Added entirety of CAD files, Software and the translated documentation
This commit is contained in:
Raphael Maenle
561
02_Software/01_Arduino/main/ams_as5048b.cpp
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561
02_Software/01_Arduino/main/ams_as5048b.cpp
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/**************************************************************************/
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/*!
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@file ams_as5048b.cpp
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@author SOSAndroid (E. Ha.)
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@license BSD (see license.txt)
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Library to interface the AS5048B magnetic rotary encoder from AMS over the I2C bus
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@section HISTORY
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v1.0.0 - First release
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v1.0.1 - Typo to allow compiling on Codebender.cc (Math.h vs math.h)
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v1.0.2 - setZeroReg() issue raised by @MechatronicsWorkman
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v1.0.3 - Small bug fix and improvement by @DavidHowlett
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*/
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/**************************************************************************/
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#include <stdlib.h>
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#include <math.h>
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#include <Wire.h>
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#include "ams_as5048b.h"
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/*========================================================================*/
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/* CONSTRUCTORS */
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/*========================================================================*/
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/**************************************************************************/
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/*!
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Constructor
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*/
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/**************************************************************************/
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AMS_AS5048B::AMS_AS5048B(void) {
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_chipAddress = AS5048_ADDRESS;
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_debugFlag = false;
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}
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AMS_AS5048B::AMS_AS5048B(uint8_t chipAddress) {
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_chipAddress = chipAddress;
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_debugFlag = false;
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}
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/*========================================================================*/
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/* PUBLIC FUNCTIONS */
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/*========================================================================*/
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/**************************************************************************/
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/*!
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@brief init values and overall behaviors for AS5948B use
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@params
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none
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@returns
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none
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||||
*/
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/**************************************************************************/
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void AMS_AS5048B::begin(void) {
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#ifdef USE_WIREBEGIN_ENABLED
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Wire.begin();
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#endif
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#ifdef SERIAL_DEBUG_ENABLED
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_debugFlag = true;
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if (!Serial) {
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Serial.begin(9600);
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}
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#endif
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_clockWise = false;
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_lastAngleRaw = 0.0;
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_zeroRegVal = AMS_AS5048B::zeroRegR();
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_addressRegVal = AMS_AS5048B::addressRegR();
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AMS_AS5048B::resetMovingAvgExp();
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return;
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}
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/**************************************************************************/
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/*!
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@brief Toggle debug output to serial
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@params
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none
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@returns
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none
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*/
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/**************************************************************************/
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void AMS_AS5048B::toggleDebug(void) {
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_debugFlag = !_debugFlag;
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return;
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}
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/**************************************************************************/
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/*!
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@brief Set / unset clock wise counting - sensor counts CCW natively
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@params[in]
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boolean cw - true: CW, false: CCW
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@returns
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none
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*/
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/**************************************************************************/
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void AMS_AS5048B::setClockWise(boolean cw) {
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_clockWise = cw;
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_lastAngleRaw = 0.0;
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AMS_AS5048B::resetMovingAvgExp();
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return;
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}
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/**************************************************************************/
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/*!
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@brief writes OTP control register
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@params[in]
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unit8_t register value
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@returns
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none
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*/
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/**************************************************************************/
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void AMS_AS5048B::progRegister(uint8_t regVal) {
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AMS_AS5048B::writeReg(AS5048B_PROG_REG, regVal);
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return;
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}
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/**************************************************************************/
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||||
/*!
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@brief Burn values to the slave address OTP register
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@params[in]
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none
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@returns
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none
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*/
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/**************************************************************************/
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void AMS_AS5048B::doProg(void) {
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//enable special programming mode
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AMS_AS5048B::progRegister(0xFD);
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delay(10);
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//set the burn bit: enables automatic programming procedure
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AMS_AS5048B::progRegister(0x08);
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delay(10);
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//disable special programming mode
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AMS_AS5048B::progRegister(0x00);
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delay(10);
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return;
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}
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/**************************************************************************/
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/*!
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@brief Burn values to the zero position OTP register
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@params[in]
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none
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@returns
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||||
none
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*/
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/**************************************************************************/
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void AMS_AS5048B::doProgZero(void) {
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//this will burn the zero position OTP register like described in the datasheet
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//enable programming mode
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AMS_AS5048B::progRegister(0x01);
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delay(10);
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//set the burn bit: enables automatic programming procedure
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AMS_AS5048B::progRegister(0x08);
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delay(10);
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//read angle information (equals to 0)
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AMS_AS5048B::readReg16(AS5048B_ANGLMSB_REG);
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delay(10);
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//enable verification
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AMS_AS5048B::progRegister(0x40);
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delay(10);
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//read angle information (equals to 0)
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AMS_AS5048B::readReg16(AS5048B_ANGLMSB_REG);
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delay(10);
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return;
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}
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/**************************************************************************/
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/*!
