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0.3.1 AS5600
This commit is contained in:
rob tillaart
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@ -1,7 +1,7 @@
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//
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// FILE: AS56000.cpp
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// AUTHOR: Rob Tillaart
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// VERSION: 0.3.0
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// VERSION: 0.3.1
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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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@ -27,7 +27,12 @@
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// add get- setOffset(degrees) functions. (no radians yet)
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// 0.2.1 notreleased add bool return to set() functions.
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// update Readme (analog / PWM out)
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//
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// 0.3.0 2022-07-07 fix #18 invalid mask setConfigure().
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// 0.3.1 2022-08-11 add support for AS5600L (I2C address)
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// add magnetTooStrong() + magnetTooWeak();
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// add / update examples
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// update documentation
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// TODO
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@ -61,6 +66,10 @@ const uint8_t AS5600_CONF_WATCH_DOG = 0x20;
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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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// I2C_ADDRESS REGISTERS (AS5600L)
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const uint8_t AS5600_I2CADDR = 0x20;
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const uint8_t AS5600_I2CUPDT = 0x21;
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// STATUS REGISTERS
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const uint8_t AS5600_STATUS = 0x0B;
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const uint8_t AS5600_AGC = 0x1A;
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@ -404,6 +413,18 @@ bool AS5600::detectMagnet()
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}
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bool AS5600::magnetTooStrong()
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{
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return (readStatus() & AS5600_MAGNET_HIGH) > 1;
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}
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bool AS5600::magnetTooWeak()
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{
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return (readStatus() & AS5600_MAGNET_LOW) > 1;
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}
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/////////////////////////////////////////////////////////
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//
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// BURN COMMANDS
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@ -451,7 +472,7 @@ float AS5600::getAngularSpeed(uint8_t mode)
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/////////////////////////////////////////////////////////
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//
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// PRIVATE
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// PRIVATE AS5600
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//
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uint8_t AS5600::readReg(uint8_t reg)
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{
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@ -500,6 +521,46 @@ uint8_t AS5600::writeReg2(uint8_t reg, uint16_t value)
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}
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/////////////////////////////////////////////////////////////////////////////
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//
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// AS5600L
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//
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AS5600L::AS5600L(uint8_t address, TwoWire *wire) : AS5600(wire)
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{
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_address = address;; // 0x40 = default address AS5600L.
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}
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bool AS5600L::setAddress(uint8_t address)
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{
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// skip reserved I2C addresses
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if ((address < 8) || (address > 119)) return false;
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// note address need to be shifted 1 bit.
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writeReg(AS5600_I2CADDR, address << 1);
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writeReg(AS5600_I2CUPDT, address << 1);
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// remember new address.
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_address = address;
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return true;
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}
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bool AS5600L::setI2CUPDT(uint8_t address)
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{
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// skip reserved I2C addresses
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if ((address < 8) || (address > 119)) return false;
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writeReg(AS5600_I2CUPDT, address << 1);
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return true;
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}
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uint8_t AS5600L::getI2CUPDT()
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{
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return (readReg(AS5600_I2CUPDT) >> 1);
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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: 0.3.0
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// VERSION: 0.3.1
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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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@ -12,7 +12,7 @@
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#include "Wire.h"
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#define AS5600_LIB_VERSION (F("0.3.0"))
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#define AS5600_LIB_VERSION (F("0.3.1"))
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// setDirection
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const uint8_t AS5600_CLOCK_WISE = 0; // LOW
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@ -82,7 +82,7 @@ public:
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#if defined (ESP8266) || defined(ESP32)
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// 255 is software controlled direction pin
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bool begin(int sda, int scl, uint8_t directionPin = 255);
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bool begin(int dataPin, int clockPin, uint8_t directionPin = 255);
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#endif
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// 255 is software controlled direction pin
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bool begin(uint8_t directionPin = 255);
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@ -185,6 +185,8 @@ public:
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// access detail status register
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bool detectMagnet();
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bool magnetTooStrong();
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bool magnetTooWeak();
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// BURN COMMANDS
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@ -200,13 +202,13 @@ public:
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float getAngularSpeed(uint8_t mode = AS5600_MODE_DEGREES);
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private:
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protected:
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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 _address = 0x36;
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uint8_t _directionPin = 255;
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uint8_t _direction = AS5600_CLOCK_WISE;
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uint8_t _error = 0;
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@ -222,6 +224,24 @@ private:
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};
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/////////////////////////////////////////////////////////////////////////////
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//
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// AS5600L
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//
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class AS5600L : public AS5600
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{
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public:
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AS5600L(uint8_t address = 0x40, TwoWire *wire = &Wire);
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bool setAddress(uint8_t address);
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// UPDT = UPDATE
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// are these two needed?
