add resetCumulativeCounter() (#31)

- add **resetCumulativePosition(int32_t position)**
- add parameter position to **resetPosition(int32_t position)**
- add example
- update readme.md

AS5600.cpp

@@ -1,7 +1,7 @@
 //
 //    FILE: AS56000.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.3.5
+// VERSION: 0.3.6
 // PURPOSE: Arduino library for AS5600 magnetic rotation meter
 //    DATE: 2022-05-28
 //     URL: https://github.com/RobTillaart/AS5600
@@ -451,18 +451,19 @@ float AS5600::getAngularSpeed(uint8_t mode)
 //
 //  POSITION cumulative
 //
-
 int32_t AS5600::getCumulativePosition()
 {
   int16_t value = readReg2(AS5600_RAW_ANGLE) & 0x0FFF;
 
   //  whole rotation CW?
-  if ((_lastPosition > 2048) && ( value < (_lastPosition - 2048)))  //  less than half a circle
+  //  less than half a circle
+  if ((_lastPosition > 2048) && ( value < (_lastPosition - 2048)))
   {
     _position = _position + 4096 - _lastPosition + value;
   }
   //  whole rotation CCW?
-  else if ((value > 2048) && ( _lastPosition < (value - 2048)))  //  less than half a circle
+  //  less than half a circle
+  else if ((value > 2048) && ( _lastPosition < (value - 2048)))
   {
     _position = _position - 4096 - _lastPosition + value;
   }
@@ -475,17 +476,26 @@ int32_t AS5600::getCumulativePosition()
 
 int32_t AS5600::getRevolutions()
 {
-  int32_t p =  _position >> 12;
+  int32_t p = _position >> 12;  //  divide by 4096
   return p;
   // if (p < 0) p++;
   // return p;
 }
 
 
-int32_t AS5600::resetPosition()
+int32_t AS5600::resetPosition(int32_t position)
+{
+  int32_t old = _position;
+  _position = position;
+  return old;
+}
+
+
+int32_t AS5600::resetCumulativePosition(int32_t position)
 {
+  _lastPosition = readReg2(AS5600_RAW_ANGLE) & 0x0FFF;
   int32_t old = _position;
-  _position  = 0;
+  _position = position;
   return old;
 }
 

AS5600.h

@@ -2,7 +2,7 @@
 //
 //    FILE: AS5600.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.3.5
+// VERSION: 0.3.6
 // PURPOSE: Arduino library for AS5600 magnetic rotation meter
 //    DATE: 2022-05-28
 //     URL: https://github.com/RobTillaart/AS5600
@@ -12,7 +12,7 @@
 #include "Wire.h"
 
 
-#define AS5600_LIB_VERSION              (F("0.3.5"))
+#define AS5600_LIB_VERSION              (F("0.3.6"))
 
 //  default addresses
 const uint8_t AS5600_DEFAULT_ADDRESS    = 0x36;
@@ -214,8 +214,12 @@ class AS5600
   int32_t  getCumulativePosition();
   //  converts last position to whole revolutions.
   int32_t  getRevolutions();
-  //  resets position, returns last position.
-  int32_t  resetPosition();
+  //  resets position only (not the i)
+  //  returns last position but not internal lastPosition.
+  int32_t  resetPosition(int32_t position = 0);
+  //  resets position and internal lastPosition
+  //  returns last position.
+  int32_t  resetCumulativePosition(int32_t position = 0);
 
 
 protected:

CHANGELOG.md

@@ -5,12 +5,19 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
 
+## [0.3.6] - 2023-02-20
+- add **resetCumulativePosition(int32_t position)** to completely reset the cumulative counter. 
+This includes the delta since last call to **getCumulativePosition()**.
+- add parameter position to **resetPosition(int32_t position)** so a new position can be set. 
+This does not reset the delta since last call to **getCumulativePosition()**.
+- update readme.md
+
+
 ## [0.3.5] - 2023-02-01
 - update GitHub actions
 - update license 2023
 - update readme.md
 
-
 ## [0.3.4] - 2022-12-22
 - fix #26 edges problem of the experimental cumulative position (CP).
 - decoupled CP from **rawAngle()**

README.md

@@ -16,7 +16,7 @@ Arduino library for AS5600 and AS5600L magnetic rotation meter.
 #### AS5600
 
 **AS5600** is a library for an AS5600 / AS5600L based magnetic **rotation** meter.
-More exact, it measures the angle (rotation wrt reference) and not RPM.
+More exact, it measures the angle (rotation w.r.t. reference) and not RPM.
 Multiple angle measurements allows one to calculate / estimate the RPM.
 
