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Add software direction control (#12)
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* fix #6 add software direction control
* fix #14 getAngularSpeed()
* fix #13 add offset functions
* fix conversion constant
* fix readAngle() rawAngle()
* add examples
* update unit test
* update readme.md
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@RobTillaart
RobTillaart authored Jul 4, 2022
1 parent 704df18 commit 67bc951
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Showing 10 changed files with 469 additions and 91 deletions.
73 changes: 66 additions & 7 deletions AS5600.cpp
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
//
// FILE: AS56000.cpp
// AUTHOR: Rob Tillaart
// VERSION: 0.1.3
// VERSION: 0.2.0
// PURPOSE: Arduino library for AS5600 magnetic rotation meter
// DATE: 2022-05-28
// URL: https://github.com/RobTillaart/AS5600
Expand All @@ -15,11 +15,16 @@
// 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-xx Fix #7 use readReg2() to improve I2C performance.
// 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)

// TODO
// Power-up time 1 minute
Expand Down Expand Up @@ -74,7 +79,10 @@ AS5600::AS5600(TwoWire *wire)
bool AS5600::begin(int dataPin, int clockPin, uint8_t directionPin)
{
_directionPin = directionPin;
pinMode(_directionPin, OUTPUT);
if (_directionPin != 255)
{
pinMode(_directionPin, OUTPUT);
}
setDirection(AS5600_CLOCK_WISE);

_wire = &Wire;
Expand All @@ -93,7 +101,10 @@ bool AS5600::begin(int dataPin, int clockPin, uint8_t directionPin)
bool AS5600::begin(uint8_t directionPin)
{
_directionPin = directionPin;
pinMode(_directionPin, OUTPUT);
if (_directionPin != 255)
{
pinMode(_directionPin, OUTPUT);
}
setDirection(AS5600_CLOCK_WISE);

_wire->begin();
Expand All @@ -115,13 +126,21 @@ bool AS5600::isConnected()
//
void AS5600::setDirection(uint8_t direction)
{
digitalWrite(_directionPin, direction);
_direction = direction;
if (_directionPin != 255)
{
digitalWrite(_directionPin, _direction);
}
}


uint8_t AS5600::getDirection()
{
return digitalRead(_directionPin);
if (_directionPin != 255)
{
_direction = digitalRead(_directionPin);
}
return _direction;
}


Expand Down Expand Up @@ -291,17 +310,50 @@ uint8_t AS5600::getWatchDog()
uint16_t AS5600::rawAngle()
{
uint16_t value = readReg2(AS5600_RAW_ANGLE) & 0x0FFF;
if (_offset > 0) value = (value + _offset) & 0x0FFF;

if ((_directionPin == 255) && (_direction == AS5600_COUNTERCLOCK_WISE))
{
value = (4096 - value) & 4095;
}
return value;
}


uint16_t AS5600::readAngle()
{
uint16_t value = readReg2(AS5600_ANGLE) & 0x0FFF;
if (_offset > 0) value = (value + _offset) & 0x0FFF;

if ((_directionPin == 255) && (_direction == AS5600_COUNTERCLOCK_WISE))
{
value = (4096 - value) & 4095;
}
return value;
}


void AS5600::setOffset(float degrees)
{
bool neg = false;
if (degrees < 0)
{
neg = true;
degrees = -degrees;
}
uint16_t offset = round(degrees * (4096 / 360.0));
offset &= 4095;
if (neg) offset = 4096 - offset;
_offset = offset;
}


float AS5600::getOffset()
{
return _offset * AS5600_RAW_TO_DEGREES;
}


/////////////////////////////////////////////////////////
//
// STATUS REGISTERS
Expand Down Expand Up @@ -357,7 +409,14 @@ float AS5600::getAngularSpeed(uint8_t mode)
int angle = readAngle();
uint32_t deltaT = now - _lastMeasurement;
int deltaA = angle - _lastAngle;

// assumption is that there is no more than 180° rotation
// between two consecutive measurements.
// => at least two measurements per rotation (preferred 4).
if (deltaA > 2048) deltaA -= 4096;
if (deltaA < -2048) deltaA += 4096;
float speed = (deltaA * 1e6) / deltaT;

// remember last time & angle
_lastMeasurement = now;
_lastAngle = angle;
Expand Down
81 changes: 61 additions & 20 deletions AS5600.h
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
//
// FILE: AS5600.h
// AUTHOR: Rob Tillaart
// VERSION: 0.1.4
// VERSION: 0.2.0
// PURPOSE: Arduino library for AS5600 magnetic rotation meter
// DATE: 2022-05-28
// URL: https://github.com/RobTillaart/AS5600
Expand All @@ -12,21 +12,24 @@
#include "Wire.h"


#define AS5600_LIB_VERSION (F("0.1.4"))
#define AS5600_LIB_VERSION (F("0.2.0"))

// setDirection
const uint8_t AS5600_CLOCK_WISE = 0; // LOW
const uint8_t AS5600_COUNTERCLOCK_WISE = 1; // HIGH

// 0.0879120879120879121;
const float AS5600_RAW_TO_DEGREES = 360.0 / 4095.0;
// 0.00153435538636864138630654133494;
const float AS5600_RAW_TO_RADIANS = PI * 2.0 / 4095.0;
// 0.087890625;
const float AS5600_RAW_TO_DEGREES = 360.0 / 4096;
// 0.00153398078788564122971808758949;
const float AS5600_RAW_TO_RADIANS = PI * 2.0 / 4096;

