improve getCumulativePosition() (#35)

- change **getCumulativePosition()** to use **AS5600_ANGLE** so filters can be applied. - add **AS5600_DEGREES_TO_RAW** to constants. - add **AS5600_SW_DIRECTION_PIN** to constants. - minor edits.
RobTillaart · May 11, 2023 · 3232435 · 3232435
1 parent 8b62620
commit 3232435
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diff --git a/AS5600.cpp b/AS5600.cpp
@@ -1,7 +1,7 @@
 //
 //    FILE: AS56000.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.3.6
+// VERSION: 0.3.7
 // PURPOSE: Arduino library for AS5600 magnetic rotation meter
 //    DATE: 2022-05-28
 //     URL: https://github.com/RobTillaart/AS5600
@@ -12,10 +12,10 @@
 
 //  CONFIGURATION REGISTERS
 const uint8_t AS5600_ZMCO = 0x00;
-const uint8_t AS5600_ZPOS = 0x01;  // + 0x02
-const uint8_t AS5600_MPOS = 0x03;  // + 0x04
-const uint8_t AS5600_MANG = 0x05;  // + 0x06
-const uint8_t AS5600_CONF = 0x07;  // + 0x08
+const uint8_t AS5600_ZPOS = 0x01;   //  + 0x02
+const uint8_t AS5600_MPOS = 0x03;   //  + 0x04
+const uint8_t AS5600_MANG = 0x05;   //  + 0x06
+const uint8_t AS5600_CONF = 0x07;   //  + 0x08
 
 //  CONFIGURATION BIT MASKS - byte level
 const uint8_t AS5600_CONF_POWER_MODE    = 0x03;
@@ -30,8 +30,8 @@ const uint8_t AS5600_CONF_WATCH_DOG     = 0x20;
 //  UNKNOWN REGISTERS 0x09-0x0A
 
 //  OUTPUT REGISTERS
-const uint8_t AS5600_RAW_ANGLE = 0x0C;  // + 0x0D
-const uint8_t AS5600_ANGLE     = 0x0E;  // + 0x0F
+const uint8_t AS5600_RAW_ANGLE = 0x0C;   //  + 0x0D
+const uint8_t AS5600_ANGLE     = 0x0E;   //  + 0x0F
 
 // I2C_ADDRESS REGISTERS (AS5600L)
 const uint8_t AS5600_I2CADDR   = 0x20;
@@ -40,7 +40,7 @@ const uint8_t AS5600_I2CUPDT   = 0x21;
 //  STATUS REGISTERS
 const uint8_t AS5600_STATUS    = 0x0B;
 const uint8_t AS5600_AGC       = 0x1A;
-const uint8_t AS5600_MAGNITUDE = 0x1B;  // + 0x1C
+const uint8_t AS5600_MAGNITUDE = 0x1B;   //  + 0x1C
 const uint8_t AS5600_BURN      = 0xFF;
 
 //  STATUS BITS
@@ -59,7 +59,7 @@ AS5600::AS5600(TwoWire *wire)
 bool AS5600::begin(int dataPin, int clockPin, uint8_t directionPin)
 {
   _directionPin = directionPin;
-  if (_directionPin != 255)
+  if (_directionPin != AS5600_SW_DIRECTION_PIN)
   {
     pinMode(_directionPin, OUTPUT);
   }
@@ -81,7 +81,7 @@ bool AS5600::begin(int dataPin, int clockPin, uint8_t directionPin)
 bool AS5600::begin(uint8_t directionPin)
 {
   _directionPin = directionPin;
-  if (_directionPin != 255)
+  if (_directionPin != AS5600_SW_DIRECTION_PIN)
   {
     pinMode(_directionPin, OUTPUT);
   }
@@ -113,7 +113,7 @@ uint8_t AS5600::getAddress()
 void AS5600::setDirection(uint8_t direction)
 {
   _direction = direction;
-  if (_directionPin != 255)
+  if (_directionPin != AS5600_SW_DIRECTION_PIN)
   {
     digitalWrite(_directionPin, _direction);
   }
@@ -122,7 +122,7 @@ void AS5600::setDirection(uint8_t direction)
 
 uint8_t AS5600::getDirection()
 {
-  if (_directionPin != 255)
+  if (_directionPin != AS5600_SW_DIRECTION_PIN)
   {
     _direction = digitalRead(_directionPin);
   }
@@ -182,6 +182,10 @@ uint16_t AS5600::getMaxAngle()
 }
 