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@brief write I2C address value (5 bits) into the address register
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@params[in]
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unit8_t register value
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@returns
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none
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||||
*/
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/**************************************************************************/
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void AMS_AS5048B::addressRegW(uint8_t regVal) {
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// write the new chip address to the register
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AMS_AS5048B::writeReg(AS5048B_ADDR_REG, regVal);
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// update our chip address with our 5 programmable bits
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// the MSB is internally inverted, so we flip the leftmost bit
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_chipAddress = ((regVal << 2) | (_chipAddress & 0b11)) ^ (1 << 6);
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||||
return;
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||||
}
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||||
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||||
/**************************************************************************/
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||||
/*!
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||||
@brief reads I2C address register value
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@params[in]
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none
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||||
@returns
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uint8_t register value
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||||
*/
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/**************************************************************************/
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uint8_t AMS_AS5048B::addressRegR(void) {
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return AMS_AS5048B::readReg8(AS5048B_ADDR_REG);
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}
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/**************************************************************************/
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||||
/*!
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||||
@brief sets current angle as the zero position
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@params[in]
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||||
none
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@returns
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||||
none
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||||
*/
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/**************************************************************************/
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void AMS_AS5048B::setZeroReg(void) {
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AMS_AS5048B::zeroRegW((uint16_t) 0x00); //Issue closed by @MechatronicsWorkman and @oilXander. The last sequence avoids any offset for the new Zero position
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uint16_t newZero = AMS_AS5048B::readReg16(AS5048B_ANGLMSB_REG);
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AMS_AS5048B::zeroRegW(newZero);
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return;
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}
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/**************************************************************************/
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/*!
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@brief writes the 2 bytes Zero position register value
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@params[in]
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unit16_t register value
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||||
@returns
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||||
none
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||||
*/
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/**************************************************************************/
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void AMS_AS5048B::zeroRegW(uint16_t regVal) {
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AMS_AS5048B::writeReg(AS5048B_ZEROMSB_REG, (uint8_t) (regVal >> 6));
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AMS_AS5048B::writeReg(AS5048B_ZEROLSB_REG, (uint8_t) (regVal & 0x3F));
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return;
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}
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/**************************************************************************/
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/*!
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@brief reads the 2 bytes Zero position register value
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@params[in]
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none
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||||
@returns
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uint16_t register value trimmed on 14 bits
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*/
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/**************************************************************************/
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uint16_t AMS_AS5048B::zeroRegR(void) {
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return AMS_AS5048B::readReg16(AS5048B_ZEROMSB_REG);
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}
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/**************************************************************************/
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/*!
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@brief reads the 2 bytes magnitude register value
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@params[in]
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||||
none
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||||
@returns
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uint16_t register value trimmed on 14 bits
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||||
*/
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/**************************************************************************/
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uint16_t AMS_AS5048B::magnitudeR(void) {
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return AMS_AS5048B::readReg16(AS5048B_MAGNMSB_REG);
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}
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uint16_t AMS_AS5048B::angleRegR(void) {
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return AMS_AS5048B::readReg16(AS5048B_ANGLMSB_REG);
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}
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/**************************************************************************/
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||||
/*!
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||||
@brief reads the 1 bytes auto gain register value
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||||
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||||
@params[in]
|
||||
none
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||||
@returns
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||||
uint8_t register value
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||||
*/
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/**************************************************************************/
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||||
uint8_t AMS_AS5048B::getAutoGain(void) {
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return AMS_AS5048B::readReg8(AS5048B_GAIN_REG);
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}
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/**************************************************************************/
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||||
/*!
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||||
@brief reads the 1 bytes diagnostic register value
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||||
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@params[in]
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none
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@returns
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uint8_t register value
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*/
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/**************************************************************************/
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uint8_t AMS_AS5048B::getDiagReg(void) {
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return AMS_AS5048B::readReg8(AS5048B_DIAG_REG);
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}
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||||
/**************************************************************************/
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/*!