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bool setI2CUPDT(uint8_t value);
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uint8_t getI2CUPDT();
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};
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// -- END OF FILE --
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@ -8,36 +8,66 @@
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# AS5600
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Arduino library for AS5600 magnetic rotation meter.
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Arduino library for AS5600 and AS5600L magnetic rotation meter.
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## Description
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### AS5600
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**AS5600** is a library for an AS5600 based magnetic rotation meter.
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**AS5600** is a library for an AS5600 / AS5600L based magnetic rotation meter.
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These sensors are pin compatible (always check datasheet).
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**Warning: experimental**
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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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The precision is therefore limited to approx 0.1°.
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Noise levels are unknown, but one might expect that the sensor is affected 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
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or fluctuating power supply.
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Please share your experiences.
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### Related libraries
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Possible interesting related libraries.
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- https://github.com/RobTillaart/Angle
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- https://github.com/RobTillaart/AverageAngle
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- https://github.com/RobTillaart/runningAngle
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### I2C Address
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The I2C address of the **AS5600** is always 0x36.
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| sensor | address | changeable |
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|:--------:|:---------:|:-------------|
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| AS5600 | 0x36 | NO |
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| AS5600L | 0x40 | YES, check setAddress() |
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To use more than one **AS5600** on one I2C bus, see Multiplexing below.
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The **AS5600L** supports the change of I2C address, optionally permanent.
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Check the **setAddress()** function for non-permanent change.
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### I2C performance
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| board | sensor | results |
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|:-----------:|:---------:|:--------------------|
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| Arduino UNO | AS5600 | not tested |
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| Arduino UNO | AS5600L | work up to 300 KHz. |
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More tests are needed
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### OUT pin
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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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This pin can be used for an analogue or PWM output signal (AS5600),
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and only for PWM by the AS5600L.
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See **Analogue Pin** and **PWM Pin** below.
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@ -46,7 +76,7 @@ Examples are added to show how to use this pin with **setOutputMode()**.
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### PGO pin
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Not tested.
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Not tested. ==> Read the datasheet!
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PGO stands 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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@ -62,6 +92,7 @@ The I2C address of the **AS5600** is always 0x36.
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The AS5600 datasheet states it supports Fast-Mode == 400 KHz
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and Fast-Mode-Plus == 1000 KHz.
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Tests with a AS5600L failed at 400 KHz (needs investigation).
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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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@ -69,7 +100,7 @@ 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 = under library control.
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- a free floating IO pin of the processor = under library control.
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In the latter setup the library can control the direction of
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counting by initializing this pin in **begin(directionPin)**,
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@ -120,13 +151,13 @@ directionPin.
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If the pin is set to 255, the default value, there will be software
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direction control instead of hardware control.
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See below.
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- **bool begin(int sda, int scl, uint8_t directionPin = 255)** idem,
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- **bool begin(int dataPin, int clockPin, uint8_t directionPin = 255)** idem,
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for the ESP32 where one can choose the I2C pins.
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If the pin is set to 255, the default value, there will be software
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direction control instead of hardware control.
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See below.
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- **bool isConnected()** checks if the address 0x36 is on the I2C bus.
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- **uint8_t getAddress()** returns the fixed device address 0x36.
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- **bool isConnected()** checks if the address 0x36 (AS5600) is on the I2C bus.
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- **uint8_t getAddress()** returns the fixed device address 0x36 (AS5600).
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### Direction
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@ -142,15 +173,14 @@ AS5600_COUNTERCLOCK_WISE (1).
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Please read the datasheet for details.
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- **bool setZPosition(uint16_t value)** set start position for limited range. Value = 0..4095.
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Returns false if parameter is out of range.
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- **bool setZPosition(uint16_t value)** set start position for limited range.
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Value = 0..4095. Returns false if parameter is out of range.