 
+/////////////////////////////////////////////////////////
+//
+//  CONFIGURATION
+//
 bool AS5600::setConfigure(uint16_t value)
 {
   if (value > 0x3FFF) return false;
@@ -208,11 +212,13 @@ bool AS5600::setPowerMode(uint8_t powerMode)
   return true;
 }
 
+
 uint8_t AS5600::getPowerMode()
 {
   return readReg(AS5600_CONF + 1) & 0x03;
 }
 
+
 bool AS5600::setHysteresis(uint8_t hysteresis)
 {
   if (hysteresis > 3) return false;
@@ -223,11 +229,13 @@ bool AS5600::setHysteresis(uint8_t hysteresis)
   return true;
 }
 
+
 uint8_t AS5600::getHysteresis()
 {
   return (readReg(AS5600_CONF + 1) >> 2) & 0x03;
 }
 
+
 bool AS5600::setOutputMode(uint8_t outputMode)
 {
   if (outputMode > 2) return false;
@@ -238,11 +246,13 @@ bool AS5600::setOutputMode(uint8_t outputMode)
   return true;
 }
 
+
 uint8_t AS5600::getOutputMode()
 {
   return (readReg(AS5600_CONF + 1) >> 4) & 0x03;
 }
 
+
 bool AS5600::setPWMFrequency(uint8_t pwmFreq)
 {
   if (pwmFreq > 3) return false;
@@ -253,11 +263,13 @@ bool AS5600::setPWMFrequency(uint8_t pwmFreq)
   return true;
 }
 
+
 uint8_t AS5600::getPWMFrequency()
 {
   return (readReg(AS5600_CONF + 1) >> 6) & 0x03;
 }
 
+
 bool AS5600::setSlowFilter(uint8_t mask)
 {
   if (mask > 3) return false;
@@ -268,11 +280,13 @@ bool AS5600::setSlowFilter(uint8_t mask)
   return true;
 }
 
+
 uint8_t AS5600::getSlowFilter()
 {
   return readReg(AS5600_CONF) & 0x03;
 }
 
+
 bool AS5600::setFastFilter(uint8_t mask)
 {
   if (mask > 7) return false;
@@ -283,11 +297,13 @@ bool AS5600::setFastFilter(uint8_t mask)
   return true;
 }
 
+
 uint8_t AS5600::getFastFilter()
 {
   return (readReg(AS5600_CONF) >> 2) & 0x07;
 }
 
+
 bool AS5600::setWatchDog(uint8_t mask)
 {
   if (mask > 1) return false;
@@ -298,6 +314,7 @@ bool AS5600::setWatchDog(uint8_t mask)
   return true;
 }
 
+
 uint8_t AS5600::getWatchDog()
 {
   return (readReg(AS5600_CONF) >> 5) & 0x01;
@@ -313,7 +330,8 @@ uint16_t AS5600::rawAngle()
   int16_t value = readReg2(AS5600_RAW_ANGLE) & 0x0FFF;
   if (_offset > 0) value = (value + _offset) & 0x0FFF;
 
