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0.3.2 AS5600

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rob tillaart 2022-10-17 09:48:27 +02:00
parent 89bf078d48
commit fa85fad22b
7 changed files with 153 additions and 86 deletions
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19
libraries/AS5600/.arduino-ci.yml
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@ -1,3 +1,18 @@
platforms:
rpipico:
board: rp2040:rp2040:rpipico
package: rp2040:rp2040
gcc:
features:
defines:
- ARDUINO_ARCH_RP2040
warnings:
flags:
packages:
rp2040:rp2040:
url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
compile:
# Choosing to run compilation tests on 2 different Arduino platforms
platforms:
@ -7,5 +22,7 @@ compile:
# - leonardo
- m4
- esp32
# - esp8266
- esp8266
# - mega2560
- rpipico

35
libraries/AS5600/AS5600.cpp
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@ -1,43 +1,12 @@
//
// FILE: AS56000.cpp
// AUTHOR: Rob Tillaart
// VERSION: 0.3.1
// VERSION: 0.3.2
// PURPOSE: Arduino library for AS5600 magnetic rotation meter
// DATE: 2022-05-28
// URL: https://github.com/RobTillaart/AS5600
// 0.1.0 2022-05-28 initial version.
// 0.1.1 2022-05-31 Add readReg2() to speed up reading 2 byte values.
// Fix clock wise and counter clock wise.
// Fix shift-direction @ getZPosition, getMPosition,
// getMaxAngle and getConfigure.
// 0.1.2 2022-06-02 Add getAngularSpeed().
// 0.1.3 2022-06-26 Add AS5600_RAW_TO_RADIANS.
// Add getAngularSpeed() mode parameter.
// Fix #8 bug in configure.
// 0.1.4 2022-06-27 Fix #7 use readReg2() to improve I2C performance.
// define constants for configuration functions.
// add examples - especially OUT pin related.
// Fix default parameter of the begin function.
//
// 0.2.0 2022-06-28 add software based direction control.
// add examples
// define constants for configuration functions.
// fix conversion constants (4096 based)
// add get- setOffset(degrees) functions. (no radians yet)
// 0.2.1 notreleased add bool return to set() functions.
// update Readme (analog / PWM out)
//
// 0.3.0 2022-07-07 fix #18 invalid mask setConfigure().
// 0.3.1 2022-08-11 add support for AS5600L (I2C address)
// add magnetTooStrong() + magnetTooWeak();
// add / update examples
// update documentation
// TODO
// Power-up time 1 minute (need HW)
// check Timing Characteristics
// HISTORY: see changelog.md
#include "AS5600.h"

4
libraries/AS5600/AS5600.h
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@ -2,7 +2,7 @@
//
// FILE: AS5600.h
// AUTHOR: Rob Tillaart
// VERSION: 0.3.1
// VERSION: 0.3.2
// PURPOSE: Arduino library for AS5600 magnetic rotation meter
// DATE: 2022-05-28
// URL: https://github.com/RobTillaart/AS5600
@ -12,7 +12,7 @@
#include "Wire.h"
#define AS5600_LIB_VERSION (F("0.3.1"))
#define AS5600_LIB_VERSION (F("0.3.2"))
// setDirection
const uint8_t AS5600_CLOCK_WISE = 0; // LOW

