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[driver] Adding AS5047 driver and example
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// coding: utf-8 | ||
/* | ||
* Copyright (c) 2024, Henrik Hose | ||
* | ||
* This file is part of the modm project. | ||
* | ||
* This Source Code Form is subject to the terms of the Mozilla Public | ||
* License, v. 2.0. If a copy of the MPL was not distributed with this | ||
* file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
*/ | ||
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#include <modm/board.hpp> | ||
#include <modm/driver/encoder/as5047.hpp> | ||
#include <modm/processing.hpp> | ||
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using SpiMaster = SpiMaster1; | ||
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using Cs = modm::platform::GpioB10; | ||
using Mosi = modm::platform::GpioB5; | ||
using Miso = modm::platform::GpioB4; | ||
using Sck = modm::platform::GpioB3; | ||
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using namespace Board; | ||
using namespace modm::literals; | ||
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class EncoderThread : public modm::pt::Protothread | ||
{ | ||
public: | ||
EncoderThread() : encoder(data) {} | ||
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bool | ||
run() | ||
{ | ||
PT_BEGIN(); | ||
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while (true) | ||
{ | ||
PT_CALL(encoder.readout()); | ||
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MODM_LOG_INFO << "\nNew readout:" << modm::endl; | ||
MODM_LOG_INFO << " angle degree: " << data.getAngleDeg() << " degrees" << modm::endl; | ||
MODM_LOG_INFO << " angle rad: " << data.getAngleRad() << " radians" << modm::endl; | ||
MODM_LOG_INFO << " angle raw: " << data.getAngleRaw() << modm::endl; | ||
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timeout.restart(std::chrono::milliseconds(500)); | ||
PT_WAIT_UNTIL(timeout.isExpired()); | ||
} | ||
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PT_END(); | ||
} | ||
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private: | ||
modm::as5047::Data data; | ||
modm::As5047<SpiMaster, Cs> encoder; | ||
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modm::ShortTimeout timeout; | ||
} encoderThread; | ||
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int | ||
main() | ||
{ | ||
Board::initialize(); | ||
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Cs::setOutput(modm::Gpio::High); | ||
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SpiMaster::connect<Miso::Miso, Mosi::Mosi, Sck::Sck>(); | ||
SpiMaster::initialize<Board::SystemClock, 1.3_MHz>(); | ||
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MODM_LOG_INFO << "==========AS5047 Test==========" << modm::endl; | ||
MODM_LOG_DEBUG << "Debug logging here" << modm::endl; | ||
MODM_LOG_INFO << "Info logging here" << modm::endl; | ||
MODM_LOG_WARNING << "Warning logging here" << modm::endl; | ||
MODM_LOG_ERROR << "Error logging here" << modm::endl; | ||
MODM_LOG_INFO << "===============================" << modm::endl; | ||
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while (true) { encoderThread.run(); } | ||
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return 0; | ||
} |
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<library> | ||
<extends>modm:nucleo-g474re</extends> | ||
<options> | ||
<option name="modm:build:build.path">../../../build/nucleo_g474re/as5047</option> | ||
</options> | ||
<modules> | ||
<module>modm:driver:as5047</module> | ||
<module>modm:platform:gpio</module> | ||
<module>modm:platform:spi:1</module> | ||
<module>modm:processing:protothread</module> | ||
<module>modm:processing:timer</module> | ||
<module>modm:build:scons</module> | ||
</modules> | ||
</library> |
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// coding: utf-8 | ||
// ---------------------------------------------------------------------------- | ||
/* | ||
* Copyright (c) 2024, Henrik Hose | ||
* | ||
* This file is part of the modm project. | ||
* | ||
* This Source Code Form is subject to the terms of the Mozilla Public | ||
* License, v. 2.0. If a copy of the MPL was not distributed with this | ||
* file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
*/ | ||
// ---------------------------------------------------------------------------- | ||
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#ifndef MODM_AS5047_HPP | ||