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- **uint16_t getZPosition()** get current start position.
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- **bool setMPosition(uint16_t value)** set stop position for limited range. Value = 0..4095.
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Returns false if parameter is out of range.
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- **bool setMPosition(uint16_t value)** set stop position for limited range.
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Value = 0..4095. Returns false if parameter is out of range.
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- **uint16_t getMPosition()** get current stop position.
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- **bool setMaxAngle(uint16_t value)** set limited range.
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Value = 0..4095.
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Returns false if parameter is out of range.
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Value = 0..4095. Returns false if parameter is out of range.
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See datasheet **Angle Programming**
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- **uint16_t getMaxAngle()** get limited range.
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@ -189,7 +219,7 @@ See the .h file for the other get/set functions.
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- **bool setHysteresis(uint8_t hysteresis)** Suppresses "noise" on the output when the magnet is not moving.
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In a way one is trading precision for stability.
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returns false if parameter is out of range.
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Returns false if parameter is out of range.
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### Read Angle
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@ -203,14 +233,15 @@ This is the one most used.
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e.g. to calibrate the sensor after mounting.
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Typical values are -359.99 - 359.99 probably smaller.
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Larger values will be mapped back to this interval.
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Be aware that larger values will affect / decrease the precision of the measurements as floats have only 7 significant digits.
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Be aware that larger values will affect / decrease the precision of the
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measurements as floats have only 7 significant digits.
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Verify this for your application.
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- **float getOffset()** returns offset in degrees.
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In #14 there is a discussion about **setOffset()**.
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A possible implementation is to ignore all values outside the
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-359.99 - 359.99 range.
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This would help to keep the precision high.
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This would help to keep the precision high. User responsibility.
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### Angular Speed
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@ -236,6 +267,10 @@ Note: the frequency of calling this function of the sensor depends on the applic
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The faster the magnet rotates, the faster it may be called.
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Also if one wants to detect minute movements, calling it more often is the way to go.
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An alternative implementation is possible in which the angle is measured twice
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with a short interval. The only limitation then is that both measurements
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should be within 180° = half a rotation.
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### Status registers
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@ -246,6 +281,8 @@ Also if one wants to detect minute movements, calling it more often is the way t
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(page 9 datasheet)
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Scale is unclear, can be used as relative scale.
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- **bool detectMagnet()** returns true if device sees a magnet.
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- **bool magnetTooStrong()** idem.
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- **bool magnetTooWeak()** idem.
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#### Status bits
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@ -256,7 +293,7 @@ Please read datasheet for details.
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|:-----:|:------|:-------------:|:----------------------|
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| 0-2 | | not used | |
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| 3 | MH | overflow | 1 = magnet too strong |
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| 4 | ML | overflow | 1 = magnet too weak |
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| 4 | ML | underflow | 1 = magnet too weak |
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| 5 | MD | magnet detect | 1 = magnet detected |
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| 6-7 | | not used | |
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@ -268,18 +305,19 @@ Please read datasheet for details.
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Please read datasheet twice.
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The burn functions are used to make settings persistent.
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As these functions can only be called one or three times,
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they are highly permanent, therefore they are commented in the library.
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These burn functions are highly permanent, therefore they are commented in the library.
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Please read datasheet twice, before uncomment them.
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The risk is that you make your as5600 **USELESS**.
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The risk is that you make your AS5600 / AS5600L **USELESS**.
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**USE AT OWN RISK**
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- **uint8_t getZMCO()** reads back how many times the ZPOS and MPOS
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registers are written to permanent memory.
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You can only burn a new Angle 3 times to the AS5600.
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You can only burn a new Angle 3 times to the AS5600, and only 2 times for the AS5600L.
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- **void burnAngle()** writes the ZPOS and MPOS registers to permanent memory.
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You can only burn a new Angle maximum **THREE** times to the AS5600.
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You can only burn a new Angle maximum **THREE** times to the AS5600
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and **TWO** times for the AS5600L.
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- **void burnSetting()** writes the MANG register to permanent memory.
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You can write this only **ONE** time to the AS5600.
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@ -308,14 +346,17 @@ TODO: measure performance impact.
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TODO: investigate impact on functionality of other registers.
