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mesure de l'angle sur AS5048 par SPI
as5048spi.h
- Committer:
- PC2ROBOT
- Date:
- 2019-10-08
- Revision:
- 0:5a1830df0b66
File content as of revision 0:5a1830df0b66:
#include "mbed.h" typedef enum { AS_FLAG_PARITY = 0x8000, AS_FLAG_READ = 0x4000, } As5048Flag; typedef enum { AS_CMD_NOP = 0x0000, AS_CMD_ERROR = 0x0001 | AS_FLAG_READ, // Reads error register of sensor and clear error flags AS_CMD_DIAGNOSTICS = 0x3FFD | AS_FLAG_READ, // Reads automatic gain control and diagnostics info AS_CMD_MAGNITUDE = 0x3FFE | AS_FLAG_READ, AS_CMD_ANGLE = 0x3FFF| AS_FLAG_PARITY | AS_FLAG_READ, } As5048Command; // Masks for bits in the result of the AS_CMD_DIAGNOSTICS command typedef enum { AS_DIAG_CORDIC_OVERFLOW = 0x0200, AS_DIAG_HIGH_MAGNETIC = 0x0400, AS_DIAG_LOW_MAGNETIC = 0x0800, } As5048Diagnostics; //! Class for interfacing with the AMS AS5048A magnetic rotary sensor over the SPI-interface. class As5048Spi { public: As5048Spi(PinName mosi, PinName miso, PinName sclk, PinName chipselect, int nDevices = 1); ~As5048Spi(); bool error(int device = -1); /// Sets the SPI clock frequency in Hz. Maximum tested frequency is 10MHz. void frequency(int frequency = 1000000); /// Sends a read command to the sensor. const int* read(As5048Command command); /// Sends a read command to the sensor. /// A call to this function will not directly return the requested value. The /// requested value will be returned in a next read_sequential call. /// Use this function to read sensor values with minimum speed impact on SPI-bus /// and microcontroller. const int* read_sequential(As5048Command command); /// Performs a single angle measurement on all sensors /// @return Array of raw angle data. To get the 14-bit value representing /// the angle, apply the mask() to the result. const int* read_angle(); /// Performs sequential angle measurements on all sensors. The first time this /// method is called the result is not usefull, the measurement data of the call /// will be returned by the next call to this method. /// @return Array of raw angle data. To get the 14-bit value representing /// the angle, apply the mask() to the result. const int* read_angle_sequential(); /// Returns lowest 14-bits static int mask(int sensor_result); /// Applies the mask to the first n bytes in the read buffer (for daisychained sensors). static void mask(int* sensor_results, int n); /// Checks if the return value from the sensor has the right parity /// @return true if ok static bool parity_check(int sensor_result); /// Returns an angle from 0 to 36000 (degrees times 100). /// @param sensor_result is one of the values returned by read_angle or read_angle_sequential static int degrees(int sensor_result); /// Returns an angle from 0 to 2*PI*100 /// @param sensor_result is one of the values returned by read_angle or read_angle_sequential static int radian(int sensor_result); protected: int _nDevices; DigitalOut _chipSelectN; SPI _spi; int* _readBuffer; // Stores the results of the last sequential read int* _read(As5048Command command); };