// getAngularSpeed
const uint8_t AS5600_MODE_DEGREES = 0;
const uint8_t AS5600_MODE_RADIANS = 1;

// CONFIGURE CONSTANTS
// check datasheet for details

// setOutputMode
const uint8_t AS5600_OUTMODE_ANALOG_100 = 0;
const uint8_t AS5600_OUTMODE_ANALOG_90 = 1;
Expand All @@ -44,6 +47,28 @@ const uint8_t AS5600_PWM_230 = 1;
const uint8_t AS5600_PWM_460 = 2;
const uint8_t AS5600_PWM_920 = 3;

// setHysteresis
const uint8_t AS5600_HYST_OFF = 0;
const uint8_t AS5600_HYST_LSB1 = 1;
const uint8_t AS5600_HYST_LSB2 = 2;
const uint8_t AS5600_HYST_LSB3 = 3;

// setSlowFilter
const uint8_t AS5600_SLOW_FILT_16X = 0;
const uint8_t AS5600_SLOW_FILT_8X = 1;
const uint8_t AS5600_SLOW_FILT_4X = 2;
const uint8_t AS5600_SLOW_FILT_2X = 3;

// setFastFilter
const uint8_t AS5600_FAST_FILT_NONE = 0;
const uint8_t AS5600_FAST_FILT_LSB6 = 1;
const uint8_t AS5600_FAST_FILT_LSB7 = 2;
const uint8_t AS5600_FAST_FILT_LSB9 = 3;
const uint8_t AS5600_FAST_FILT_LSB18 = 4;
const uint8_t AS5600_FAST_FILT_LSB21 = 5;
const uint8_t AS5600_FAST_FILT_LSB24 = 6;
const uint8_t AS5600_FAST_FILT_LSB10 = 7;

// setWatchDog
const uint8_t AS5600_WATCHDOG_OFF = 0;
const uint8_t AS5600_WATCHDOG_ON = 1;
Expand All @@ -56,9 +81,11 @@ class AS5600
AS5600(TwoWire *wire = &Wire);

#if defined (ESP8266) || defined(ESP32)
bool begin(int sda, int scl, uint8_t directionPin);
// 255 is software controlled direction pin
bool begin(int sda, int scl, uint8_t directionPin = 255);
#endif
bool begin(uint8_t directionPin);
// 255 is software controlled direction pin
bool begin(uint8_t directionPin = 255);
bool isConnected();

uint8_t getAddress() { return _address; }; // 0x36
Expand All @@ -81,45 +108,53 @@ class AS5600
uint16_t getMaxAngle();

// access the whole configuration register
// check datasheet for bit fields
void setConfigure(uint16_t value);
uint16_t getConfigure();

// access details of the configuration register
// 0 = Normal
// 1,2,3 are low power mode - check datasheet
void setPowerMode(uint8_t powerMode); // 0..3
void setPowerMode(uint8_t powerMode);
uint8_t getPowerMode();

// hysteresis = nr of LSB
void setHysteresis(uint8_t hysteresis); // 0..3
// 0 = off 1 = lsb1 2 = lsb2 3 = lsb3
void setHysteresis(uint8_t hysteresis);
uint8_t getHysteresis();

// 0 = analog 0-100%
// 1 = analog 10-90%
// 2 = PWM
void setOutputMode(uint8_t outputMode); // 0..2
void setOutputMode(uint8_t outputMode);
uint8_t getOutputMode();

// 0 = 115 1 = 230 2 = 460 3 = 920 (Hz)
void setPWMFrequency(uint8_t pwmFreq); // 0..3
void setPWMFrequency(uint8_t pwmFreq);
uint8_t getPWMFrequency();

void setSlowFilter(uint8_t mask); // 0..3
// 0 = 16x 1 = 8x 2 = 4x 3 = 2x
void setSlowFilter(uint8_t mask);
uint8_t getSlowFilter();

void setFastFilter(uint8_t mask); // 0..7
// 0 = none 1 = LSB6 2 = LSB7 3 = LSB9
// 4 = LSB18 5 = LSB21 6 = LSB24 7 = LSB10
void setFastFilter(uint8_t mask);
uint8_t getFastFilter();

// 0 = OFF
// 1 = ON (auto low power mode)
void setWatchDog(uint8_t mask); // 0..1
void setWatchDog(uint8_t mask);
uint8_t getWatchDog();


// READ OUTPUT REGISTERS
uint16_t rawAngle();
uint16_t readAngle();

// software based offset.
void setOffset(float degrees);
float getOffset();


// READ STATUS REGISTERS
uint8_t readStatus();
Expand All @@ -135,7 +170,8 @@ class AS5600
// void burnAngle();
// 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)
Expand All @@ -149,13 +185,18 @@ class AS5600
uint8_t writeReg2(uint8_t reg, uint16_t value);

const uint8_t _address = 0x36;
uint8_t _directionPin;
uint8_t _error = 0;
uint8_t _directionPin = 255;
uint8_t _direction = AS5600_CLOCK_WISE;
uint8_t _error = 0;

TwoWire* _wire;

// for getAngularSpeed()
uint32_t _lastMeasurement = 0;
uint16_t _lastAngle = 0;
int16_t _lastAngle = 0;

// for readAngle() and rawAngle()
uint16_t _offset = 0;
};


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