main.cpp File Reference

#include <Arduino.h>
#include <Wire.h>

Include dependency graph for main.cpp:

Go to the source code of this file.

Macros
#define	SDA_PIN   4
#define	SCL_PIN   5
#define	AS5600_ADDR   0x36
#define	REG_ZMCO   0x00
#define	REG_CONF_HI   0x07
#define	REG_CONF_LO   0x08
#define	REG_STATUS   0x0B
#define	REG_RAW_MSB   0x0C
#define	REG_RAW_LSB   0x0D
#define	REG_AGC   0x1A
#define	REG_MAG_HI   0x1B
#define	REG_MAG_LO   0x1C
#define	STATUS_MH   0x08
#define	STATUS_ML   0x10
#define	STATUS_MD   0x20
#define	READ_ERROR   0xFFFF

Functions
bool	i2cReadBytes (uint8_t reg, uint8_t *buf, uint8_t len)
bool	as5600Ping ()
void	dumpDiagnostics ()
uint16_t	readRawAngle ()
float	rawToDegrees (uint16_t raw)
bool	checkMagnetPresence ()
void	correctAngle ()
void	setup ()
void	loop ()

Variables
float	startAngle = 0.0f
float	degAngle = 0.0f
float	correctedAngle = 0.0f
bool	sensorOk = false

Macro Definition Documentation

AS5600_ADDR

#define AS5600_ADDR   0x36

Definition at line 9 of file main.cpp.

Referenced by as5600Ping(), i2cReadBytes(), and i2cReadBytes().

READ_ERROR

#define READ_ERROR   0xFFFF

Definition at line 23 of file main.cpp.

Referenced by loop(), readRawAngle(), readRawAngle(), and setup().

REG_AGC

#define REG_AGC   0x1A

Definition at line 16 of file main.cpp.

Referenced by dumpDiagnostics().

REG_CONF_HI

#define REG_CONF_HI   0x07

Definition at line 11 of file main.cpp.

Referenced by dumpDiagnostics().

REG_CONF_LO

#define REG_CONF_LO   0x08

Definition at line 12 of file main.cpp.

REG_MAG_HI

#define REG_MAG_HI   0x1B

Definition at line 17 of file main.cpp.

Referenced by dumpDiagnostics().

REG_MAG_LO

#define REG_MAG_LO   0x1C

Definition at line 18 of file main.cpp.

REG_RAW_LSB

#define REG_RAW_LSB   0x0D

Definition at line 15 of file main.cpp.

REG_RAW_MSB

#define REG_RAW_MSB   0x0C

Definition at line 14 of file main.cpp.

Referenced by dumpDiagnostics(), readRawAngle(), and readRawAngle().

REG_STATUS

#define REG_STATUS   0x0B

Definition at line 13 of file main.cpp.

Referenced by checkMagnetPresence(), checkMagnetPresence(), dumpDiagnostics(), and testEncoderComms().

REG_ZMCO

#define REG_ZMCO   0x00

Definition at line 10 of file main.cpp.

Referenced by dumpDiagnostics().

SCL_PIN

#define SCL_PIN   5

Definition at line 6 of file main.cpp.

Referenced by setup().

SDA_PIN

#define SDA_PIN   4

Definition at line 5 of file main.cpp.

Referenced by setup().

STATUS_MD

#define STATUS_MD   0x20

Definition at line 22 of file main.cpp.

Referenced by checkMagnetPresence(), checkMagnetPresence(), and dumpDiagnostics().

STATUS_MH

#define STATUS_MH   0x08

Definition at line 20 of file main.cpp.

Referenced by checkMagnetPresence(), checkMagnetPresence(), and dumpDiagnostics().

STATUS_ML

#define STATUS_ML   0x10

Definition at line 21 of file main.cpp.

Referenced by checkMagnetPresence(), checkMagnetPresence(), and dumpDiagnostics().

Function Documentation

as5600Ping()

bool as5600Ping

(

)

Definition at line 45 of file main.cpp.

References AS5600_ADDR.

Referenced by loop(), and setup().

checkMagnetPresence()

bool checkMagnetPresence

(

)

Definition at line 120 of file main.cpp.

References delay(), i2cReadBytes(), millis(), REG_STATUS, Serial, start(), STATUS_MD, STATUS_MH, and STATUS_ML.

Referenced by loop(), and setup().

correctAngle()

void correctAngle

(

)

Definition at line 149 of file main.cpp.

References correctedAngle, degAngle, and startAngle.

Referenced by loop().

dumpDiagnostics()

void dumpDiagnostics

(

)

Definition at line 50 of file main.cpp.

References i2cReadBytes(), REG_AGC, REG_CONF_HI, REG_MAG_HI, REG_RAW_MSB, REG_STATUS, REG_ZMCO, Serial, STATUS_MD, STATUS_MH, and STATUS_ML.

Referenced by loop(), and setup().

i2cReadBytes()

bool i2cReadBytes	(	uint8_t	reg,
		uint8_t *	buf,
		uint8_t	len )

Definition at line 30 of file main.cpp.

References AS5600_ADDR, and reg.

Referenced by checkMagnetPresence(), checkMagnetPresence(), dumpDiagnostics(), readRawAngle(), readRawAngle(), and testEncoderComms().

loop()

void loop

(

)

Definition at line 186 of file main.cpp.

References as5600Ping(), checkMagnetPresence(), correctAngle(), correctedAngle, degAngle, delay(), dumpDiagnostics(), rawToDegrees(), READ_ERROR, readRawAngle(), sensorOk, and Serial.

rawToDegrees()

float rawToDegrees

(

uint16_t

raw

)

Definition at line 116 of file main.cpp.

Referenced by loop(), and setup().

readRawAngle()

uint16_t readRawAngle

(

)

Definition at line 109 of file main.cpp.

References i2cReadBytes(), READ_ERROR, and REG_RAW_MSB.

Referenced by loop(), and setup().

setup()

void setup

(

void

)

Definition at line 155 of file main.cpp.

References as5600Ping(), checkMagnetPresence(), delay(), dumpDiagnostics(), rawToDegrees(), READ_ERROR, readRawAngle(), SCL_PIN, SDA_PIN, sensorOk, Serial, and startAngle.

Variable Documentation

correctedAngle

float correctedAngle = 0.0f

Definition at line 27 of file main.cpp.

Referenced by correctAngle(), and loop().

degAngle

float degAngle = 0.0f

Definition at line 26 of file main.cpp.

Referenced by correctAngle(), and loop().

sensorOk

bool sensorOk = false

Definition at line 28 of file main.cpp.

Referenced by loop(), and setup().

startAngle

float startAngle = 0.0f

Definition at line 25 of file main.cpp.

Referenced by correctAngle(), and setup().