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## Analogue OUT
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## Analog OUT
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(details datasheet - page 25)
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(details datasheet - page 25 = AS5600)
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The OUT pin can be configured with the function:
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- **bool setOutputMode(uint8_t outputMode)**
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#### AS5600
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When the analog OUT mode is set the OUT pin provides a voltage
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which is linear with the angle.
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@ -331,9 +372,15 @@ To measure these angles a 10 bit ADC or higher is needed.
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When analog OUT is selected **readAngle()** will still return valid values.
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#### AS5600L
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The AS5600L does **NOT** support analog OUT.
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Both mode 0 and 1 will set the OUT pin to VDD (+5V0 or 3V3).
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## PWM OUT
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(details datasheet - page 27)
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(details datasheet - page 27 = AS5600)
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The OUT pin can be configured with the function:
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@ -412,6 +459,28 @@ This output could be used to connect multiple sensors to different analogue port
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**Warning**: If and how well this analog option works is not verified or tested.
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## AS5600L
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- **AS5600L(uint8_t address = 0x40, TwoWire \*wire = &Wire)** constructor.
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As the I2C address can be changed in the AS5600L, the address is a parameter of the constructor.
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This is a difference with the AS5600 constructor.
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### Setting I2C address
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- **bool setAddress(uint8_t address)** Returns false if the I2C address is not in valid range (8-119).
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### Setting I2C UPDT
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UPDT = update page 30 - AS5600L
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- **bool setI2CUPDT(uint8_t value)**
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- **uint8_t getI2CUPDT()**
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These functions seems to have only a function in relation to **setAddress()** so possibly obsolete in the future. If you got other insights on these functions please let me know.
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## Operational
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The base functions are:
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@ -446,33 +515,34 @@ Some ideas are kept here so they won't get lost.
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priority is relative
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#### high prio
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#### high priority
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- get hardware to test.
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- improve documentation.
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- fix for AS5600L does not support analog OUT
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- type field?
|
||||
- other class hierarchy?
|
||||
- just ignore?
|
||||
|
||||
#### med prio
|
||||
#### medium priority
|
||||
|
||||
- limit the **setOffset()** to -359.99 .. 359.99
|
||||
- investigate **readMagnitude()**
|
||||
- combination of AGC and MD, ML and MH flags?
|
||||
- investigate performance
|
||||
- basic performance per function
|
||||
- I2C improvements
|
||||
- software direction
|
||||
- investigate OUT behavior in practice
|
||||
- investigate OUT behaviour in practice
|
||||
- analogue
|
||||
- PWM
|
||||
- need AS5600 on breakout with support
|
||||
- write examples:
|
||||
- as5600_calibration.ino (needs HW and lots of time)
|
||||
- different configuration options
|
||||
- create **changeLog.md**
|
||||
|
||||
#### low prio
|
||||
|
||||
- add error handling
|
||||
- investigate PGO programming pin.
|
||||
- add mode parameter to offset functions.
|
||||
- see getAngularSpeed()
|
||||
|
||||
#### low priority
|
||||
|
||||
- add error handling
|
||||
- investigate PGO programming pin.
|
||||
- create **changeLog.md**
|
||||
|
||||
|
||||
@ -0,0 +1,51 @@
|
||||
//
|
||||
// FILE: AS5600L_set_address.ino
|
||||
// AUTHOR: Rob Tillaart
|
||||
// PURPOSE: demo
|
||||
// DATE: 2022-08-30
|
||||
|
||||
|
||||
#include "AS5600.h"
|
||||
#include "Wire.h"
|
||||
|
||||
AS5600L ASL; // use default Wire
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
Serial.println(__FILE__);
|
||||
Serial.print("AS5600_LIB_VERSION: ");
|
||||
Serial.println(AS5600_LIB_VERSION);
|
||||
|
||||
Wire.begin();
|
||||
|
||||
ASL.begin(4); // set direction pin.
|
||||
ASL.setDirection(AS5600_CLOCK_WISE); // default, just be explicit.
