GY-63_MS5611/libraries/AS5600

AS5600

Arduino library for AS5600 magnetic rotation meter.

Description

AS5600

AS5600 is a library for a AS5600 magnetic rotation meter.

Warning: experimental - not tested yet

TODO: buy hardware to test the library.

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

GPO pin

TODO

Interface

The I2C address of the AS5600 is always 0x36.

Defines

To be adjusted via command line (or in AS5600.h file)

• AS5600_CLOCK_WISE 1
• AS5600_COUNTERCLOCK_WISE 0
• AS5600_RAW_TO_DEGREES 0.0879120879120879121

Constructor + I2C

• AS5600(TwoWire *wire = &Wire) Constructor with optional Wire interface as parameter.
• bool begin(uint8_t directionPin = AS5600_CLOCK_WISE) set the value for the directionPin.
• bool begin(int sda, int scl, uint8_t directionPin = AS5600_CLOCK_WISE) idem, for the ESP32 where one can choose the I2C pins.
• bool isConnected() checks if the fixed address 0x36 is on the I2C bus.
• uint8_t getAddress() returns the device address.

Direction

To define in which way the sensor counts up.

• void setDirection(uint8_t direction = AS5600_CLOCK_WISE)
• uint8_t getDirection()

Configuration registers

Please read datasheet for details.

• void setZPosition(uint16_t value) set start position for limited range.
• uint16_t getZPosition() get current start position.
• void setMPosition(uint16_t value) set stop position for limited range.
• uint16_t getMPosition() get current stop position.
• void setMaxAngle(uint16_t value) set limited range. See datasheet Angle Programming
• uint16_t getMaxAngle() get limited range.
• void setConfigure(uint16_t value)
• uint16_t getConfigure()

Configuration bits

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
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

Read Angle

• uint16_t rawAngle() idem. returns 0 .. 4095. Conversion factor to degrees = 360 / 4095 = 0.0879121
• uint16_t readAngle() read the angle from the sensor. This is the one most used.

Angular Speed

• getAngularSpeed() is an experimental function that returns 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.

Negative values indicate reverse rotation. What that means depends on the setup of your project.

Note: the first call will return an erroneous value as it has no reference angle or time. Also if one stops calling this function for some time the first call after such delays will be incorrect.

Status registers

• uint8_t readStatus() see below.
• uint8_t readAGC() returns the Automatic Gain Control. 0..255 in 5V mode, 0..128 in 3V3 mode.
• uint16_t readMagnitude() reads the current internal magnitude. Meaning or scale is unclear.
• bool detectMagnet() returns true if device sees a magnet.

Status bits

Please read datasheet for details.

Bit	short	Description	Values
0-2		not used
3	MH	overflow	1 = magnet too strong
4	ML	overflow	1 = magnet too weak
5	MD	magnet detect	1 = magnet detected
6-7		not used

Make configuration persistent.

USE AT OWN RISK

Please read datasheet twice.

The burn functions are used to make settings persistent. As these functions can only be called one or three times, they are highly permanent, therefore they are commented in the library.

The risk is that you make your as5600 USELESS.

USE AT OWN RISK

• uint8_t getZMCO() reads back how many times the ZPOS and MPOS registers are written to permanent memory. You can only burn a new Angle 3 times to the AS5600.
• void burnAngle() writes the ZPOS and MPOS registers to permanent memory. You can only burn a new Angle maximum THREE times to the AS5600.
• void burnSetting() writes the MANG register to permanent memory. You can write this only ONE time to the AS5600.

Operational

The base functions are:

AS5600 as5600;

void setup()
{
  Serial.begin(115200);
  ...
  as5900.begin(4);     //  set the direction pin
  as5600.setDirection(AS5600_CLOCK_WISE);
  ...
}

void loop()
{
...
  Serial.println(as5600.readAngle());
  delay(1000);
...
}

See examples.

Future

Some ideas are kept here so they won't get lost.

high prio

• improve documentation
• get hardware to test.
• write examples
• add functions
  • setOutputMode() + constants.
  • setPowerMode() + constants
• magnetStrength()
  • combination of AGC and MD, ML and MH flags?
• do we need ANGLE_FACTOR = 0.0879121

low prio

• unit test
• error handling?
• test I2C speeds.