151 lines
5.9 KiB
C++
151 lines
5.9 KiB
C++
/**************************************************************************/
|
|
/*!
|
|
@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
|