improve getCumulativePosition()

.github/FUNDING.yml

@@ -1,4 +1,5 @@
 # These are supported funding model platforms
 
-github: RobTillaart
+github: RobTillaart  
+custom: "https://www.paypal.me/robtillaart"
 

.github/workflows/arduino-lint.yml

@@ -5,8 +5,9 @@ on: [push, pull_request]
 jobs:
   lint:
     runs-on: ubuntu-latest
+    timeout-minutes: 5
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: arduino/arduino-lint-action@v1
         with:
           library-manager: update

.github/workflows/arduino_test_runner.yml

@@ -6,12 +6,14 @@ on: [push, pull_request]
 jobs:
   runTest:
     runs-on: ubuntu-latest
+    timeout-minutes: 20
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ruby/setup-ruby@v1
         with:
           ruby-version: 2.6
       - run: |
+          #  sudo sysctl vm.mmap_rnd_bits=28
           gem install arduino_ci
           arduino_ci.rb

.github/workflows/jsoncheck.yml

@@ -9,10 +9,11 @@ on:
 jobs:
   test:
     runs-on: ubuntu-latest
+    timeout-minutes: 5
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: json-syntax-check
-        uses: limitusus/json-syntax-check@v1
+        uses: limitusus/json-syntax-check@v2
         with:
           pattern: "\\.json$"
 

AS5600.cpp

@@ -1,7 +1,7 @@
 //
 //    FILE: AS56000.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.6.0
+// VERSION: 0.6.1
 // PURPOSE: Arduino library for AS5600 magnetic rotation meter
 //    DATE: 2022-05-28
 //     URL: https://github.com/RobTillaart/AS5600
@@ -463,6 +463,7 @@ float AS5600::getAngularSpeed(uint8_t mode)
 int32_t AS5600::getCumulativePosition()
 {
   int16_t value = readReg2(AS5600_ANGLE) & 0x0FFF;
+  if (_error != AS5600_OK) return _position;
 
   //  whole rotation CW?
   //  less than half a circle

AS5600.h

@@ -2,7 +2,7 @@
 //
 //    FILE: AS5600.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.6.0
+// VERSION: 0.6.1
 // 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("0.6.0"))
+#define AS5600_LIB_VERSION              (F("0.6.1"))
 
 
 //  default addresses

CHANGELOG.md

@@ -5,6 +5,13 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
 
+## [0.6.1] - 2024-03-31
+- improve **getCumulativePosition()**, catch I2C error, see #62
+- update readme.md (incl reorder future work).
+- update GitHub actions
+- minor edits
+
+
 ## [0.6.0] - 2024-01-25
 - add experimental error handling
 - add **int lastError()** so user can check the status of last I2C actions.

README.md

@@ -20,9 +20,9 @@ Arduino library for AS5600 and AS5600L magnetic rotation meter.
 
 **AS5600** is a library for an AS5600 / AS5600L based magnetic **rotation** meter.
 More exact, it measures the angle (rotation w.r.t. reference) and not RPM.
-Multiple angle measurements allows one to calculate / estimate the RPM.
+Multiple angle measurements allows one to calculate or estimate the RPM.
 
-The AS5600 and AS5600L sensors are pin compatible (always check datasheet).
+The AS5600 and AS5600L sensors are pin compatible (always check your model's datasheet).
 
 **Warning: experimental**
 
@@ -39,10 +39,10 @@ Please share your experiences.
 #### 0.5.0 Breaking change
 
 Version 0.5.0 introduced a breaking change.
-You cannot set the pins in **begin()** any more.
+You cannot set the SDA and SCL pins in **begin()** any more.
 This reduces the dependency of processor dependent Wire implementations.
-The user has to call **Wire.begin()** and can optionally set the Wire pins 
-before calling **begin()**.
+The user has to call **Wire.begin()** and can optionally set the I2C pins 
+before calling **AS5600.begin()**.
 
 
 #### Related libraries
@@ -64,6 +64,7 @@ Do not forget to add the pull up resistors to improve the I2C signals.
 The AS5600 datasheet states it supports Fast-Mode == 400 KHz
 and Fast-Mode-Plus == 1000 KHz.
 
+
 #### Pull ups
 
 I2C performance tests with an AS5600L with an UNO failed at 400 KHz. 
@@ -128,7 +129,7 @@ This resistor needs to be removed to use the **OUT** pin.
 
 Not tested. ==> Read the datasheet!
 
-PGO stands for Programming Option, it is used to calibrate / program the sensor.
+PGO stands for ProGramming Option, it is used to calibrate and program the sensor.
 As the sensor can be programmed only a few times one should
 use this functionality with extreme care.
 See datasheet for a detailed list of steps to be done.
@@ -731,38 +732,37 @@ priority is relative.
 
