Diff: AS5600.cpp

Revision:

0:ec69fa9832e5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AS5600.cpp	Tue Feb 28 12:26:56 2017 +0000
@@ -0,0 +1,95 @@
+// AS5600 Verson 1.3
+// 20/03/2015  GR : fonction limitant la dynamique autour de zero à -max , +max
+#include "AS5600.h"
+//#include "mbed.h"
+
+
+
+AS5600::AS5600(PinName sda, PinName scl) : i2c(sda,scl)
+{
+    addresse=0x36;
+    i2c.frequency(400000);
+}
+int AS5600::isMagnetPresent()
+{
+    char cmd=0x0B,data=0,value=0;
+    data=this->read(cmd);
+    value=(char) (data & 0x20) >> 5 ;
+
+    return value;
+}
+
+
+int AS5600::getAngleAbsolute()
+{
+    char cmd1=0x0E,cmd2=0x0F;
+    int data=0;
+
+    data=this->read(cmd1) << 8;
+    data=data+this->read(cmd2);
+
+    return data;
+}
+
+int AS5600::getAngleRelative()
+{
+    return ((this->getAngleAbsolute() + (2047 - relative_zero)) % 4096) - 2047;
+}
+
+
+float AS5600::getAngleDegrees()
+{
+    return ((float)this->getAngleRelative() * 180) / 2048 ;
+}
+
+void AS5600::setZero()
+{
+    relative_zero=0;
+    relative_zero=this->getAngleAbsolute();
+}
+
+
+char AS5600::read(char address)
+{
+    char retval;
+    i2c.write(addresse * 2, &address, 1);
+    i2c.read(addresse * 2, &retval, 1);
+    return retval;
+}
+
+void AS5600::init()
+{
+
+    for (int i=0; i<100; i++)
+        this->setZero();
+
+}
+
+float AS5600::getAngleMinMax(float angleMax)
+{
+    static unsigned char etat=0;           // etat de l'automate
+    static int anglePrec=0;                // angle precedent
+    float angle=0;                         // angle courant
+    float angleX=0;                        //angle en sortie borne
+    //
+    angle=this->getAngleDegrees();         // lecture de l'angle courant
+    switch(etat) {
+        case 0 :    // angle compris entre min et max
+            angleX = angle;
+            if(angle > angleMax)  etat = 2;
+            if(angle < -angleMax) etat = 1;
+            break;
+        case 1 :    // angle inferieur a -max
+            angleX = -angleMax;
+            if((anglePrec <= -angleMax) && (angle >= -angleMax) && (angle < 0)) etat = 0;
+            break;
+        case 2 :
+            angleX = angleMax;
+            if((anglePrec >=  angleMax) && (angle <= angleMax) && (angle > 0))etat = 0;
+            break;
+        default :
+            break;
+    }
+    anglePrec=angle;
+    return angleX;
+}
\ No newline at end of file