58
libraries/AS5600/CHANGELOG.md Normal file
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@ -0,0 +1,58 @@
# Change Log AS5600
All notable changes to this project will be documented in this file.
The format is based on [Keep a Changelog](http://keepachangelog.com/)
and this project adheres to [Semantic Versioning](http://semver.org/).
## [0.3.2] - 2022-10-16
- add CHANGELOG.md
- update readme.md
- update build-CI to support RP2040
## [0.3.1] - 2022-08-11
- add support for AS5600L (I2C address)
- add magnetTooStrong() + magnetTooWeak();
- add / update examples
- update documentation
## [0.3.0] - 2022-07-07
- fix #18 invalid mask setConfigure().
----
## [0.2.1] - not released
- add bool return to set() functions.
- update Readme (analog / PWM out)
## [0.2.0] - 2022-06-28
- add software based direction control.
- add examples
- define constants for configuration functions.
- fix conversion constants (4096 based)
- add get- setOffset(degrees) functions. (no radians yet)
----
## [0.1.4] - 2022-06-27
- fix #7 use readReg2() to improve I2C performance.
- define constants for configuration functions.
- add examples - especially OUT pin related.
- fix default parameter of the begin function.
## [0.1.3] - 2022-06-26
- add AS5600_RAW_TO_RADIANS.
- add getAngularSpeed() mode parameter.
- fix #8 bug in configure.
## [0.1.2] - 2022-06-02
- add getAngularSpeed().
## [0.1.1] - 2022-05-31
- add readReg2() to speed up reading 2 byte values.
- fix clock wise and counter clock wise.
- fix shift-direction @ getZPosition, getMPosition,
getMaxAngle and getConfigure.
## [0.1.0] - 2022-05-28
- initial version