|
||||
int b = ASL.isConnected();
|
||||
Serial.print("Connect: ");
|
||||
Serial.println(b);
|
||||
|
||||
Serial.print("ADDR: ");
|
||||
Serial.println(ASL.getAddress());
|
||||
|
||||
ASL.setAddress(0x38);
|
||||
|
||||
Serial.print("ADDR: ");
|
||||
Serial.println(ASL.getAddress());
|
||||
}
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
// Serial.print(millis());
|
||||
// Serial.print("\t");
|
||||
Serial.print(ASL.readAngle());
|
||||
Serial.print("\t");
|
||||
Serial.println(ASL.rawAngle() * AS5600_RAW_TO_DEGREES);
|
||||
|
||||
delay(1000);
|
||||
}
|
||||
|
||||
|
||||
// -- END OF FILE --
|
||||
@ -0,0 +1,48 @@
|
||||
//
|
||||
// FILE: AS5600_I2C_frequency.ino
|
||||
// AUTHOR: Rob Tillaart
|
||||
// PURPOSE: demo
|
||||
// DATE: 2022-05-28
|
||||
|
||||
|
||||
#include "AS5600.h"
|
||||
#include "Wire.h"
|
||||
|
||||
AS5600 as5600; // use default Wire
|
||||
|
||||
uint32_t clk = 0;
|
||||
|
||||
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.
|
||||
int b = as5600.isConnected();
|
||||
Serial.print("Connect: ");
|
||||
Serial.println(b);
|
||||
}
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
clk += 100000;
|
||||
if (clk >= 800000) clk = 100000;
|
||||
Wire.setClock(clk);
|
||||
|
||||
Serial.print(clk);
|
||||
Serial.print("\t");
|
||||
Serial.print(as5600.readAngle());
|
||||
Serial.print("\t");
|
||||
Serial.println(as5600.rawAngle() * AS5600_RAW_TO_DEGREES);
|
||||
|
||||
delay(1000);
|
||||
}
|
||||
|
||||
|
||||
// -- END OF FILE --
|
||||
@ -22,14 +22,26 @@ void setup()
|
||||
|
||||
as5600.begin(4); // set direction pin.
|
||||
as5600.setDirection(AS5600_CLOCK_WISE); // default, just be explicit.
|
||||
|
||||
Serial.println(as5600.getAddress());
|
||||
|
||||
// as5600.setAddress(0x40); // AS5600L only
|
||||
|
||||
int b = as5600.isConnected();
|
||||
Serial.print("Connect: ");
|
||||
Serial.println(b);
|
||||
|
||||
delay(1000);
|
||||
}
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
// Serial.print("\ta = ");
|
||||
// Serial.print(as5600.readAngle());
|
||||
Serial.print("\tω = ");
|
||||
Serial.println(as5600.getAngularSpeed());
|
||||
delay(10);
|
||||
delay(100);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -22,13 +22,16 @@ void setup()
|
||||
|
||||
as5600.begin(4); // set direction pin.
|
||||
as5600.setDirection(AS5600_CLOCK_WISE); // default, just be explicit.
|
||||
int b = as5600.isConnected();
|
||||
Serial.print("Connect: ");
|
||||
Serial.println(b);
|
||||
}
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
Serial.print(millis());
|
||||
Serial.print("\t");
|
||||
// Serial.print(millis());
|
||||
// Serial.print("\t");
|
||||
Serial.print(as5600.readAngle());
|
||||
Serial.print("\t");
|
||||
Serial.println(as5600.rawAngle() * AS5600_RAW_TO_DEGREES);
|
||||
|
||||
@ -8,7 +8,7 @@
|
||||
#include "AS5600.h"
|
||||
#include "Wire.h"
|
||||
|
||||
AS5600 as5600; // use default Wire
|
||||
AS5600L as5600(0x40); // use default Wire
|
||||
|
||||
|
||||
void setup()
|
||||
@ -31,10 +31,16 @@ void loop()
|
||||
Serial.println(as5600.readStatus(), HEX);
|
||||
Serial.print("CONFIG:\t ");
|
||||
Serial.println(as5600.getConfigure(), HEX);
|
||||
Serial.print(" AGC:\t ");
|
||||
Serial.print(" GAIN:\t ");
|
||||
Serial.println(as5600.readAGC(), HEX);
|
||||
