Michel MOULIN / Mbed 2 deprecated as5048spi_moulin

mesure de l'angle sur AS5048 par SPI

Dependencies:   mbed

as5048spi.h@1:d92ff88de240, 2021-11-30 (annotated)

Committer:
michelmoulin
Date:
Tue Nov 30 13:37:45 2021 +0000
Revision:
1:d92ff88de240
Parent:
0:5a1830df0b66 
Lecture de l'angle depuis l'AS5048 en SPI

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PC2ROBOT 0:5a1830df0b66 1 #include "mbed.h"
PC2ROBOT 0:5a1830df0b66 2 typedef enum {
PC2ROBOT 0:5a1830df0b66 3 AS_FLAG_PARITY = 0x8000,
PC2ROBOT 0:5a1830df0b66 4 AS_FLAG_READ = 0x4000,
PC2ROBOT 0:5a1830df0b66 5 } As5048Flag;
PC2ROBOT 0:5a1830df0b66 6
PC2ROBOT 0:5a1830df0b66 7 typedef enum {
PC2ROBOT 0:5a1830df0b66 8 AS_CMD_NOP = 0x0000,
PC2ROBOT 0:5a1830df0b66 9 AS_CMD_ERROR = 0x0001 | AS_FLAG_READ, // Reads error register of sensor and clear error flags
PC2ROBOT 0:5a1830df0b66 10 AS_CMD_DIAGNOSTICS = 0x3FFD | AS_FLAG_READ, // Reads automatic gain control and diagnostics info
PC2ROBOT 0:5a1830df0b66 11 AS_CMD_MAGNITUDE = 0x3FFE | AS_FLAG_READ,
PC2ROBOT 0:5a1830df0b66 12
PC2ROBOT 0:5a1830df0b66 13 AS_CMD_ANGLE = 0x3FFF| AS_FLAG_PARITY | AS_FLAG_READ,
PC2ROBOT 0:5a1830df0b66 14 } As5048Command;
PC2ROBOT 0:5a1830df0b66 15
PC2ROBOT 0:5a1830df0b66 16 // Masks for bits in the result of the AS_CMD_DIAGNOSTICS command
PC2ROBOT 0:5a1830df0b66 17 typedef enum {
PC2ROBOT 0:5a1830df0b66 18 AS_DIAG_CORDIC_OVERFLOW = 0x0200,
PC2ROBOT 0:5a1830df0b66 19 AS_DIAG_HIGH_MAGNETIC = 0x0400,
PC2ROBOT 0:5a1830df0b66 20 AS_DIAG_LOW_MAGNETIC = 0x0800,
PC2ROBOT 0:5a1830df0b66 21 } As5048Diagnostics;
PC2ROBOT 0:5a1830df0b66 22
PC2ROBOT 0:5a1830df0b66 23
PC2ROBOT 0:5a1830df0b66 24 //! Class for interfacing with the AMS AS5048A magnetic rotary sensor over the SPI-interface.
PC2ROBOT 0:5a1830df0b66 25 class As5048Spi
PC2ROBOT 0:5a1830df0b66 26 {
PC2ROBOT 0:5a1830df0b66 27 public:
PC2ROBOT 0:5a1830df0b66 28 As5048Spi(PinName mosi, PinName miso, PinName sclk, PinName chipselect, int nDevices = 1);
PC2ROBOT 0:5a1830df0b66 29 ~As5048Spi();
PC2ROBOT 0:5a1830df0b66 30
PC2ROBOT 0:5a1830df0b66 31 bool error(int device = -1);
PC2ROBOT 0:5a1830df0b66 32
PC2ROBOT 0:5a1830df0b66 33 /// Sets the SPI clock frequency in Hz. Maximum tested frequency is 10MHz.
PC2ROBOT 0:5a1830df0b66 34 void frequency(int frequency = 1000000);
PC2ROBOT 0:5a1830df0b66 35
PC2ROBOT 0:5a1830df0b66 36 /// Sends a read command to the sensor.
PC2ROBOT 0:5a1830df0b66 37 const int* read(As5048Command command);
PC2ROBOT 0:5a1830df0b66 38
PC2ROBOT 0:5a1830df0b66 39 /// Sends a read command to the sensor.
PC2ROBOT 0:5a1830df0b66 40 /// A call to this function will not directly return the requested value. The
PC2ROBOT 0:5a1830df0b66 41 /// requested value will be returned in a next read_sequential call.