119
libraries/AS5600/README.md
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@ -39,28 +39,46 @@ Possible interesting related libraries.
- https://github.com/RobTillaart/runningAngle
### I2C Address
## Hardware connection
| sensor | address | changeable |
|:--------:|:---------:|:-------------|
| AS5600 | 0x36 | NO |
| AS5600L | 0x40 | YES, check setAddress() |
The I2C address of the **AS5600** is always 0x36.
To use more than one **AS5600** on one I2C bus, see Multiplexing below.
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).
The **AS5600L** supports the change of I2C address, optionally permanent.
Check the **setAddress()** function for non-permanent change.
The sensor should connect the I2C lines SDA and SCL and the
VCC and GND to communicate with the processor.
### I2C performance
### DIR pin
| board | sensor | results |
|:-----------:|:---------:|:--------------------|
| Arduino UNO | AS5600 | not tested |
| Arduino UNO | AS5600L | work up to 300 KHz. |
From datasheet, page 30 - Direction (clockwise vs. counter-clockwise)
_**The AS5600 allows controlling the direction of the magnet
rotation with the DIR pin. If DIR is connected to GND (DIR = 0)
a clockwise rotation viewed from the top will generate an
increment of the calculated angle. If the DIR pin is connected
to VDD (DIR = 1) an increment of the calculated angle will
happen with counter-clockwise rotation.**_
More tests are needed
This AS5600 library offers a 3rd option for the DIR (direction) pin of the sensor:
1. Connect to **GND** ==> fixed clockwise(\*). This is the default.
1. Connect to **VCC** ==> fixed counter-clockwise.
1. Connect to an IO pin of the processor == Hardware Direction Control by library.
In the 3rd configuration the library controls the direction of counting by initializing
this pin in **begin(directionPin)**, followed by **setDirection(direction)**.
For the parameter direction the library defines two constants named:
- **AS5600_CLOCK_WISE (0)**
- **AS5600_COUNTERCLOCK_WISE (1)**
(\*) if **begin()** is called without **directionPin** or with this
parameter set to **255**, Software Direction Control is enabled.
See Software Direction Control below for more information.
### OUT pin
@ -73,6 +91,8 @@ See **Analogue Pin** and **PWM Pin** below.
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
@ -86,34 +106,27 @@ See datasheet for a detailed list of steps to be done.
See **Make configuration persistent** below.
## Hardware connection
## I2C
The I2C address of the **AS5600** is always 0x36.
### Address
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).
| sensor | address | changeable |
|:--------:|:---------:|:-------------|
| AS5600 | 0x36 | NO |
| AS5600L | 0x40 | YES, check setAddress() |
The sensor should connect the I2C lines SDA and SCL and the
VCC and GND to communicate with the processor.
The DIR (direction) pin of the sensor should be connected to:
To use more than one **AS5600** on one I2C bus, see Multiplexing below.
- **GND** = fixed clockwise(\*)
- **VCC** = fixed counter clock wise
- a free floating IO pin of the processor = under library control.
The **AS5600L** supports the change of I2C address, optionally permanent.
Check the **setAddress()** function for non-permanent change.
In the latter setup the library can control the direction of
counting by initializing this pin in **begin(directionPin)**,
followed by **setDirection(direction)**. For the direction the
library defines two constants named:
- **AS5600_CLOCK_WISE (0)**
- **AS5600_COUNTERCLOCK_WISE (1)**
### Performance
(\*) if **begin()** is called without **directionPin** or with this
parameter set to **255**, software direction control is enabled.
See Software Direction Control below for more information.
| board | sensor | results | notes |
|:-----------:|:---------:|:----------------|:---------|
| Arduino UNO | AS5600 | up to 900 KHz. | see #22 |
| Arduino UNO | AS5600L | up to 300 KHz. | |
## Interface
@ -168,6 +181,8 @@ To define in which way the sensor counts up.
- **uint8_t getDirection()** returns AS5600_CLOCK_WISE (0) or
AS5600_COUNTERCLOCK_WISE (1).
See Software Direction Control below for more information.
### Configuration registers
@ -196,7 +211,7 @@ Returns false if parameter is out of range.
Please read datasheet for details.
| 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 |
@ -330,16 +345,18 @@ Normally one controls the direction of the sensor by connecting the DIR pin
to one of the available IO pins of the processor.
This IO pin is set in the library as parameter of the **begin(directionPin)** function.
The directionPin is default set to 255, which defines a software direction control.
To have this working one has to connect the DIR pin of the sensor to GND.
This puts the sensor in a hardware clock wise mode, so it is up to the library
The directionPin is default set to 255, which defines a **Software Direction Control**.
To have this working one has to connect the **DIR pin of the sensor to GND**.
This puts the sensor in a hardware clockwise mode. Then it is up to the library
to do the additional math so the **readAngle()** and **rawAngle()** behave as
if the DIR pin was connected to the processor IO pin.
if the DIR pin was connected to a processor IO pin.
The gain is that the user does not need an IO pin for this,
which makes connecting the sensor a bit easier.
The user still calls **setDirection()** as before to change the direction
of the increments and decrements.
The user still calls **setDirection()** as before to change the direction.
The advantage is one does not need that extra IO pin from the processor.
This makes connecting the sensor a bit easier.
TODO: measure performance impact.
@ -478,7 +495,8 @@ UPDT = update page 30 - AS5600L
- **bool setI2CUPDT(uint8_t value)**
- **uint8_t getI2CUPDT()**
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.
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.
## Operational
@ -512,16 +530,17 @@ See examples.
## Future
Some ideas are kept here so they won't get lost.
priority is relative
priority is relative.
#### high priority
- fix for AS5600L does not support analog OUT
- fix for AS5600L as it does not support analog OUT.
- type field?
- other class hierarchy?
- other class hierarchy? base class with commonalities?
- just ignore?
#### medium priority
- investigate **readMagnitude()**
@ -539,10 +558,14 @@ priority is relative
- different configuration options
- add mode parameter to offset functions.
- see getAngularSpeed()
- check / verify Power-up time
- 1 minute (need HW)
- check Timing Characteristics (datasheet)
- is there improvement possible.
#### low priority
- add error handling
- investigate PGO programming pin.
- create **changeLog.md**

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libraries/AS5600/library.json
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@ -15,7 +15,7 @@
"type": "git",
"url": "https://github.com/RobTillaart/AS5600.git"
},
"version": "0.3.1",
"version": "0.3.2",
"license": "MIT",
"frameworks": "arduino",
"platforms": "*",

2
libraries/AS5600/library.properties
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@ -1,5 +1,5 @@
name=AS5600
version=0.3.1
version=0.3.2
author=Rob Tillaart <rob.tillaart@gmail.com>
maintainer=Rob Tillaart <rob.tillaart@gmail.com>
sentence=Arduino library for AS5600 and AS5600L magnetic rotation meter.