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274 lines
7.5 KiB
C++
274 lines
7.5 KiB
C++
#pragma once
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//
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// FILE: AS5600.h
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// AUTHOR: Rob Tillaart
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// VERSION: 0.5.1
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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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#include "Arduino.h"
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#include "Wire.h"
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#define AS5600_LIB_VERSION (F("0.5.1"))
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// default addresses
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const uint8_t AS5600_DEFAULT_ADDRESS = 0x36;
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const uint8_t AS5600L_DEFAULT_ADDRESS = 0x40;
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const uint8_t AS5600_SW_DIRECTION_PIN = 255;
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// setDirection
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const uint8_t AS5600_CLOCK_WISE = 0; // LOW
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const uint8_t AS5600_COUNTERCLOCK_WISE = 1; // HIGH
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// 0.087890625;
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const float AS5600_RAW_TO_DEGREES = 360.0 / 4096;
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const float AS5600_DEGREES_TO_RAW = 4096 / 360.0;
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// 0.00153398078788564122971808758949;
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const float AS5600_RAW_TO_RADIANS = PI * 2.0 / 4096;
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// 4.06901041666666e-6
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const float AS5600_RAW_TO_RPM = 60.0 / 4096;
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// getAngularSpeed
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const uint8_t AS5600_MODE_DEGREES = 0;
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const uint8_t AS5600_MODE_RADIANS = 1;
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const uint8_t AS5600_MODE_RPM = 2;
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// CONFIGURE CONSTANTS
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// check datasheet for details
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// setOutputMode
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const uint8_t AS5600_OUTMODE_ANALOG_100 = 0;
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const uint8_t AS5600_OUTMODE_ANALOG_90 = 1;
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const uint8_t AS5600_OUTMODE_PWM = 2;
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// setPowerMode
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const uint8_t AS5600_POWERMODE_NOMINAL = 0;
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const uint8_t AS5600_POWERMODE_LOW1 = 1;
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const uint8_t AS5600_POWERMODE_LOW2 = 2;
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const uint8_t AS5600_POWERMODE_LOW3 = 3;
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// setPWMFrequency
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const uint8_t AS5600_PWM_115 = 0;
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const uint8_t AS5600_PWM_230 = 1;
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const uint8_t AS5600_PWM_460 = 2;
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const uint8_t AS5600_PWM_920 = 3;
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// setHysteresis
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const uint8_t AS5600_HYST_OFF = 0;
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const uint8_t AS5600_HYST_LSB1 = 1;
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const uint8_t AS5600_HYST_LSB2 = 2;
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const uint8_t AS5600_HYST_LSB3 = 3;
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// setSlowFilter
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const uint8_t AS5600_SLOW_FILT_16X = 0;
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const uint8_t AS5600_SLOW_FILT_8X = 1;
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const uint8_t AS5600_SLOW_FILT_4X = 2;
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const uint8_t AS5600_SLOW_FILT_2X = 3;
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// setFastFilter
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const uint8_t AS5600_FAST_FILT_NONE = 0;
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const uint8_t AS5600_FAST_FILT_LSB6 = 1;
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const uint8_t AS5600_FAST_FILT_LSB7 = 2;
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const uint8_t AS5600_FAST_FILT_LSB9 = 3;
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const uint8_t AS5600_FAST_FILT_LSB18 = 4;
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const uint8_t AS5600_FAST_FILT_LSB21 = 5;
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const uint8_t AS5600_FAST_FILT_LSB24 = 6;
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const uint8_t AS5600_FAST_FILT_LSB10 = 7;
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// setWatchDog
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const uint8_t AS5600_WATCHDOG_OFF = 0;
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const uint8_t AS5600_WATCHDOG_ON = 1;
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class AS5600
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{
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public:
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AS5600(TwoWire *wire = &Wire);
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bool begin(uint8_t directionPin = AS5600_SW_DIRECTION_PIN);
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bool isConnected();
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// address = fixed 0x36 for AS5600,
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// = default 0x40 for AS5600L
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uint8_t getAddress();
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// SET CONFIGURE REGISTERS
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// read datasheet first
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// 0 = AS5600_CLOCK_WISE
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// 1 = AS5600_COUNTERCLOCK_WISE
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// all other = AS5600_COUNTERCLOCK_WISE
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void setDirection(uint8_t direction = AS5600_CLOCK_WISE);
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uint8_t getDirection();
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uint8_t getZMCO();
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// 0 .. 4095
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// returns false if parameter out of range
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bool setZPosition(uint16_t value);
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uint16_t getZPosition();
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// 0 .. 4095
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// returns false if parameter out of range
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bool setMPosition(uint16_t value);
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uint16_t getMPosition();
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// 0 .. 4095
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// returns false if parameter out of range
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bool setMaxAngle(uint16_t value);
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uint16_t getMaxAngle();
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// access the whole configuration register
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// check datasheet for bit fields
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// returns false if parameter out of range
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bool setConfigure(uint16_t value);
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uint16_t getConfigure();
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// access details of the configuration register
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// 0 = Normal
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// 1,2,3 are low power mode - check datasheet
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// returns false if parameter out of range
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bool setPowerMode(uint8_t powerMode);
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uint8_t getPowerMode();
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// 0 = off 1 = lsb1 2 = lsb2 3 = lsb3
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// returns false if parameter out of range
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// suppresses noise when the magnet is not moving.