PC2ROBOT 0:5a1830df0b66 42 /// Use this function to read sensor values with minimum speed impact on SPI-bus
PC2ROBOT 0:5a1830df0b66 43 /// and microcontroller.
PC2ROBOT 0:5a1830df0b66 44 const int* read_sequential(As5048Command command);
PC2ROBOT 0:5a1830df0b66 45
PC2ROBOT 0:5a1830df0b66 46 /// Performs a single angle measurement on all sensors
PC2ROBOT 0:5a1830df0b66 47 /// @return Array of raw angle data. To get the 14-bit value representing
PC2ROBOT 0:5a1830df0b66 48 /// the angle, apply the mask() to the result.
PC2ROBOT 0:5a1830df0b66 49 const int* read_angle();
PC2ROBOT 0:5a1830df0b66 50
PC2ROBOT 0:5a1830df0b66 51 /// Performs sequential angle measurements on all sensors. The first time this
PC2ROBOT 0:5a1830df0b66 52 /// method is called the result is not usefull, the measurement data of the call
PC2ROBOT 0:5a1830df0b66 53 /// will be returned by the next call to this method.
PC2ROBOT 0:5a1830df0b66 54 /// @return Array of raw angle data. To get the 14-bit value representing
PC2ROBOT 0:5a1830df0b66 55 /// the angle, apply the mask() to the result.
PC2ROBOT 0:5a1830df0b66 56 const int* read_angle_sequential();
PC2ROBOT 0:5a1830df0b66 57
PC2ROBOT 0:5a1830df0b66 58 /// Returns lowest 14-bits
PC2ROBOT 0:5a1830df0b66 59 static int mask(int sensor_result);
PC2ROBOT 0:5a1830df0b66 60
PC2ROBOT 0:5a1830df0b66 61 /// Applies the mask to the first n bytes in the read buffer (for daisychained sensors).
PC2ROBOT 0:5a1830df0b66 62 static void mask(int* sensor_results, int n);
PC2ROBOT 0:5a1830df0b66 63
PC2ROBOT 0:5a1830df0b66 64 /// Checks if the return value from the sensor has the right parity
PC2ROBOT 0:5a1830df0b66 65 /// @return true if ok
PC2ROBOT 0:5a1830df0b66 66 static bool parity_check(int sensor_result);
PC2ROBOT 0:5a1830df0b66 67
PC2ROBOT 0:5a1830df0b66 68 /// Returns an angle from 0 to 36000 (degrees times 100).
PC2ROBOT 0:5a1830df0b66 69 /// @param sensor_result is one of the values returned by read_angle or read_angle_sequential
PC2ROBOT 0:5a1830df0b66 70 static int degrees(int sensor_result);
PC2ROBOT 0:5a1830df0b66 71
PC2ROBOT 0:5a1830df0b66 72 /// Returns an angle from 0 to 2*PI*100
PC2ROBOT 0:5a1830df0b66 73 /// @param sensor_result is one of the values returned by read_angle or read_angle_sequential
PC2ROBOT 0:5a1830df0b66 74 static int radian(int sensor_result);
PC2ROBOT 0:5a1830df0b66 75
PC2ROBOT 0:5a1830df0b66 76
PC2ROBOT 0:5a1830df0b66 77 protected:
PC2ROBOT 0:5a1830df0b66 78 int _nDevices;
PC2ROBOT 0:5a1830df0b66 79 DigitalOut _chipSelectN;
PC2ROBOT 0:5a1830df0b66 80 SPI _spi;
PC2ROBOT 0:5a1830df0b66 81
PC2ROBOT 0:5a1830df0b66 82 int* _readBuffer; // Stores the results of the last sequential read
PC2ROBOT 0:5a1830df0b66 83
PC2ROBOT 0:5a1830df0b66 84 int* _read(As5048Command command);
PC2ROBOT 0:5a1830df0b66 85 };