Bug with using second I2C bus on ESP32 for two AS5600 encoders

[jtran03]

I have been trying to implement two AS5600's on the same ESP32 using its two I2C bus interfaces. However, after running this code here:

#include "AS5600.h"
#include "Wire.h"

const int SCL_1 = 23; 
const int SDA_1 = 22;
const int SCL_2 = 19;
const int SDA_2 = 18; 

AS5600 as5600_0(&Wire);
AS5600 as5600_1(&Wire1);


void setup()
{
  // Initialise Serial Connection
  Serial.begin(115200); 

  // Initialise as5600_0 Connection
  as5600_0.begin(SDA_1, SCL_1); 
  Serial.print("Connect device 0: ");
  Serial.println(as5600_0.isConnected() ? "true" : "false");
  
  // Initialise as5600_1 Connection
  as5600_1.begin(SDA_2, SCL_2); 
  Serial.print("Connect device 1: ");
  Serial.println(as5600_1.isConnected() ? "true" : "false");
}


void loop()
{
  Serial.print(millis());
  Serial.print("\t");
  Serial.println(as5600_0.rawAngle() * AS5600_RAW_TO_DEGREES);
  Serial.print("\t");
  Serial.println(as5600_1.rawAngle() * AS5600_RAW_TO_DEGREES);
  Serial.print("\n");
  delay(100);
}

It caused the 2nd AS5600 is to copy the readings of the 1st AS5600. I found that temporary fix is to comment out line 68 of AS5600.cpp:

// _wire = &Wire;

[RobTillaart]

I will look into this issue asap, but it might take a few days.

[RobTillaart]

Will merge -#40 first today.

[RobTillaart]

@jtran03
As I have no hardware setup nearby, are you able to do some testing when I provide a new branch?

[RobTillaart]

Will merge -#40 first today.

done

[RobTillaart]

@jtran03

I found that temporary fix is to comment out line 68 of AS5600.cpp:

Thanks
Your analysis is correct, it has been in the code since initial release.
New release will be 0.4.0 as this is serious bugfix.

[jtran03]

@jtran03 As I have no hardware setup nearby, are you able to do some testing when I provide a new branch?

Yep

[RobTillaart]

Created develop branch and a PR - #41

• minimal code change, only removed that one line.
• includes minor edit in readme.md about pull ups when using an UNO.

I'll wait for your test results, thanks!

[jtran03]

Hi,

Tested both sensors using as5600.readStatus() and as5600_0.readAngle and it seems to be working fine

[RobTillaart]

Thanks, will merge and release