 The AS5600 and AS5600L sensors are pin compatible (always check datasheet).
@@ -345,11 +345,14 @@ Functions are:
 - **int32_t getCumulativePosition()** reads sensor and updates cumulative position.
 - **int32_t getRevolutions()** converts last position to whole revolutions.
 Convenience function.
-- **int32_t resetPosition()** resets **revolutions**, returns last position. 
-The cumulative position does not reset to 0 but to the last known raw angle.
-This way the cumulative position always indicate the (absolute) angle too.
-
-As this code is experimental, names might change in the future (0.4.0).
+- **int32_t resetPosition(int32_t position = 0)** resets the "revolutions" to position (default 0).
+It does not reset the delta (rotation) since last call to **getCumulativePosition()**.
+Returns last position (before reset).
+- **int32_t resetCumulativePosition(int32_t position = 0)** completely resets the cumulative counter. 
+This includes the delta (rotation) since last call to **getCumulativePosition()**.
+Returns last position (before reset).
+
+As this code is experimental, names might change in the future (0.4.0)?
 As the function are mostly about counting revolutions the current thoughts for new names are:
 
 ```cpp
@@ -649,6 +652,8 @@ priority is relative.
 
 - add error handling
 - investigate PGO programming pin.
+- check for compatible devices
+  - AS5200 ?
 
 
 #### Wont

examples/AS5600_resetCumulativeCounter/.arduino-ci.yml

@@ -0,0 +1,28 @@
+platforms:
+  rpipico:
+    board: rp2040:rp2040:rpipico
+    package: rp2040:rp2040
+    gcc:
+      features:
+      defines:
+        - ARDUINO_ARCH_RP2040
+      warnings:
+      flags:
+
+packages:
+  rp2040:rp2040:
+    url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
+
+compile:
+  # Choosing to run compilation tests on 2 different Arduino platforms
+  platforms:
+    # - uno
+    # - due
+    # - zero
+    # - leonardo
+    # - m4
+    - esp32
+    # - esp8266
+    # - mega2560
+    # - rpipico
+

examples/AS5600_resetCumulativeCounter/AS5600_resetCumulativeCounter.ino

@@ -0,0 +1,42 @@
+//
+//    FILE: AS5600_resetCumulativeCounter.ino
+//  AUTHOR: Daniel-Frenkel, (slightly by Rob Tillaart)
+// PURPOSE: demo - see issue #30
+
+
+#include "AS5600.h"
+#include "Wire.h"
+
+AS5600L as5600;   //  use default Wire
+
+
+void setup()
+{
+  Serial.begin(115200);
+  as5600.begin(14, 15);      //  ESP32
+  as5600.setAddress(0x40);   //  AS5600L has address
+
+  as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
+  delay(1000);
+  as5600.resetCumulativePosition(777);
+}
+
+
+void loop()
+{
+  static uint32_t lastTime = 0;
+
+  //  set initial position
+  as5600.getCumulativePosition();
+
+  //  update every 100 ms
+  if (millis() - lastTime >= 100)
+  {
+    lastTime = millis();
+    Serial.println(as5600.getCumulativePosition());
+  }
+}
+
+
+//  -- END OF FILE --
+

keywords.txt

@@ -45,6 +45,7 @@ getAngularSpeed	KEYWORD2
 getCumulativePosition	KEYWORD2
 getRevolutions	KEYWORD2
 resetPosition	KEYWORD2
+resetCumulativePosition	KEYWORD2
 
 
 #  CONFIGURATION FIELDS

library.json

@@ -15,7 +15,7 @@
     "type": "git",
     "url": "https://github.com/RobTillaart/AS5600.git"
   },
-  "version": "0.3.5",
+  "version": "0.3.6",
   "license": "MIT",
   "frameworks": "arduino",
   "platforms": "*",

library.properties

@@ -1,5 +1,5 @@
 name=AS5600
-version=0.3.5
+version=0.3.6
 author=Rob Tillaart <rob.tillaart@gmail.com>
 maintainer=Rob Tillaart <rob.tillaart@gmail.com>
 sentence=Arduino library for AS5600 and AS5600L magnetic rotation meter.