modm API documentation
Public Typedefs | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
modm::as5600< I2cMaster > Class Template Reference
External Device Drivers » AS5600 10 bit absolute encoder I2C driver
Inheritance diagram for modm::as5600< I2cMaster >:
modm::I2cDevice< I2cMaster >

Public Typedefs

using PowerMode_t = Configuration< Config_t, PowerMode, 0b11, 0 >
 
using Hysteresis_t = Configuration< Config_t, Hysteresis, 0b11, 2 >
 
using OutputStage_t = Configuration< Config_t, OutputStage, 0b11, 4 >
 
using PWMFrequency_t = Configuration< Config_t, PWMFrequency, 0b11, 6 >
 
using SlowFilter_t = Configuration< Config_t, SlowFilter, 0b11, 8 >
 
using FastFilterThreshold_t = Configuration< Config_t, FastFilterThreshold, 0b11, 10 >
 
using Data = modm::IntegerAngle< 12 >
 

Public Types

enum  Register : uint8_t {
  ZMCO = 0x00, ZPOS = 0x01, MPOS = 0x03, MANG = 0x05,
  CONF = 0x07, ANGLE_RAW = 0x0C, ANGLE = 0x0E, STATUS = 0x0B,
  AGC = 0x1A, MAGNITUDE = 0x1B, BURN = 0xFF, I2C_ADDR = 0x20,
  I2C_UPDT = 0x21
}
 
enum  Config : uint16_t {
  PM0 = Bit0, PM1 = Bit1, HYST0 = Bit2, HYST1 = Bit3,
  OUTS0 = Bit4, OUTS1 = Bit5, PWM0 = Bit6, PWM1 = Bit7,
  SF0 = Bit8, SF1 = Bit9, FTH0 = Bit10, FTH1 = Bit11,
  FTH2 = Bit12, WD = Bit13
}
 
enum  PowerMode : uint16_t { NOM = 0, LPM1 = 1, LPM2 = 2, LPM3 = 3 }
 
enum  Hysteresis : uint16_t { OFF = 0, LSB = 1, LSB2 = 2, LSB3 = 3 }
 
enum  OutputStage : uint16_t { ANALOG = 0, ANALOG_REDUCED = 1, PWM = 2 }
 
enum  PWMFrequency : uint16_t { Hz115 = 0, Hz230 = 1, Hz460 = 2, Hz920 = 3 }
 
enum  SlowFilter : uint16_t { x16 = 0, x8 = 1, x4 = 2, x2 = 3 }
 
enum  FastFilterThreshold : uint16_t {
  LSB6 = 0, LSB7 = 1, LSB9 = 2, LSB18 = 3,
  LSB21 = 4, LSB24 = 5, LSB10 = 6
}
 
enum  Burn : uint8_t { ANGLE = Bit3, CONFIG = Bit2 }
 
enum  Status : uint8_t { MagnetTooStrong = Bit3, MagnetTooWeak = Bit4, MagnetDetected = Bit5 }
 

Public Member Functions

 MODM_FLAGS16 (Config)
 
 MODM_FLAGS8 (Status)
 
 As5600 (Data &data, uint8_t address=0x36)
 
bool reset ()
 
bool configure (Config_t config)
 
bool setI2cAddress (uint8_t address)
 
bool setLowerLimit (Data data)
 Wait 1ms after setting the lower limit.
 
bool setUpperLimit (Data data)
 Wait 1ms after setting the upper limit.
 
bool setMaxAngle (Data data)
 
bool burn (Burn flags)
 
Data getRawValue ()
 
Status getStatus ()
 
uint16_t getMagnitude ()
 
uint8_t getAgcValue ()
 
bool read ()
 
Data & getData ()
 
void attachConfigurationHandler (I2c::ConfigurationHandler handler)
 
bool ping ()
 
bool read (uint8_t *buffer, std::size_t size)
 Starts a write transaction and waits until finished.
 
void setAddress (uint8_t address)
 
bool write (const uint8_t *buffer, std::size_t size)
 Starts a write transaction and waits until finished.
 
bool writeRead (const uint8_t *writeBuffer, std::size_t writeSize, uint8_t *readBuffer, std::size_t readSize)
 Starts a write-read transaction and waits until finished.
 

Protected Member Functions

bool isTransactionRunning ()
 
bool runTransaction ()
 Starts our own transaction and waits until finished.
 
bool startTransaction ()
 Starts the transaction with our own transaction object.
 
bool startTransaction (modm::I2cTransaction *transaction)
 Starts the transaction with a separate transaction object.
 
bool wasTransactionSuccessful ()
 

Protected Attributes

I2cWriteReadTransaction transaction
 

Member Function Documentation

template<class I2cMaster >
modm::as5600< I2cMaster >::As5600 ( Data &  data,
uint8_t  address = 0x36 
)
inline

AS5600 has hardwired address 0x36 AS4500L has default address 0x40 but supports programming a different one

void modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::attachConfigurationHandler ( I2c::ConfigurationHandler  handler)
inheritedinline

Attaches a configuration handler, which is called before a transaction, whenever the configuration has to be changed.

template<class I2cMaster >
bool modm::as5600< I2cMaster >::burn ( Burn  flags)
inline

Permanently burn configurations

Warning
As5600 can be burned only 3 times!
template<class I2cMaster >
uint8_t modm::as5600< I2cMaster >::getAgcValue ( )
inline

Automated Gain Control

The AS5600 uses Automatic Gain Control in a closed loop to compensate for variations of the magnetic field strength due to changes of temperature, airgap between IC and magnet, and magnet degradation.

For the most robust performance, the gain value should be in the center of its range. The airgap of the physical system can be adjusted to achieve this value.

In 5V operation, range is 0-255 In 3.3V operation, range is reduced to 0-128

bool modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::isTransactionRunning ( )
inheritedinlineprotected
Returns
true when transaction is busy.
bool modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::ping ( )
inheritedinline
Return Values
truedevice responds to address
falseno device with address found
template<class I2cMaster >
bool modm::as5600< I2cMaster >::reset ( )
inline

Reset to Power up state. Useful for developement, not required in production.

The config registers span from 0x00 to 0x08

void modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::setAddress ( uint8_t  address)
inheritedinline

Sets a new address of the slave device.

Parameters
addressthe slave address not yet shifted left (address < 128).
bool modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::wasTransactionSuccessful ( )
inheritedinlineprotected
Returns
true when transaction did not return an error.
The documentation for this class was generated from the following file: