derived class with extended error handling?
#### Wont (unless)

3
libraries/AS5600/examples/AS5600L_set_address/AS5600L_set_address.ino
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@ -2,10 +2,11 @@
// FILE: AS5600L_set_address.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo
// URL: https://github.com/RobTillaart/AS5600
#include "AS5600.h"
#include "Wire.h"
AS5600L ASL; // use default Wire

3
libraries/AS5600/examples/AS5600_I2C_frequency/AS5600_I2C_frequency.ino
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@ -2,10 +2,11 @@
// FILE: AS5600_I2C_frequency.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo
// URL: https://github.com/RobTillaart/AS5600
#include "AS5600.h"
#include "Wire.h"
AS5600L as5600; // use default Wire

3
libraries/AS5600/examples/AS5600_angular_speed/AS5600_angular_speed.ino
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@ -2,10 +2,11 @@
// FILE: AS5600_angular_speed.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo
// URL: https://github.com/RobTillaart/AS5600
#include "AS5600.h"
#include "Wire.h"
AS5600L as5600; // use default Wire

3
libraries/AS5600/examples/AS5600_angular_speed_RPM/AS5600_angular_speed_RPM.ino
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@ -2,10 +2,11 @@
// FILE: AS5600_angular_speed_RPM.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo
// URL: https://github.com/RobTillaart/AS5600
#include "AS5600.h"
#include "Wire.h"
AS5600 as5600; // use default Wire

5
libraries/AS5600/examples/AS5600_burn_conf_mang/AS5600_burn_conf_mang.ino
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@ -2,8 +2,8 @@
// FILE: AS5600_burn_conf_mang.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo (not tested yet - see issue #38)
// URL: https://github.com/RobTillaart/AS5600
//
// WARNING
// As burning the settings can only be done once this sketch has to be used with care.
//
@ -17,7 +17,6 @@
#include "AS5600.h"
#include "Wire.h"
AS5600 as5600; // use default Wire
// AS5600L as5600;

5
libraries/AS5600/examples/AS5600_burn_zpos/AS5600_burn_zpos.ino
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@ -2,8 +2,8 @@
// FILE: AS5600_burn_zpos.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo (not tested yet - see issue #38)
// URL: https://github.com/RobTillaart/AS5600
//
// WARNING
// As burning the angle can only be done three times this sketch has to be used with care.
//
@ -17,7 +17,6 @@
#include "AS5600.h"
#include "Wire.h"
AS5600 as5600; // use default Wire
// AS5600L as5600;

3
libraries/AS5600/examples/AS5600_demo/AS5600_demo.ino
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@ -2,10 +2,11 @@
// FILE: AS5600_demo.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo
// URL: https://github.com/RobTillaart/AS5600
#include "AS5600.h"
#include "Wire.h"
AS5600L as5600; // use default Wire

3
libraries/AS5600/examples/AS5600_demo_ESP32/AS5600_demo_ESP32.ino
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@ -2,10 +2,11 @@
// FILE: AS5600_demo.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo
// URL: https://github.com/RobTillaart/AS5600
#include "AS5600.h"
#include "Wire.h"
AS5600L as5600; // use default Wire

3
libraries/AS5600/examples/AS5600_demo_RP2040/AS5600_demo_RP2040.ino
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@ -2,10 +2,11 @@
// FILE: AS5600_demo.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo
// URL: https://github.com/RobTillaart/AS5600
#include "AS5600.h"
#include "Wire.h"
AS5600L as5600; // use default Wire

4
libraries/AS5600/examples/AS5600_demo_STM32/AS5600_demo_STM32.ino
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@ -2,11 +2,13 @@
// FILE: AS5600_demo.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo
// URL: https://github.com/RobTillaart/AS5600
//
// tested compilation with Nucleo-64
#include "AS5600.h"
#include "Wire.h"
AS5600L as5600; // use default Wire

3
libraries/AS5600/examples/AS5600_demo_offset/AS5600_demo_offset.ino
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@ -2,10 +2,11 @@
// FILE: AS5600_demo_offset.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo
// URL: https://github.com/RobTillaart/AS5600
#include "AS5600.h"
#include "Wire.h"
AS5600 as5600; // use default Wire

3
libraries/AS5600/examples/AS5600_demo_radians/AS5600_demo_radians.ino
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@ -2,10 +2,11 @@
// FILE: AS5600_demo_radians.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo
// URL: https://github.com/RobTillaart/AS5600
#include "AS5600.h"
#include "Wire.h"
AS5600 as5600; // use default Wire

6
libraries/AS5600/examples/AS5600_demo_software_direction/AS5600_demo_software_direction.ino
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@ -2,13 +2,13 @@
// FILE: AS5600_demo_software_direction.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo software direction control
// URL: https://github.com/RobTillaart/AS5600
//
// connect the DIR pin of the AS5600 to GND
#include "AS5600.h"
#include "Wire.h"
AS5600 as5600; // use default Wire

3
libraries/AS5600/examples/AS5600_demo_status/AS5600_demo_status.ino
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@ -2,10 +2,11 @@
// FILE: AS5600_demo_status.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo
// URL: https://github.com/RobTillaart/AS5600
#include "AS5600.h"
#include "Wire.h"
AS5600L as5600(0x40); // use default Wire

3
libraries/AS5600/examples/AS5600_demo_two_I2C/AS5600_demo_two_I2C.ino
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@ -2,6 +2,7 @@
// FILE: AS5600_demo_two_I2C.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo two I2C busses
// URL: https://github.com/RobTillaart/AS5600
//
// Works only if Wire1 bus is present e.g.
// - nano33 ble
@ -10,7 +11,7 @@
#include "AS5600.h"
#include "Wire.h"
AS5600 as5600_0(&Wire);
AS5600 as5600_1(&Wire1);

5
libraries/AS5600/examples/AS5600_outmode_analog_100/AS5600_outmode_analog_100.ino
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@ -2,12 +2,13 @@
// FILE: AS5600_outmode_analog_100.ino
// AUTHOR: Rob Tillaart
// PURPOSE: experimental demo
// URL: https://github.com/RobTillaart/AS5600
//
// connect the OUT pin to the analog port of the processor
#include "AS5600.h"
#include "Wire.h"
AS5600 as5600; // use default Wire

4
libraries/AS5600/examples/AS5600_outmode_analog_90/AS5600_outmode_analog_90.ino
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@ -2,12 +2,12 @@
// FILE: AS5600_outmode_analog_90.ino
// AUTHOR: Rob Tillaart
// PURPOSE: experimental demo
// URL: https://github.com/RobTillaart/AS5600
// connect the OUT pin to the analog port of the processor
#include "AS5600.h"
#include "Wire.h"
AS5600 as5600; // use default Wire

6
libraries/AS5600/examples/AS5600_outmode_analog_pwm/AS5600_outmode_analog_pwm.ino
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@ -2,8 +2,8 @@
// FILE: AS5600_outmode_analog_pwm.ino
// AUTHOR: Rob Tillaart
// PURPOSE: experimental
// URL: https://github.com/RobTillaart/AS5600
//
// 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
@ -13,7 +13,7 @@
#include "AS5600.h"
#include "Wire.h"
AS5600 as5600; // use default Wire

3
libraries/AS5600/examples/AS5600_outmode_pwm_interrupt/AS5600_outmode_pwm_interrupt.ino
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@ -2,10 +2,11 @@
// FILE: AS5600_outmode_pwm_interrupt.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo
// URL: https://github.com/RobTillaart/AS5600
#include "AS5600.h"
#include "Wire.h"
AS5600 as5600; // use default Wire

5
libraries/AS5600/examples/AS5600_plus_AS5600L/AS5600_plus_AS5600L.ino
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@ -6,11 +6,12 @@
#include "AS5600.h"
#include "Wire.h"
AS5600 as5600_R; // uses default Wire
AS5600L as5600_L; // uses default Wire
int Raw_R;
int Raw_Prev;
@ -87,7 +88,7 @@ void loop()
float convertRawAngleToDegrees(uint32_t newAngle)
{
/* Raw data reports 0 - 4095 segments, which is 0.087890625 of a degree */
// Raw data reports 0 - 4095 segments, which is 0.087890625 of a degree
float retVal = newAngle * 0.087890625;
retVal = round(retVal);
// retVal=retVal/10;

3
libraries/AS5600/examples/AS5600_position/AS5600_position.ino
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@ -2,10 +2,11 @@
// FILE: AS5600_position.ino
// AUTHOR: Rob Tillaart
// PURPOSE: demo
// URL: https://github.com/RobTillaart/AS5600
#include "AS5600.h"
#include "Wire.h"
AS5600 as5600; // use default Wire

3
libraries/AS5600/examples/AS5600_resetCumulativeCounter/AS5600_resetCumulativeCounter.ino
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@ -2,10 +2,11 @@
// FILE: AS5600_resetCumulativeCounter.ino
// AUTHOR: Daniel-Frenkel, (slightly by Rob Tillaart)
// PURPOSE: demo - see issue #30
// URL: https://github.com/RobTillaart/AS5600
#include "AS5600.h"
#include "Wire.h"
AS5600L as5600; // use default Wire

2
libraries/AS5600/keywords.txt
View File

@ -69,6 +69,8 @@ getRevolutions KEYWORD2
resetPosition KEYWORD2
resetCumulativePosition KEYWORD2
lastError KEYWORD2
# CONFIGURATION FIELDS
setPowerMode KEYWORD2

2
libraries/AS5600/library.json
View File

@ -15,7 +15,7 @@
"type": "git",
"url": "https://github.com/RobTillaart/AS5600.git"
},
"version": "0.5.1",
"version": "0.6.0",
"license": "MIT",
"frameworks": "*",
"platforms": "*",

2
libraries/AS5600/library.properties
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@ -1,5 +1,5 @@
name=AS5600
version=0.5.1
version=0.6.0
author=Rob Tillaart <rob.tillaart@gmail.com>
maintainer=Rob Tillaart <rob.tillaart@gmail.com>
sentence=Arduino library for AS5600 and AS5600L magnetic rotation meter.