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@brief reads current angle value and converts it into the desired unit
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@params[in]
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String unit : string expressing the unit of the angle. Sensor raw value as default
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@params[in]
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Boolean newVal : have a new measurement or use the last read one. True as default
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@returns
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Double angle value converted into the desired unit
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||||
*/
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/**************************************************************************/
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double AMS_AS5048B::angleR(int unit, boolean newVal) {
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double angleRaw;
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if (newVal) {
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if(_clockWise) {
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angleRaw = (double) (0b11111111111111 - AMS_AS5048B::readReg16(AS5048B_ANGLMSB_REG));
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}
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else {
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angleRaw = (double) AMS_AS5048B::readReg16(AS5048B_ANGLMSB_REG);
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}
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_lastAngleRaw = angleRaw;
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}
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else {
|
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angleRaw = _lastAngleRaw;
|
||||
}
|
||||
|
||||
return AMS_AS5048B::convertAngle(unit, angleRaw);
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}
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|
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/**************************************************************************/
|
||||
/*!
|
||||
@brief Performs an exponential moving average on the angle.
|
||||
Works on Sine and Cosine of the angle to avoid issues 0°/360° discontinuity
|
||||
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||||
@params[in]
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||||
none
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||||
@returns
|
||||
none
|
||||
*/
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/**************************************************************************/
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void AMS_AS5048B::updateMovingAvgExp(void) {
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||||
|
||||
//sine and cosine calculation on angles in radian
|
||||
|
||||
double angle = AMS_AS5048B::angleR(U_RAD, true);
|
||||
|
||||
if (_movingAvgCountLoop < EXP_MOVAVG_LOOP) {
|
||||
_movingAvgExpSin += sin(angle);
|
||||
_movingAvgExpCos += cos(angle);
|
||||
if (_movingAvgCountLoop == (EXP_MOVAVG_LOOP - 1)) {
|
||||
_movingAvgExpSin = _movingAvgExpSin / EXP_MOVAVG_LOOP;
|
||||
_movingAvgExpCos = _movingAvgExpCos / EXP_MOVAVG_LOOP;
|
||||
}
|
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_movingAvgCountLoop ++;
|
||||
}
|
||||
else {
|
||||
double movavgexpsin = _movingAvgExpSin + _movingAvgExpAlpha * (sin(angle) - _movingAvgExpSin);
|
||||
double movavgexpcos = _movingAvgExpCos + _movingAvgExpAlpha * (cos(angle) - _movingAvgExpCos);
|
||||
_movingAvgExpSin = movavgexpsin;
|
||||
_movingAvgExpCos = movavgexpcos;
|
||||
_movingAvgExpAngle = getExpAvgRawAngle();
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief sent back the exponential moving averaged angle in the desired unit
|
||||
|
||||
@params[in]
|
||||
String unit : string expressing the unit of the angle. Sensor raw value as default
|
||||
@returns
|
||||
Double exponential moving averaged angle value
|
||||
*/
|
||||
/**************************************************************************/
|
||||
double AMS_AS5048B::getMovingAvgExp(int unit) {
|
||||
|
||||
return AMS_AS5048B::convertAngle(unit, _movingAvgExpAngle);
|
||||
}
|
||||
|
||||
void AMS_AS5048B::resetMovingAvgExp(void) {
|
||||
|
||||
_movingAvgExpAngle = 0.0;
|
||||
_movingAvgCountLoop = 0;
|
||||
_movingAvgExpAlpha = 2.0 / (EXP_MOVAVG_N + 1.0);
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