-  if ((_directionPin == 255) && (_direction == AS5600_COUNTERCLOCK_WISE))
+  if ((_directionPin == AS5600_SW_DIRECTION_PIN) && 
+      (_direction == AS5600_COUNTERCLOCK_WISE))
   {
     value = (4096 - value) & 0x0FFF;
   }
@@ -326,7 +344,8 @@ uint16_t AS5600::readAngle()
   uint16_t value = readReg2(AS5600_ANGLE) & 0x0FFF;
   if (_offset > 0) value = (value + _offset) & 0x0FFF;
 
-  if ((_directionPin == 255) && (_direction == AS5600_COUNTERCLOCK_WISE))
+  if ((_directionPin == AS5600_SW_DIRECTION_PIN) && 
+      (_direction == AS5600_COUNTERCLOCK_WISE))
   {
     value = (4096 - value) & 0x0FFF;
   }
@@ -336,12 +355,12 @@ uint16_t AS5600::readAngle()
 
 bool AS5600::setOffset(float degrees)
 {
-  // expect loss of precision.
+  //  expect loss of precision.
   if (abs(degrees) > 36000) return false;
   bool neg = (degrees < 0);
   if (neg) degrees = -degrees;
 
-  uint16_t offset = round(degrees * (4096 / 360.0));
+  uint16_t offset = round(degrees * AS5600_DEGREES_TO_RAW);
   offset &= 4095;
   if (neg) offset = 4096 - offset;
   _offset = offset;
@@ -433,7 +452,8 @@ float AS5600::getAngularSpeed(uint8_t mode)
   //  remember last time & angle
   _lastMeasurement = now;
   _lastAngle       = angle;
-  //  return degrees or radians
+
+  //  return radians, RPM or degrees.
   if (mode == AS5600_MODE_RADIANS)
   {
     return speed * AS5600_RAW_TO_RADIANS;
@@ -453,7 +473,7 @@ float AS5600::getAngularSpeed(uint8_t mode)
 //
 int32_t AS5600::getCumulativePosition()
 {
-  int16_t value = readReg2(AS5600_RAW_ANGLE) & 0x0FFF;
+  int16_t value = readReg2(AS5600_ANGLE) & 0x0FFF;
 
   //  whole rotation CW?
   //  less than half a circle

diff --git a/AS5600.h b/AS5600.h
@@ -2,7 +2,7 @@
 //
 //    FILE: AS5600.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.3.6
+// VERSION: 0.3.7
 // PURPOSE: Arduino library for AS5600 magnetic rotation meter
 //    DATE: 2022-05-28
 //     URL: https://github.com/RobTillaart/AS5600
@@ -12,19 +12,20 @@
 #include "Wire.h"
 
 
-#define AS5600_LIB_VERSION              (F("0.3.6"))
+#define AS5600_LIB_VERSION              (F("0.3.7"))
 
 //  default addresses
 const uint8_t AS5600_DEFAULT_ADDRESS    = 0x36;
 const uint8_t AS5600L_DEFAULT_ADDRESS   = 0x40;
-
+const uint8_t AS5600_SW_DIRECTION_PIN   = 255;
 
 //  setDirection
 const uint8_t AS5600_CLOCK_WISE         = 0;  //  LOW
 const uint8_t AS5600_COUNTERCLOCK_WISE  = 1;  //  HIGH
 
 //  0.087890625;
 const float   AS5600_RAW_TO_DEGREES     = 360.0 / 4096;
+const float   AS5600_DEGREES_TO_RAW     = 4096 / 360.0;
 //  0.00153398078788564122971808758949;
 const float   AS5600_RAW_TO_RADIANS     = PI * 2.0 / 4096;
 //  4.06901041666666e-6
@@ -89,14 +90,14 @@ class AS5600
   AS5600(TwoWire *wire = &Wire);
 
 #if defined (ESP8266) || defined(ESP32)
-           //  255 is software controlled direction pin
-  bool     begin(int dataPin, int clockPin, uint8_t directionPin = 255);
+  //  AS5600_SW_DIRECTION_PIN is software controlled direction pin
+  bool     begin(int dataPin, int clockPin, uint8_t directionPin = AS5600_SW_DIRECTION_PIN);
 #endif
-           //  255 is software controlled direction pin
-  bool     begin(uint8_t directionPin = 255);  //  MAGIC NR => const int?
+  bool     begin(uint8_t directionPin = AS5600_SW_DIRECTION_PIN);
   bool     isConnected();
 