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bool setHysteresis(uint8_t hysteresis);
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uint8_t getHysteresis();
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// 0 = analog 0-100%
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// 1 = analog 10-90%
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// 2 = PWM
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// returns false if parameter out of range
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bool setOutputMode(uint8_t outputMode);
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uint8_t getOutputMode();
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// 0 = 115 1 = 230 2 = 460 3 = 920 (Hz)
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// returns false if parameter out of range
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bool setPWMFrequency(uint8_t pwmFreq);
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uint8_t getPWMFrequency();
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// 0 = 16x 1 = 8x 2 = 4x 3 = 2x
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// returns false if parameter out of range
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bool setSlowFilter(uint8_t mask);
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uint8_t getSlowFilter();
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// 0 = none 1 = LSB6 2 = LSB7 3 = LSB9
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// 4 = LSB18 5 = LSB21 6 = LSB24 7 = LSB10
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// returns false if parameter out of range
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bool setFastFilter(uint8_t mask);
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uint8_t getFastFilter();
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// 0 = OFF
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// 1 = ON (auto low power mode)
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// returns false if parameter out of range
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bool setWatchDog(uint8_t mask);
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uint8_t getWatchDog();
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// READ OUTPUT REGISTERS
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uint16_t rawAngle();
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uint16_t readAngle();
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// software based offset.
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// degrees = -359.99 .. 359.99 (preferred)
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// returns false if abs(parameter) > 36000
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// => expect loss of precision
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bool setOffset(float degrees); // sets an absolute offset
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float getOffset();
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bool increaseOffset(float degrees); // adds to existing offset.
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// READ STATUS REGISTERS
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uint8_t readStatus();
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uint8_t readAGC();
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uint16_t readMagnitude();
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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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// DO NOT UNCOMMENT - USE AT OWN RISK - READ DATASHEET
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// void burnAngle();
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// void burnSetting();
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// Experimental 0.1.2 - to be tested.
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// approximation of the angular speed in rotations per second.
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// mode == 1: radians /second
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// mode == 0: degrees /second (default)
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float getAngularSpeed(uint8_t mode = AS5600_MODE_DEGREES);
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// EXPERIMENTAL CUMULATIVE POSITION
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// reads sensor and updates cumulative position
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int32_t getCumulativePosition();
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// converts last position to whole revolutions.
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int32_t getRevolutions();
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// resets position only (not the i)
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// returns last position but not internal lastPosition.
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int32_t resetPosition(int32_t position = 0);
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// resets position and internal lastPosition
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// returns last position.
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int32_t resetCumulativePosition(int32_t position = 0);
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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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uint8_t _address = AS5600_DEFAULT_ADDRESS;
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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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TwoWire* _wire;
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// for getAngularSpeed()
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uint32_t _lastMeasurement = 0;
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int16_t _lastAngle = 0;
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// for readAngle() and rawAngle()
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uint16_t _offset = 0;
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// EXPERIMENTAL
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// cumulative position counter
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// works only if the sensor is read often enough.
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int32_t _position = 0;
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int16_t _lastPosition = 0;
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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 = AS5600L_DEFAULT_ADDRESS, 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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