/*========================================================================*/
|
||||
/* PRIVATE FUNCTIONS */
|
||||
/*========================================================================*/
|
||||
|
||||
uint8_t AMS_AS5048B::readReg8(uint8_t address) {
|
||||
|
||||
uint8_t readValue;
|
||||
byte requestResult;
|
||||
uint8_t nbByte2Read = 1;
|
||||
|
||||
Wire.beginTransmission(_chipAddress);
|
||||
Wire.write(address);
|
||||
requestResult = Wire.endTransmission(false);
|
||||
if (requestResult){
|
||||
Serial.print("I2C error: ");
|
||||
Serial.println(requestResult);
|
||||
}
|
||||
|
||||
Wire.requestFrom(_chipAddress, nbByte2Read);
|
||||
readValue = (uint8_t) Wire.read();
|
||||
|
||||
return readValue;
|
||||
}
|
||||
|
||||
uint16_t AMS_AS5048B::readReg16(uint8_t address) {
|
||||
//16 bit value got from 2 8bits registers (7..0 MSB + 5..0 LSB) => 14 bits value
|
||||
|
||||
uint8_t nbByte2Read = 2;
|
||||
byte requestResult;
|
||||
byte readArray[2];
|
||||
uint16_t readValue = 0;
|
||||
|
||||
Wire.beginTransmission(_chipAddress);
|
||||
Wire.write(address);
|
||||
requestResult = Wire.endTransmission(false);
|
||||
if (requestResult){
|
||||
Serial.print("I2C error: ");
|
||||
Serial.println(requestResult);
|
||||
}
|
||||
|
||||
|
||||
Wire.requestFrom(_chipAddress, nbByte2Read);
|
||||
for (byte i=0; i < nbByte2Read; i++) {
|
||||
readArray[i] = Wire.read();
|
||||
}
|
||||
|
||||
readValue = (((uint16_t) readArray[0]) << 6);
|
||||
readValue += (readArray[1] & 0x3F);
|
||||
/*
|
||||
Serial.println(readArray[0], BIN);
|
||||
Serial.println(readArray[1], BIN);
|
||||
Serial.println(readValue, BIN);
|
||||
*/
|
||||
return readValue;
|
||||
}
|
||||
|
||||
void AMS_AS5048B::writeReg(uint8_t address, uint8_t value) {
|
||||
|
||||
Wire.beginTransmission(_chipAddress);
|
||||
Wire.write(address);
|
||||
Wire.write(value);
|
||||
Wire.endTransmission();
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
double AMS_AS5048B::convertAngle(int unit, double angle) {
|
||||
|
||||
// convert raw sensor reading into angle unit
|
||||
|
||||
double angleConv;
|
||||
|
||||
switch (unit) {
|
||||
case U_RAW:
|
||||
//Sensor raw measurement
|
||||
angleConv = angle;
|
||||
break;
|
||||
case U_TRN:
|
||||
//full turn ratio
|
||||
angleConv = (angle / AS5048B_RESOLUTION);
|
||||
break;
|
||||
case U_DEG:
|
||||
//degree
|
||||
angleConv = (angle / AS5048B_RESOLUTION) * 360.0;
|
||||
break;
|
||||
case U_RAD:
|
||||
//Radian
|
||||
angleConv = (angle / AS5048B_RESOLUTION) * 2 * M_PI;
|
||||
break;
|
||||
case U_MOA:
|
||||
//minute of arc
|
||||
angleConv = (angle / AS5048B_RESOLUTION) * 60.0 * 360.0;
|
||||
break;
|
||||
case U_SOA:
|
||||
//second of arc
|
||||
angleConv = (angle / AS5048B_RESOLUTION) * 60.0 * 60.0 * 360.0;
|
||||
break;
|
||||
case U_GRAD:
|
||||
//grade
|
||||
angleConv = (angle / AS5048B_RESOLUTION) * 400.0;
|
||||
break;
|
||||
case U_MILNATO:
|
||||
//NATO MIL
|
||||
angleConv = (angle / AS5048B_RESOLUTION) * 6400.0;
|
||||
break;
|
||||
case U_MILSE:
|
||||
//Swedish MIL
|
||||
angleConv = (angle / AS5048B_RESOLUTION) * 6300.0;
|
||||
break;
|
||||
case U_MILRU:
|
||||
//Russian MIL
|
||||
angleConv = (angle / AS5048B_RESOLUTION) * 6000.0;
|
||||
break;
|
||||
default:
|
||||
//no conversion => raw angle
|
||||
angleConv = angle;
|
||||
break;
|
||||
}
|
||||
return angleConv;
|
||||
}
|
||||
|
||||
double AMS_AS5048B::getExpAvgRawAngle(void) {
|
||||
|
||||
double angle;
|
||||
double twopi = 2 * M_PI;
|
||||
|
||||
if (_movingAvgExpSin < 0.0) {
|
||||
angle = twopi - acos(_movingAvgExpCos);
|
||||
}
|
||||
else {
|
||||
angle = acos(_movingAvgExpCos);
|
||||
}
|
||||
|
||||
angle = (angle / twopi) * AS5048B_RESOLUTION;
|
||||
|
||||
return angle;
|
||||
}
|
||||
|
||||
void AMS_AS5048B::printDebug(void) {
|
||||
|
||||
return;
|
||||
}
|
||||
150
02_Software/01_Arduino/main/ams_as5048b.h
Normal file
150
02_Software/01_Arduino/main/ams_as5048b.h
Normal file
@ -0,0 +1,150 @@
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@file ams_as5048b.h
|
||||
@author SOSAndroid.fr (E. Ha.)
|
||||
|
||||
@section HISTORY
|
||||
|
||||
v1.0 - First release
|
||||
v1.0.1 - Typo to allow compiling on Codebender.cc (Math.h vs math.h)
|
||||
v1.0.2 - Small bug fix and improvement by @DavidHowlett
|
||||
|
||||
Library to interface the AS5048B magnetic rotary encoder from AMS over the I2C bus
|
||||
|
||||
@section LICENSE
|
||||
|
||||
Software License Agreement (BSD License)
|
||||
|
||||
Copyright (c) 2013, SOSAndroid.fr (E. Ha.)
