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rewriting writeZeroPositon and writeDirection #6

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rewriting writeZeroPositon and writeDirection #6

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f611b38
Update writeZeroPosition
JK-Pair Jun 6, 2022
c3df2f0
Update AS5X47.cpp
JK-Pair Jun 6, 2022
2af71a5
Update AS5X47.h
JK-Pair Jun 6, 2022
8c6a87e
Update AS5X47Spi.cpp
JK-Pair Jun 28, 2022
cf0f735
Update AS5X47Spi.h
JK-Pair Jun 28, 2022
93c95c0
Update AS5X47.cpp
JK-Pair Jun 28, 2022
fb1b955
Update AS5X47.h
JK-Pair Jun 28, 2022
1ce72eb
Increase Tpon for writing spi
JK-Pair Sep 7, 2022
e48a51a
Adding DIR cmd
JK-Pair Aug 8, 2023
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26 changes: 25 additions & 1 deletion src/AS5X47.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,10 @@
AS5X47::AS5X47(uint8_t chipSelectPin) : spi(chipSelectPin) {
}

void AS5X47::initSPI(){
spi.init();
}

ReadDataFrame AS5X47::readRegister(uint16_t registerAddress) {
CommandFrame command;
command.values.rw = READ;
Expand Down Expand Up @@ -77,11 +81,31 @@ void AS5X47::writeSettings1(Settings1 values) {
void AS5X47::writeSettings2(Settings2 values){
writeRegister(SETTINGS2_REG, values.raw);
}
void AS5X47::writeZeroPosition(Zposm zposm, Zposl zposl){

void AS5X47::writeZeroPosition(){
ReadDataFrame readDataFrame;
readDataFrame = readRegister(ANGLE_REG);
Angle angle;
angle.raw = readDataFrame.values.data;

Zposm zposm;
Zposl zposl;

zposm.values.zposm = ((angle.raw >> 6) & 0x00ff);
zposl.values.zposl = angle.raw & 0x003f;
writeRegister(ZPOSM_REG, zposm.raw);
writeRegister(ZPOSL_REG, zposl.raw);
}

void AS5X47::writeDirection(uint8_t dir_){
ReadDataFrame readDataFrame;
readDataFrame = readRegister(SETTINGS1_REG);
Settings1 settings1DIR;
settings1DIR.raw = readDataFrame.values.data;
settings1DIR.values.dir = dir_;
writeSettings1(settings1DIR);
}

void AS5X47::printDebugString() {
ReadDataFrame readDataFrame;
readDataFrame = readRegister(ERRFL_REG);
Expand Down
6 changes: 4 additions & 2 deletions src/AS5X47.h
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Original file line number Diff line number Diff line change
Expand Up @@ -197,14 +197,16 @@ typedef union {
class AS5X47 {
public:
AS5X47(uint8_t chipSelectPin);
void initSPI();
ReadDataFrame readRegister(uint16_t registerAddress);
void writeRegister(uint16_t registerAddress, uint16_t registerValue);
float readAngle();
void writeSettings1(Settings1 values);
void writeSettings2(Settings2 values);
void writeZeroPosition(Zposm zposm, Zposl zposl);
void writeZeroPosition();
void printDebugString();

void writeDirection(uint8_t dir_);

private:
bool isEven(uint16_t data);
AS5X47Spi spi;
Expand Down
12 changes: 7 additions & 5 deletions src/AS5X47Spi/AS5X47Spi.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,25 +35,27 @@ AS5X47Spi::AS5X47Spi(uint8_t _chipSelectPin) {
chipSelectPin = _chipSelectPin;
pinMode(chipSelectPin, OUTPUT);
digitalWrite(chipSelectPin, HIGH);
SPI.begin();
}


void AS5X47Spi::init() {
SPI.begin();
}
void AS5X47Spi::writeData(uint16_t command, uint16_t value) {
// @todo Expose the SPI Maximum Frequency in library interface.
SPI.beginTransaction(SPISettings(100000, MSBFIRST, SPI_MODE1));
// Send command
digitalWrite(chipSelectPin, LOW);
SPI.transfer16(command);
digitalWrite(chipSelectPin, HIGH);
delayMicroseconds(1);
// delayMicroseconds(1);
delay(10);
// Read data
digitalWrite(chipSelectPin, LOW);
SPI.transfer16(value);
digitalWrite(chipSelectPin, HIGH);
SPI.endTransaction();
delayMicroseconds(1);

// delayMicroseconds(1);
delay(10);
}

uint16_t AS5X47Spi::readData(uint16_t command, uint16_t nopCommand) {
Expand Down
1 change: 1 addition & 0 deletions src/AS5X47Spi/AS5X47Spi.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ class AS5X47Spi {
public:

AS5X47Spi(uint8_t chipSelectPin);
void init();
void writeData(uint16_t command, uint16_t value);
uint16_t readData(uint16_t command, uint16_t nopCommand);

Expand Down