Initial commit

AS5600L/AS5600L.c

@@ -0,0 +1,93 @@
+#include "AS5600L.h"
+
+void as560x_init(AS5600L* as5600l, i2c_inst_t *I2C_ID, int frq , int sda, int scl ) {
+    i2c_init(I2C_ID, frq);
+    gpio_set_function(sda, GPIO_FUNC_I2C);
+    gpio_set_function(scl, GPIO_FUNC_I2C);
+    gpio_pull_up(sda);
+    gpio_pull_up(scl);
+
+    AS5600L_I2C instance_i2c;
+    instance_i2c.I2C_PORT = I2C_ID;
+    instance_i2c.FREQUENCE = frq;
+    instance_i2c.I2C_SDA_PIN = sda;
+    instance_i2c.I2C_SCL_PIN = scl;
+
+    as5600l->serial_instance = instance_i2c;
+    as5600l->abs_pos = 0;
+    as5600l->curr_angle = 0;
+    as5600l->last_angle = 0;
+    as5600l->start_pos = 0;
+    
+
+    as5600l->start_pos = as560xReadAngle(as5600l);
+    as5600l->abs_pos = 0 - as5600l->start_pos;
+}
+
+int update_pos(AS5600L* as5600l){
+    // sensorData(); 
+    as5600l->curr_angle = as560xReadAngle(as5600l);
+
+    if(as5600l->last_angle > ENCODER_RESOLUTION/2 & as5600l->curr_angle < (as5600l->last_angle - ENCODER_RESOLUTION/2)){
+        as5600l->abs_pos = as5600l->abs_pos + ENCODER_RESOLUTION - as5600l->last_angle + as5600l->curr_angle;
+    }else if(as5600l->curr_angle > ENCODER_RESOLUTION/2 &   as5600l->last_angle < (as5600l->curr_angle - ENCODER_RESOLUTION/2) ){
+        as5600l->abs_pos = as5600l->abs_pos -ENCODER_RESOLUTION - as5600l->last_angle + as5600l->curr_angle;
+    }else{
+        as5600l->abs_pos = as5600l->abs_pos - as5600l->last_angle + as5600l->curr_angle;
+    }
+    
+    as5600l->last_angle = as5600l->curr_angle;
+    return as5600l->abs_pos;
+}
+
+int __bswap16(int value) {
+    return (value >> 8) | (value << 8);
+}
+
+void i2cError() {
+    printf("I2C Error\n");
+}
+
+int as560xReadReg(AS5600L* as5600l,int addr, bool wide, int mask) {
+    int buf;
+    int result = i2c_write_timeout_us(as5600l->serial_instance.I2C_PORT, AS5600L_ADDRESS, (uint8_t *)&addr, 1, true, I2C_TIMEOUT_US);
+    if (result <= 0) {
+        i2cError();
+    }
+    result = i2c_read_timeout_us(as5600l->serial_instance.I2C_PORT, AS5600L_ADDRESS, (uint8_t *)&buf, (wide ? 2 : 1), false, I2C_TIMEOUT_US);
+    if (result <= 0) {
+        i2cError();
+    }
+    if (wide) {
+        return __bswap16(buf) & mask;
+    } else {
+        return buf & mask;
+    }
+}
+
+void AS560x_print_reg16(AS5600L* as5600l,const char *formatStr, int addr, int mask) {
+    int result = as560xReadReg(as5600l,addr, true, mask);
+    printf(formatStr, result & mask);
+}
+
+void AS560x_print_reg8(AS5600L* as5600l,const char *formatStr, int addr, uint8_t mask) {
+    uint8_t result = (uint8_t)as560xReadReg(as5600l,addr, false, mask);
+    printf(formatStr, result & mask);
+}
+
+
+int as560xReadAngle(AS5600L* as5600l) {
+    return as560xReadReg(as5600l,AS560x_RAW_ANGLE_REG, true, 0xFFF) ;
+}
+
+uint8_t as560xGetStatus(AS5600L* as5600l) {
+    return (uint8_t)as560xReadReg(as5600l,AS560x_STATUS_REG, false, 0x38);
+}
+
+void sensorData(AS5600L* as5600l) {
+    AS560x_print_reg8(as5600l,"Status: %02x; ", AS560x_STATUS_REG, 0x38);
+    AS560x_print_reg8(as5600l,"AGC: %3x; ", 0x1a, 0xff);
+    AS560x_print_reg16(as5600l,"Angle: %d\n\r", AS560x_RAW_ANGLE_REG, 0xFFF);
+}
+
+