 #### Should
 
+- implement extended error handling in public functions.
+  - will increase footprint !! how much?
+  - **call writeReg() only if readReg() is OK** ==> prevent incorrect writes
+    - ```if (_error != 0) return false;```
+    - idem readReg2()
+  - set AS5600_ERROR_PARAMETER  e.g. setZPosition()
+  - a derived class with extended error handling?
 - investigate **readMagnitude()**
   - combination of AGC and MD, ML and MH flags?
-- investigate OUT behaviour in practice
+- 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
 - check / verify Power-up time
   - 1 minute (need HW)
 - check Timing Characteristics (datasheet)
   - is there improvement possible.
 
 
-
 #### Could
 
-- investigate PGO programming pin.
+- investigate **PGO** programming pin.
 - check for compatible devices
   - AS5200 ?
 - investigate performance
   - basic performance per function
   - I2C improvements
   - software direction
-- implement extended error handling in public functions.
-  - will increase footprint !! how much?
-  - writeReg() only if readReg() is OK ==> prevent incorrect writes
-    - ```if (_error != 0) return false;```
-  - set AS5600_ERROR_PARAMETER  e.g. setZPosition()
-  - a derived class with extended error handling?
-
+- write examples:
+  - as5600_calibration.ino (needs HW and lots of time)
+  - different configuration options
 
 #### Wont (unless)
 

examples/AS5600_burn_conf_mang/AS5600_burn_conf_mang.ino

@@ -88,7 +88,7 @@ void burn_mang()
   const uint16_t FASTFILTER = 0;
   const uint16_t WATCHDOG = 0;
   const uint16_t MAXANGLE = 0;
-  
+
   bool OK = true;
   OK = OK && as5600.setPowerMode(POWERMODE);
   OK = OK && (POWERMODE == as5600.getPowerMode());

examples/AS5600_demo/AS5600_demo.ino

@@ -21,7 +21,7 @@ void setup()
   Serial.println(__FILE__);
   Serial.print("AS5600_LIB_VERSION: ");
   Serial.println(AS5600_LIB_VERSION);
-  
+
   Wire.begin();
 
   as5600.begin(4);  //  set direction pin.

examples/AS5600_demo_ESP32/AS5600_demo_ESP32.ino

@@ -23,7 +23,7 @@ void setup()
   Serial.println(AS5600_LIB_VERSION);
 
   Wire.begin(14, 15);
-  
+
   as5600.begin(4);  //  set direction pin.
   as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
   int b = as5600.isConnected();

examples/AS5600_demo_software_direction/AS5600_demo_software_direction.ino

@@ -27,7 +27,7 @@ void setup()
 
   Wire.begin();
 
-  as5600.begin();      //  set software direction control. default param = 255
+  as5600.begin();      //  set software direction control. default parameter == 255
   as5600.setDirection(AS5600_CLOCK_WISE);  //  default, just be explicit.
 }
 
@@ -39,7 +39,7 @@ void loop()
   if (counter < 10) as5600.setDirection(AS5600_CLOCK_WISE);
   else              as5600.setDirection(AS5600_COUNTERCLOCK_WISE);
   if (counter >= 20) counter = 0;
-  
+
   Serial.print(millis());
   Serial.print("\t");
   Serial.print(as5600.getDirection());

examples/AS5600_demo_two_I2C/AS5600_demo_two_I2C.ino

@@ -36,7 +36,7 @@ void setup()
   Serial.print("Connect device 0: ");
   Serial.println(as5600_0.isConnected() ? "true" : "false");
   delay(1000);
-  
+
   as5600_1.begin(5);  //  set direction pin.
   as5600_1.setDirection(AS5600_COUNTERCLOCK_WISE);
   Serial.print("Connect device 1: ");

examples/AS5600_resetCumulativeCounter/AS5600_resetCumulativeCounter.ino

@@ -1,6 +1,6 @@
 //
 //    FILE: AS5600_resetCumulativeCounter.ino
-//  AUTHOR: Daniel-Frenkel, (slightly by Rob Tillaart)
+//  AUTHOR: Daniel-Frenkel, (slightly modified by Rob Tillaart)
 // PURPOSE: demo - see issue #30
 //     URL: https://github.com/RobTillaart/AS5600
 //
@@ -21,7 +21,7 @@ void setup()
   Serial.println(__FILE__);
   Serial.print("AS5600_LIB_VERSION: ");
   Serial.println(AS5600_LIB_VERSION);
-  
+
   Wire.begin(14, 15);        //  ESP32
 
   as5600.begin();

library.json

@@ -15,7 +15,7 @@
     "type": "git",
     "url": "https://github.com/RobTillaart/AS5600.git"
   },
-  "version": "0.6.0",
+  "version": "0.6.1",
   "license": "MIT",
   "frameworks": "*",
   "platforms": "*",

library.properties

@@ -1,5 +1,5 @@
 name=AS5600
-version=0.6.0
+version=0.6.1
 author=Rob Tillaart <rob.tillaart@gmail.com>
 maintainer=Rob Tillaart <rob.tillaart@gmail.com>
 sentence=Arduino library for AS5600 and AS5600L magnetic rotation meter.