#define MODM_AS5047_HPP | ||
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#include <array> | ||
#include <modm/architecture/interface/register.hpp> | ||
#include <modm/architecture/interface/spi_device.hpp> | ||
#include <modm/processing/resumable.hpp> | ||
#include <modm/processing/timer.hpp> | ||
#include <numbers> | ||
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namespace modm | ||
{ | ||
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/// @cond | ||
namespace detail | ||
{ | ||
constexpr uint16_t | ||
as5047_setMsbToEvenParity(const uint16_t num) | ||
{ | ||
uint16_t par = 0x7fff & num; | ||
par ^= par >> 8; | ||
par ^= par >> 4; | ||
par ^= par >> 2; | ||
par ^= par >> 1; | ||
return ((par & 1) << 15) | (0x7fff & num); | ||
} | ||
} // namespace detail | ||
/// @endcond | ||
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/// @ingroup modm_driver_as5047 | ||
struct as5047 | ||
{ | ||
enum class Errorfl : uint16_t | ||
{ | ||
Parerr = Bit2, | ||
Invcomm = Bit1, | ||
Frerr = Bit0, | ||
}; | ||
MODM_FLAGS16(Errorfl) | ||
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enum class Prog : uint16_t | ||
{ | ||
Progver = Bit6, | ||
Progotp = Bit3, | ||
Otpref = Bit2, | ||
Progen = Bit0, | ||
}; | ||
MODM_FLAGS16(Prog) | ||
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enum class Diaagc : uint16_t | ||
{ | ||
Magl = Bit11, | ||
Magh = Bit10, | ||
Cof = Bit9, | ||
Lf = Bit8, | ||
}; | ||
MODM_FLAGS16(Diaagc) | ||
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enum class Register : uint16_t | ||
{ | ||
ReadNop = detail::as5047_setMsbToEvenParity(((1 << 14) | 0x0000)), | ||
ReadErrfl = detail::as5047_setMsbToEvenParity(((1 << 14) | 0x0001)), | ||
ReadProg = detail::as5047_setMsbToEvenParity(((1 << 14) | 0x0003)), | ||
ReadDiaagc = detail::as5047_setMsbToEvenParity(((1 << 14) | 0x3FFC)), | ||
ReadMag = detail::as5047_setMsbToEvenParity(((1 << 14) | 0x3FFD)), | ||
ReadAngleunc = detail::as5047_setMsbToEvenParity(((1 << 14) | 0x3FFE)), | ||
ReadAnglecom = detail::as5047_setMsbToEvenParity(((1 << 14) | 0x3FFF)), | ||
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}; | ||
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struct modm_packed Data | ||
{ | ||
/// @return | ||
constexpr float | ||
getAngleRad() const | ||
{ | ||
const uint16_t angle = data & 0x3fff; | ||
return static_cast<float>(angle) / 16383.f * 2.f * std::numbers::pi_v<float>; | ||
} | ||
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/// @return | ||
constexpr float | ||
getAngleDeg() const | ||
{ | ||
const uint16_t angle = data & 0x3fff; | ||
return static_cast<float>(angle) / 16383.f * 360.f; | ||
} | ||
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/// @return | ||
constexpr uint16_t | ||
getAngleRaw() const | ||
{ | ||
const uint16_t angle = data & 0x3fff; | ||
return angle; | ||
} | ||
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uint16_t data; | ||
}; | ||
}; // struct as5047 | ||
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/** | ||
* @tparam SpiMaster | ||
* @tparam Cs | ||
* | ||
* @author Henrik Hose | ||
* @ingroup modm_driver_as5047 | ||
*/ | ||
template<typename SpiMaster, typename Cs> | ||
class As5047 : public as5047, public modm::SpiDevice<SpiMaster>, protected modm::NestedResumable<5> | ||
{ | ||
public: | ||
using Data = as5047::Data; | ||
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/** | ||
* @param data pointer to buffer of the internal data of type Data | ||
*/ | ||
As5047(Data &data); | ||
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/// Call this function once before using the device | ||
modm::ResumableResult<void> | ||
initialize(); | ||
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/// Read the raw data from the sensor | ||
modm::ResumableResult<void> | ||
readout(); | ||
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/// Get the data object for this sensor | ||
inline Data & | ||
getData() | ||
{ | ||
return data; | ||
} | ||
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private: | ||
Data &data; | ||
uint8_t inBuffer[2]; | ||
uint8_t outBuffer[2]; | ||
}; | ||
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} // namespace modm | ||
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#include "as5047_impl.hpp" | ||
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#endif // MODM_AS5047_HPP |
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