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
1. Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
2. Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
3. Neither the name of the copyright holders nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
|
||||
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
/**************************************************************************/
|
||||
|
||||
#if ARDUINO >= 100
|
||||
#include <Arduino.h>
|
||||
#else
|
||||
#include <WProgram.h>
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
#include <Wire.h>
|
||||
|
||||
|
||||
#ifndef _AMS_AS5048B_H_
|
||||
#define _AMS_AS5048B_H_
|
||||
|
||||
|
||||
// OPERATIONS
|
||||
#define SERIAL_DEBUG_ENABLED
|
||||
#define USE_WIREBEGIN_ENABLED // to comment if Wire.begin() function is called in Setup() for instance. Usefull to manage one or several I2C devices in the same sketch
|
||||
|
||||
// Default addresses for AS5048B
|
||||
#define AS5048_ADDRESS 0x40 // 0b10000 + ( A1 & A2 to GND)
|
||||
#define AS5048B_PROG_REG 0x03
|
||||
#define AS5048B_ADDR_REG 0x15
|
||||
#define AS5048B_ZEROMSB_REG 0x16 //bits 0..7
|
||||
#define AS5048B_ZEROLSB_REG 0x17 //bits 0..5
|
||||
#define AS5048B_GAIN_REG 0xFA
|
||||
#define AS5048B_DIAG_REG 0xFB
|
||||
#define AS5048B_MAGNMSB_REG 0xFC //bits 0..7
|
||||
#define AS5048B_MAGNLSB_REG 0xFD //bits 0..5
|
||||
#define AS5048B_ANGLMSB_REG 0xFE //bits 0..7
|
||||
#define AS5048B_ANGLLSB_REG 0xFF //bits 0..5
|
||||
#define AS5048B_RESOLUTION 16384.0 //14 bits
|
||||
|
||||
|
||||
// Moving Exponential Average on angle - beware heavy calculation for some Arduino boards
|
||||
// This is a 1st order low pass filter
|
||||
// Moving average is calculated on Sine et Cosine values of the angle to provide an extrapolated accurate angle value.
|
||||
#define EXP_MOVAVG_N 5 //history length impact on moving average impact - keep in mind the moving average will be impacted by the measurement frequency too
|
||||
#define EXP_MOVAVG_LOOP 1 //number of measurements before starting mobile Average - starting with a simple average - 1 allows a quick start. Value must be 1 minimum
|
||||
|
||||
//unit consts - just to make the units more readable
|
||||
#define U_RAW 1
|
||||
#define U_TRN 2
|
||||
#define U_DEG 3
|
||||
#define U_RAD 4
|
||||
#define U_GRAD 5
|
||||
#define U_MOA 6
|
||||
#define U_SOA 7
|
||||
#define U_MILNATO 8
|
||||
#define U_MILSE 9
|
||||
#define U_MILRU 10
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
class AMS_AS5048B {
|
||||
public:
|
||||
AMS_AS5048B(void);
|
||||
AMS_AS5048B(uint8_t chipAddress);
|
||||
|
||||
void begin(void); // to init the object, must be called in the setup loop
|
||||
void toggleDebug(void); // start / stop debug through serial at anytime
|
||||
void setClockWise(boolean cw = true); //set clockwise counting, default is false (native sensor)
|
||||
void progRegister(uint8_t regVal); //nothing so far - manipulate the OTP register
|
||||
void doProg(void); //progress programming slave address OTP
|
||||
void doProgZero(void); //progress programming zero position OTP
|
||||
void addressRegW(uint8_t regVal); //change the chip address
|
||||
uint8_t addressRegR(void); //read chip address
|
||||
void setZeroReg(void); //set Zero to current angle position
|
||||