AS5600L/AS5600L.h

@@ -0,0 +1,47 @@
+#ifndef AS5600L_H
+#define AS5600L_H
+
+#include "hardware/i2c.h"
+#include "pico/stdlib.h"
+#include "pico/time.h"
+#include <stdio.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#define I2C_TIMEOUT_US (100000)
+
+#define AS560x_STATUS_REG (0x0B)
+#define AS560x_RAW_ANGLE_REG (0x0C)
+#define AS5600L_ADDRESS 0x40
+#define ENCODER_RESOLUTION 4096
+
+
+
+typedef struct {
+    i2c_inst_t *I2C_PORT;
+    int FREQUENCE;
+    int I2C_SDA_PIN;
+    int I2C_SCL_PIN;
+} AS5600L_I2C;
+
+typedef struct {
+    AS5600L_I2C serial_instance;
+    int last_angle;
+    int curr_angle ;
+    int  abs_pos ;
+    int start_pos;
+} AS5600L;
+
+
+void as560x_init(AS5600L* as5600l, i2c_inst_t *I2C_ID, int frq , int sda, int scl);
+int update_pos(AS5600L* as5600l);
+int __bswap16(int value);
+void i2cError();
+int as560xReadReg(AS5600L* as5600l,int addr, bool wide, int mask);
+void AS560x_print_reg16(AS5600L* as5600l,const char *formatStr, int addr, int mask);
+void AS560x_print_reg8(AS5600L* as5600l,const char *formatStr, int addr, uint8_t mask);
+int as560xReadAngle(AS5600L* as5600l);
+uint8_t as560xGetStatus(AS5600L* as5600l);
+void sensorData(AS5600L* as5600l);
+
+#endif /* AS5600L_H */

AS5600L/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.12)
+
+#cmake -G "MinGW Makefiles" ..
+
+set(PROJECT_NAME "AS5600L_test")
+set(PICO_SDK_PATH "E:/Beyon_Motion/pico-sdk")
+set(PICO_TOOLCHAIN_PATH "C:/Users/spide/scoop/apps/gcc-arm-none-eabi/current/bin")
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+
+include(${PICO_SDK_PATH}/external/pico_sdk_import.cmake)
+
+project(${PROJECT_NAME} C CXX ASM)
+
+pico_sdk_init()
+
+add_executable(${PROJECT_NAME}
+    main.c
+    AS5600L.c
+    AS5600L.h
+)
+
+target_link_libraries(${PROJECT_NAME}
+    pico_stdlib
+    hardware_i2c
+    hardware_dma
+)
+
+pico_enable_stdio_usb(${PROJECT_NAME} 1)
+pico_enable_stdio_uart(${PROJECT_NAME} 0)
+
+pico_add_extra_outputs(${PROJECT_NAME})

AS5600L/main.c

@@ -0,0 +1,28 @@
+#include "pico/stdlib.h"
+#include "pico/time.h"
+#include "hardware/i2c.h"
+#include <stdio.h>
+#include "AS5600L.h"
+
+#define I2C_PORT i2c0
+#define I2C_SDA_PIN 8
+#define I2C_SCL_PIN 9
+
+int main() {
+    stdio_init_all();
+    sleep_ms(1000); 
+
+    AS5600L as5600l;
+
+    as560x_init(&as5600l,I2C_PORT,100000,I2C_SDA_PIN,I2C_SCL_PIN);
+
+    int abs = 0;
+    abs = update_pos;
+    while (true) {
+        // abs = update_pos(&as5600l);
+        // printf("Position absolue : %d\n",abs);
+        sensorData(&as5600l);
+    }
+
+    return 0;
+}