Serial.print("MAGNET:\t ");
|
||||
Serial.println(as5600.readMagnitude(), HEX);
|
||||
Serial.print("DETECT:\t ");
|
||||
Serial.println(as5600.detectMagnet(), HEX);
|
||||
Serial.print("M HIGH:\t ");
|
||||
Serial.println(as5600.magnetTooStrong(), HEX);
|
||||
Serial.print("M LOW:\t ");
|
||||
Serial.println(as5600.magnetTooWeak(), HEX);
|
||||
Serial.println();
|
||||
|
||||
delay(1000);
|
||||
|
||||
@ -3,6 +3,7 @@
|
||||
|
||||
# Data types (KEYWORD1)
|
||||
AS5600 KEYWORD1
|
||||
AS5600L KEYWORD1
|
||||
|
||||
|
||||
# Methods and Functions (KEYWORD2)
|
||||
@ -33,6 +34,8 @@ readStatus KEYWORD2
|
||||
readAGC KEYWORD2
|
||||
readMagnitude KEYWORD2
|
||||
detectMagnet KEYWORD2
|
||||
magnetTooStrong KEYWORD2
|
||||
magnetTooWeak KEYWORD2
|
||||
|
||||
burnAngle KEYWORD2
|
||||
burnSetting KEYWORD2
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
{
|
||||
"name": "AS5600",
|
||||
"keywords": "AS5600",
|
||||
"description": "Arduino library for AS5600 magnetic rotation meter.",
|
||||
"keywords": "AS5600,AS5600L",
|
||||
"description": "Arduino library for AS5600 and AS5600L magnetic rotation meter.",
|
||||
"authors":
|
||||
[
|
||||
{
|
||||
@ -15,7 +15,7 @@
|
||||
"type": "git",
|
||||
"url": "https://github.com/RobTillaart/AS5600.git"
|
||||
},
|
||||
"version": "0.3.0",
|
||||
"version": "0.3.1",
|
||||
"license": "MIT",
|
||||
"frameworks": "arduino",
|
||||
"platforms": "*",
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
name=AS5600
|
||||
version=0.3.0
|
||||
version=0.3.1
|
||||
author=Rob Tillaart <rob.tillaart@gmail.com>
|
||||
maintainer=Rob Tillaart <rob.tillaart@gmail.com>
|
||||
sentence=Arduino library for AS5600 magnetic rotation meter
|
||||
sentence=Arduino library for AS5600 and AS5600L magnetic rotation meter.
|
||||
paragraph=
|
||||
category=Data Processing
|
||||
url=https://github.com/RobTillaart/AS5600
|
||||
|
||||
@ -2,8 +2,8 @@
|
||||
// FILE: unit_test_001.cpp
|
||||
// AUTHOR: Rob Tillaart
|
||||
// DATE: 2022-05-28
|
||||
// PURPOSE: unit tests for the SHEX Serial HEX library
|
||||
// https://github.com/RobTillaart/SHEX
|
||||
// PURPOSE: unit tests for the AS5600 library
|
||||
// https://github.com/RobTillaart/AS5600
|
||||
// https://github.com/Arduino-CI/arduino_ci/blob/master/REFERENCE.md
|
||||
//
|
||||
|
||||
@ -29,6 +29,7 @@
|
||||
// assertNAN(arg); // isnan(a)
|
||||
// assertNotNAN(arg); // !isnan(a)
|
||||
|
||||
|
||||
#include <ArduinoUnitTests.h>
|
||||
|
||||
#include "AS5600.h"
|
||||
@ -98,18 +99,28 @@ unittest(test_constants)
|
||||
unittest(test_constructor)
|
||||
{
|
||||
AS5600 as5600;
|
||||
|
||||
as5600.begin(4);
|
||||
assertTrue(as5600.isConnected()); // keep CI happy
|
||||
assertTrue(as5600.isConnected()); // keep CI happy
|
||||
|
||||
AS5600L asl(0x40);
|
||||
asl.begin(5);
|
||||
assertTrue(asl.isConnected()); // keep CI happy
|
||||
}
|
||||
|
||||
|
||||
unittest(test_address)
|
||||
{
|
||||
AS5600 as5600;
|
||||
|
||||
as5600.begin(4);
|
||||
assertEqual(0x36, as5600.getAddress());
|
||||
|
||||
AS5600L asl;
|
||||
as5600.begin(5);
|
||||
assertEqual(0x40, asl.getAddress());
|
||||
|
||||
AS5600L asl2(0x41);
|
||||
asl2.begin(6);
|
||||
assertEqual(0x41, asl2.getAddress());
|
||||
}
|
||||
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user