void zeroRegW(uint16_t regVal); //write Zero register value
|
||||
uint16_t zeroRegR(void); //read Zero register value
|
||||
uint16_t angleRegR(void); //read raw value of the angle register
|
||||
uint8_t diagR(void); //read diagnostic register
|
||||
uint16_t magnitudeR(void); //read current magnitude
|
||||
double angleR(int unit = U_RAW, boolean newVal = true); //Read current angle or get last measure with unit conversion : RAW, TRN, DEG, RAD, GRAD, MOA, SOA, MILNATO, MILSE, MILRU
|
||||
uint8_t getAutoGain(void);
|
||||
uint8_t getDiagReg(void);
|
||||
|
||||
void updateMovingAvgExp(void); //measure the current angle and feed the Exponential Moving Average calculation
|
||||
double getMovingAvgExp(int unit = U_RAW); //get Exponential Moving Average calculation
|
||||
void resetMovingAvgExp(void); //reset Exponential Moving Average calculation values
|
||||
|
||||
private:
|
||||
//variables
|
||||
boolean _debugFlag;
|
||||
boolean _clockWise;
|
||||
uint8_t _chipAddress;
|
||||
uint8_t _addressRegVal;
|
||||
uint16_t _zeroRegVal;
|
||||
double _lastAngleRaw;
|
||||
double _movingAvgExpAngle;
|
||||
double _movingAvgExpSin;
|
||||
double _movingAvgExpCos;
|
||||
double _movingAvgExpAlpha;
|
||||
int _movingAvgCountLoop;
|
||||
|
||||
//methods
|
||||
uint8_t readReg8(uint8_t address);
|
||||
uint16_t readReg16(uint8_t address); //16 bit value got from 2x8bits registers (7..0 MSB + 5..0 LSB) => 14 bits value
|
||||
void writeReg(uint8_t address, uint8_t value);
|
||||
double convertAngle(int unit, double angle); //RAW, TRN, DEG, RAD, GRAD, MOA, SOA, MILNATO, MILSE, MILRU
|
||||
double getExpAvgRawAngle(void);
|
||||
void printDebug(void);
|
||||
};
|
||||
|
||||
#endif
|
||||
1534
02_Software/01_Arduino/main/main.ino
Normal file
1534
02_Software/01_Arduino/main/main.ino
Normal file
File diff suppressed because it is too large
Load Diff
593
02_Software/01_Arduino/main/main_AVR_UNO_atmega328p.hex
Normal file
593
02_Software/01_Arduino/main/main_AVR_UNO_atmega328p.hex
Normal file
@ -0,0 +1,593 @@
|
||||
:100000000C9463000C948B000C948B000C94690589
|
||||
:100010000C9469050C9469050C948B000C948B006E
|
||||
:100020000C948B000C948B000C948B000C94A80403
|
||||
:100030000C948B000C948B000C948B000C948B0014
|
||||
:100040000C9434080C948B000C9448030C942203F9
|
||||
:100050000C948B000C948B000C948B000C948B00F4
|
||||
:100060000C947A030C948B000000000024002700FD
|
||||
:100070002A0000000008000201000003040700003D
|
||||
:1000800000000000000000000000250028002B00F8
|
||||
:1000900000000000230026002900040404040404D6
|
||||
:1000A0000404020202020202030303030303010227
|
||||
:1000B00004081020408001020408102001020408F6
|
||||
:1000C00010200C0CF00B11241FBECFEFD8E0DEBFC8
|
||||
:1000D000CDBF11E0A0E0B1E0E4E8F4E202C0059099
|
||||
:1000E0000D92AA36B107D9F723E0AAE6B1E001C024
|
||||
:1000F0001D92A03CB207E1F710E0C2E6D0E004C0D8
|
||||
:100100002197FE010E942310C136D107C9F70E9432
|
||||
:10011000A5080C9435120C940000CF92DF92EF9258
|
||||
:10012000FF920F931F93CF93DF936C017A018B01A2
|
||||
:10013000C0E0D0E0CE15DF0589F0D8016D918D01CA
|
||||
:10014000D601ED91FC910190F081E02DC601099559
|
||||
:10015000892B11F47E0102C02196ECCFC701DF91FB
|
||||
:10016000CF911F910F91FF90EF90DF90CF90089566
|
||||
:10017000FC01538D448D252F30E0842F90E0821BAD
|
||||
:10018000930B541710F0CF96089501970895FC0132
|
||||
:10019000918D828D981761F0828DDF01A80FB11DBE
