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As5600 #798
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0a43f57
Add AS5600
tyeth 78367af
clang format
tyeth dda19cd
fix(as5600): set angle correctly and log if no magnet
tyeth fc71187
fix(as5600): correct fail logic in configureSensor()
tyeth 9fc7c60
fix(as5600): change angle to be relative to 360
tyeth d2d51db
PR feedback and clang format
tyeth 7a275e5
fix(as5600): check before delete
tyeth 4258c12
chore(as5600): doxygen for readSensor
tyeth 8c0e980
fix(partitions): 4MB NoOTA in platformIO.ini
tyeth e60be99
Merge branch 'main' into as5600
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155 changes: 155 additions & 0 deletions
155
src/components/i2c/drivers/WipperSnapper_I2C_Driver_AS5600.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,155 @@ | ||
| /*! | ||
| * @file WipperSnapper_I2C_Driver_AS5600.h | ||
| * | ||
| * Device driver for the AS5600 Magnetic Angle sensor. | ||
| * | ||
| * Adafruit invests time and resources providing this open source code, | ||
| * please support Adafruit and open-source hardware by purchasing | ||
| * products from Adafruit! | ||
| * | ||
| * Copyright (c) Tyeth Gundry 2024 for Adafruit Industries. | ||
| * | ||
| * MIT license, all text here must be included in any redistribution. | ||
| * | ||
| */ | ||
| #ifndef WipperSnapper_I2C_Driver_AS5600_H | ||
| #define WipperSnapper_I2C_Driver_AS5600_H | ||
|
|
||
| #include <Adafruit_AS5600.h> | ||
|
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| #include "WipperSnapper_I2C_Driver.h" | ||
| #include "Wippersnapper.h" | ||
|
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| /**************************************************************************/ | ||
| /*! | ||
| @brief Class that provides a driver interface for a AS5600 sensor. | ||
| */ | ||
| /**************************************************************************/ | ||
| class WipperSnapper_I2C_Driver_AS5600 : public WipperSnapper_I2C_Driver { | ||
| public: | ||
| /*******************************************************************************/ | ||
| /*! | ||
| @brief Constructor for the AS5600 sensor. | ||
| @param i2c | ||
| The I2C interface. | ||
| @param sensorAddress | ||
| 7-bit device address. | ||
| */ | ||
| /*******************************************************************************/ | ||
| WipperSnapper_I2C_Driver_AS5600(TwoWire *i2c, uint16_t sensorAddress) | ||
| : WipperSnapper_I2C_Driver(i2c, sensorAddress) { | ||
| _as5600 = nullptr; | ||
| _angle = 0; | ||
| } | ||
|
|
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| /*******************************************************************************/ | ||
| /*! | ||
| @brief Destructor for an AS5600 sensor. | ||
| */ | ||
| /*******************************************************************************/ | ||
| ~WipperSnapper_I2C_Driver_AS5600() { | ||
| if (_as5600) { | ||
| delete _as5600; | ||
| _as5600 = nullptr; | ||
| } | ||
| } | ||
|
|
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| /*******************************************************************************/ | ||
| /*! | ||
| @brief Initializes the AS5600 sensor and begins I2C. | ||
| @returns True if initialized successfully, False otherwise. | ||
| */ | ||
| /*******************************************************************************/ | ||
| bool begin() { | ||
| _as5600 = new Adafruit_AS5600(); | ||
| if (!_as5600->begin((uint8_t)_sensorAddress, _i2c)) { | ||
| WS_DEBUG_PRINTLN("Failed to find AS5600 chip"); | ||
| return false; | ||
| } | ||
|
|
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| if (!configureSensor()) { | ||
| WS_DEBUG_PRINTLN("Failed to configure AS5600 sensor"); | ||
| return false; | ||
| } | ||
| return true; | ||
| } | ||
|
|
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| /*******************************************************************************/ | ||
| /*! | ||
| @brief Configures the AS5600 sensor. | ||
| @returns True if the sensor was configured successfully, False otherwise. | ||
| */ | ||
| /*******************************************************************************/ | ||
| bool configureSensor() { | ||
| return _as5600->enableWatchdog(false) && | ||
| // Normal (high) power mode | ||
| _as5600->setPowerMode(AS5600_POWER_MODE_NOM) && | ||
| // No Hysteresis | ||
| _as5600->setHysteresis(AS5600_HYSTERESIS_OFF) && | ||
| // analog output (0-VCC for 0-360 degrees) | ||
| _as5600->setOutputStage(AS5600_OUTPUT_STAGE_ANALOG_FULL) && | ||
| // setup filters | ||
| _as5600->setSlowFilter(AS5600_SLOW_FILTER_16X) && | ||
| _as5600->setFastFilterThresh(AS5600_FAST_FILTER_THRESH_SLOW_ONLY) && | ||
| // Reset position settings to defaults | ||
| _as5600->setZPosition(0) && _as5600->setMPosition(4095) && | ||
| _as5600->setMaxAngle(4095); | ||
| } | ||
|
|
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| /*******************************************************************************/ | ||
| /*! | ||
| @brief Reads the Angle sensor. | ||
| @returns True if the sensor was read successfully, False otherwise. | ||
| */ | ||
| /*******************************************************************************/ | ||
| bool readSensor() { | ||
| if (!_as5600->isMagnetDetected()) { | ||
| WS_DEBUG_PRINTLN("Magnet not detected!"); | ||
| return false; | ||
| } | ||
|
|
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| // Continuously read and display angle values | ||
| uint16_t rawAngle = _as5600->getRawAngle(); | ||
| uint16_t angle = _as5600->getAngle(); | ||
|
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| WS_DEBUG_PRINT("AS5600 Raw: "); | ||
| WS_DEBUG_PRINT(rawAngle); | ||
| WS_DEBUG_PRINT(" | Scaled: "); | ||
| WS_DEBUG_PRINT(angle); | ||
|
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| // Check status conditions | ||
| if (_as5600->isAGCminGainOverflow()) { | ||
| WS_DEBUG_PRINTLN(" | MH: magnet too strong"); | ||
| return false; | ||
| } | ||
| if (_as5600->isAGCmaxGainOverflow()) { | ||
| WS_DEBUG_PRINTLN(" | ML: magnet too weak"); | ||
| return false; | ||
| } | ||
| _angle = ((float)angle / 4095.0) * 360.0; | ||
| return true; | ||
| } | ||
|
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| /*******************************************************************************/ | ||
| /*! | ||
| @brief Reads the Angle sensor with short wait for data. | ||
| @param rawEvent | ||
| Angle sensor reading | ||
| @returns True if the sensor event was obtained successfully, False | ||
| otherwise. | ||
| */ | ||
| /*******************************************************************************/ | ||
| bool getEventRaw(sensors_event_t *rawEvent) { | ||
| if (!readSensor()) { | ||
| return false; | ||
| } | ||
| rawEvent->data[0] = _angle; | ||
| return true; | ||
| } | ||
|
|
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| protected: | ||
| float _angle; ///< Current angle reading from the AS5600 sensor | ||
| Adafruit_AS5600 *_as5600; ///< Pointer to AS5600 sensor object | ||
| }; | ||
|
|
||
| #endif // WipperSnapper_I2C_Driver_AS5600 | ||
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