-  uint8_t  getAddress();  //  0x36 for AS5600, 0x40 for AS5600L
+  //  address = 0x36 for AS5600, 0x40 for AS5600L
+  uint8_t  getAddress();
 
 
   //  SET CONFIGURE REGISTERS

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -5,14 +5,21 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
 
+## [0.3.7] - 2023-05-09
+- change **getCumulativePosition()** to use **AS5600_ANGLE**
+  so filters can be applied.
+- add **AS5600_DEGREES_TO_RAW** to constants.
+- add **AS5600_SW_DIRECTION_PIN** to constants.
+- minor edits.
+
+
 ## [0.3.6] - 2023-02-20
-- add **resetCumulativePosition(int32_t position)** to completely reset the cumulative counter. 
+- 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. 
+- 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

diff --git a/README.md b/README.md
@@ -185,14 +185,14 @@ Also Configuration bits below for configuration related ones.
 
 - **AS5600(TwoWire \*wire = &Wire)** Constructor with optional Wire 
 interface as parameter.
-- **bool begin(uint8_t directionPin = 255)** set the value for the 
-directionPin. 
-If the pin is set to 255, the default value, there will be software 
-direction control instead of hardware control.
+- **bool begin(uint8_t directionPin = AS5600_SW_DIRECTION_PIN)** 
+  set the value for the directionPin. 
+If the pin is set to AS5600_SW_DIRECTION_PIN, the default value, 
+there will be software direction control instead of hardware control.
 See below.
-- **bool begin(int dataPin, int clockPin, uint8_t directionPin = 255)** idem, 
+- **bool begin(int dataPin, int clockPin, uint8_t directionPin = AS5600_SW_DIRECTION_PIN)** idem, 
 for the ESP32 where one can choose the I2C pins.
-If the pin is set to 255, the default value, there will be software 
+If the pin is set to AS5600_SW_DIRECTION_PIN, the default value, there will be software 
 direction control instead of hardware control.
 See below.
 - **bool isConnected()** checks if the address 0x36 (AS5600) is on the I2C bus.
@@ -614,32 +614,22 @@ priority is relative.
 
 #### Must
 
-- re-organize readme (0.4.0 ?)
-- fix for AS5600L as it does not support analog OUT.
-  - type field?
-  - other class hierarchy? 
-    - base class with commonalities?
-  - just ignore?
+- re-organize readme (0.4.0)
 - rename revolution functions (0.4.0)
+  - to what?
 
 
 #### Should
 
 - investigate **readMagnitude()**
   - combination of AGC and MD, ML and MH flags?
-- investigate performance
-  - basic performance per function
-  - I2C improvements
-  - software direction
 - investigate OUT behaviour in practice
   - analogue
   - PWM
   - need AS5600 on breakout with support
 - write examples:
   - as5600_calibration.ino (needs HW and lots of time)
   - different configuration options
-- add mode parameter to offset functions.
-  - see getAngularSpeed()
 - check / verify Power-up time
   - 1 minute (need HW)
 - check Timing Characteristics (datasheet)
@@ -654,7 +644,20 @@ priority is relative.
 - investigate PGO programming pin.
 - check for compatible devices
   - AS5200 ?
+- investigate performance
+  - basic performance per function
+  - I2C improvements
+  - software direction
 
 
-#### Wont
+#### Wont (unless)
+
+- fix for AS5600L as it does not support analog OUT.
+  - type field?
+  - other class hierarchy? 
+    - base class with commonalities?
+  - ==> just ignore for now.
+- add mode parameter to offset functions.
+  - see getAngularSpeed()
+