|
||||
:1001A0005D968C91928D9F5F9F73928F90E00895E2
|
||||
:1001B0008FEF9FEF0895FC01918D828D981731F09C
|
||||
:1001C000828DE80FF11D858D90E008958FEF9FEFF0
|
||||
:1001D0000895FC01918D228D892F90E0805C9F4FC6
|
||||
:1001E000821B91098F739927089585E692E00E94FA
|
||||
:1001F000E90021E0892B09F420E0822F0895FC0119
|
||||
:10020000848DDF01A80FB11DA35ABF4F2C91848D9F
|
||||
:1002100090E001968F739927848FA689B7892C93D4
|
||||
:10022000A089B1898C9180648C93938D848D98136F
|
||||
:1002300006C00288F389E02D80818F7D8083089538
|
||||
:10024000EF92FF920F931F93CF93DF93EC0181E026
|
||||
:10025000888F9B8D8C8D981305C0E889F9898081E2
|
||||
:1002600085FD24C0F62E0B8D10E00F5F1F4F0F731E
|
||||
:100270001127E02E8C8DE8120CC00FB607FCFACFC8
|
||||
:10028000E889F989808185FFF5CFCE010E94FF00C2
|
||||
:10029000F1CF8B8DFE01E80FF11DE35AFF4FF08285
|
||||
:1002A0000B8FEA89FB898081806207C0EE89FF8914
|
||||
:1002B0006083E889F98980818064808381E090E0AF
|
||||
:1002C000DF91CF911F910F91FF90EF900895CF9301
|
||||
:1002D000DF93EC01888D8823C9F0EA89FB8980814E
|
||||
:1002E00085FD05C0A889B9898C9186FD0FC00FB620
|
||||
:1002F00007FCF5CF808185FFF2CFA889B9898C9161
|
||||
:1003000085FFEDCFCE010E94FF00E7CFDF91CF91B7
|
||||
:10031000089580E090E0892B29F00E94F50081117A
|
||||
:100320000C940000089585ED8093BC008091BC0082
|
||||
:1003300084FDFCCF1092400208954091D101262FF8
|
||||
:1003400030E0240F311D21323105DCF420914002D0
|
||||
:100350002430C9F4FC0180E090E0861758F4309115
|
||||
:10036000D1012191DC01A155BE4FA30FB11D2C93EA
|
||||
:100370000196F3CF8091D101680F6093D10180E0A5
|
||||
:10038000089581E0089582E008952091AC013091B4
|
||||
:10039000AD012817390771F49091AB018091AA0142
|
||||
:1003A000981741F0E091AB01F0E0E659FE4F8081F3
|
||||
:1003B00090E008958FEF9FEF089508951F93CF93D6
|
||||
:1003C000DF93DC015C962D913C915D972115310501
|
||||
:1003D00039F481E090E013969C938E9312973DC080
|
||||
:1003E0005196ED91FC91529750969C915097892F80
|
||||
:1003F00080951FB75E964C915E9741FB772770F909
|
||||
:1004000041FD6095F8944081772311F0492B01C09C
|
||||
:1004100048234083E9012197F1F748E0508160FFCC
|
||||
:1004200002C0592B01C058235083E9012197F1F7ED
|
||||
:100430006695415099F7772321F090818923808335
|
||||
:1004400003C08081982B90831FBF5C968D919C91F7
|
||||
:100450005D970197F1F721E030E0C901DF91CF917D
|
||||
:100460001F9108952091AC013091AD0128173907F3
|
||||
:1004700071F48091AA012091AB0190E0805C9F4FC4
|
||||
:10048000821B910960E470E00E94FB0F089580E0F8
|
||||
:1004900090E008952091AC013091AD012817390703
|
||||
:1004A000B9F49091AB018091AA01981789F0E0917D
|
||||
:1004B000AB01F0E0E659FE4F80812091AB0130E0C6
|
||||
:1004C0002F5F3F4F2F7333272093AB0190E00895A8
|
||||
:1004D0008FEF9FEF08950895E091F9018091F80161
|
||||
:1004E000E81730F4F0E0E650FE4F808190E0089588
|
||||
:1004F0008FEF9FEF08959091F9018091F80198177F
|
||||
:1005000050F4E92FF0E0E650FE4F208130E09F5F8D
|
||||
:100510009093F90102C02FEF3FEFC9010895809138
|
||||
:10052000F80190E02091F901821B91090895CF9282
|
||||
:10053000DF92EF92FF920F931F93CF93DF937C0193
|
||||
:10054000262F972F8A0180914102882391F0C62F90
|
||||
:10055000D72F6E01C40ED51ECC15DD0571F0699143
|
||||
:10056000D701ED91FC910190F081E02DC701099533
|
||||
:10057000F3CF642F822F0E949D01C801DF91CF919C
|
||||
:100580001F910F91FF90EF90DF90CF900895CF9340
|
||||
:10059000DF931F92CDB7DEB76983209141022223FA
|
||||
:1005A000D1F020916402203240F021E030E0FC01E3
|
||||
:1005B0003383228380E090E015C080914202E82FCF
|
||||
:1005C000F0E0ED5BFD4F998190838F5F8093420255
|
||||
:1005D0008093640205C061E0CE0101960E949D01F6
|
||||
:1005E00081E090E00F90DF91CF910895089580E031
|
||||
:1005F00090E008950E9420121092F9011092F801E3
|
||||
:1006000010924202109264021092400281E08093A4
|
||||
:100610003F0210921A0261E082E10E94870761E0C6
|
||||
:1006200083E10E948707E9EBF0E080818E7F808381
|
||||
:1006300080818D7F808388E48093B80085E48093F7
|
||||
:10064000BC0008951F920F920FB60F9211242F93A2
|
||||
:100650003F934F935F936F937F938F939F93AF934A
|
||||
:10066000BF93EF93FF9385E692E00E94FF00FF9116
|
||||
:10067000EF91BF91AF919F918F917F916F915F911A
|
||||
:100680004F913F912F910F900FBE0F901F90189593
|
||||
:100690001F920F920FB60F9211242F938F939F9357
|
||||
:1006A000EF93FF93E0917502F09176028081E091E3
|
||||
:1006B0007B02F0917C0282FD12C0908180917E02CB
|
||||
:1006C0008F5F8F7320917F02821751F0E0917E023D
|
||||
:1006D000F0E0EB59FD4F958F80937E0201C0808141
|
||||
:1006E000FF91EF919F918F912F910F900FBE0F90DF
|
||||
:1006F0001F9018951F920F920FB60F9211242F93EF
|
||||
:100700003F934F935F936F937F938F939F93AF9399
|
||||
:10071000BF93EF93FF938091B900887F803609F4EF
|
||||
:100720009CC068F5883209F45BC090F4803109F40C
|
||||
:1007300054C038F4882309F4F6C0883009F44DC059
|
||||
:10074000F6C0883109F44CC0803209F45DC0EFC0B6
|
||||
:10075000803409F468C048F4803309F455C0883304
|
||||
:1007600009F0E5C080933E02D8C0803509F44FC03F
|
||||
:10077000883509F45DC0883409F0D9C0D6C08839FD
|
||||
:1007800009F4C7C0A8F4883709F467C038F488367C
|
||||
:1007900009F463C0803709F460C0C9C0883809F41F
|
||||
:1007A000B8C0803909F45FC0803809F0C0C05BC0B0
|
||||
:1007B000803B09F486C038F4803A09F466C0883A70
|
||||
:1007C00009F47FC0B4C0803C09F4A7C0883C09F498
|
||||
:1007D000A4C0883B09F48AC0AAC080911B0210C043
|
||||
:1007E00090913D0280913C02981770F5E0913D0296
|
||||
:1007F00081E08E0F80933D02F0E0E45EFD4F80814A
|
||||
:100800008093BB0085EC86C080933E028EC0E09151
|
||||
:100810003D0281E08E0F80933D028091BB00F0E0AD
|
||||
:10082000E45EFD4F808390913D0280913C026EC05A
|
||||
:10083000E0913D0281E08E0F80933D028091BB00EC
|
||||
:10084000F0E0E45EFD4F808380913F0281116DC036
|
||||
:1008500081E080931A0284EA61C083E080934002C1
|
||||
:100860001092F501CFCF8091F501803208F051C090
|
||||
:10087000E091F50181E08E0F8093F5018091BB003E
|
||||
:10088000F0E0EB52FE4F8083BDCF85EC8093BC003F
|
||||
:10089000109240028091F501803230F4E091F50130
|
||||
:1008A000F0E0EB52FE4F10826091F50170E0E091B4
|
||||
:1008B000D301F091D40185ED91E009951092F501F5
|
||||
:1008C00036C084E0809340021092D2011092D10190
|
||||
:1008D000E091CF01F091D00109958091D101811172
|
||||
:1008E00005C081E08093D1011092AF01E091D20167
|
||||
:1008F00081E08E0F8093D201F0E0E155FE4F8081C0
|
||||
:100900008093BB009091D2018091D101981708F497
|
||||
:1009100079CF85E88093BC000AC085EC8093BC0049
|
||||
:100920001092400204C010923E020E949301FF9177
|
||||
:10093000EF91BF91AF919F918F917F916F915F9157
|
||||
:100940004F913F912F910F900FBE0F901F901895D0
|
||||
:100950001F920F920FB60F9211242F933F934F9334
|
||||
:100960005F936F937F938F939F93AF93BF93EF9317
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||||
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||||
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|
||||
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|
||||
Reference in New Issue
Block a user