addingding/as5050a

Library based on arduino framework to comunicate with a SPI magnetic rotary encoder low power AS5050A.

AS5050A

Description

Library based on arduino framework to comunicate with a SPI magnetic rotary encoder low power AS5050A.

Tested hardwares

ESP32-WROOM

How to use

1. Include de library AS5050A.h
2. Create a AS5050A object: AS5050A encoder(SS,MOSI,MISO,SCK,1000000); ; -> Define here the SPI chip pinout and the SPI SPEED. The sensor SPI support rates up to 10MHz.
3. Use method begin() to initialize the device.

Methods available

Method	Description
void begin()	Initialize the spi sensor.
void setStartPosition()	define a offset for readValue / read angle / totalAngle. Set a home position to the device (value 0)
int32_t readValue()	read scale from 0 to 1023 (10 bits)
int16_t getAngle()	convert value read from 0° up to 360°
int8_t getRotations()	get rotation number (negative and positive to inform the direction)
int32_t getAbsoluteAngle()	get absolute angle based on rotations (negative and positive to indicate the direction);
void setAlarmPoint(int32_t absoluteAngle)	define a alarm point to be triggered by absoluteAngle. To this works, should read the value and absolute angle with some often (1ms? / 10ms?)
void alarmEvent(alarmCallback alarm_callback)	Alarm callback event. Based on the alarm points set, it will trigger an alarm when between +-5 value set.

• To define max alarm points, please change the define on .h file -> #define MAX_ALARM_POINT . Default is 10.
• To change the interval alarm value, please change the define on .h file -> #define ROUND_POINT_ERROR . Default is 5.

Example

#include <Arduino.h>
#include <AS5050A.h>

//SPI PINOUT - ESP32-WROOM

#define MISO   (gpio_num_t)19
#define MOSI   (gpio_num_t)23
#define SCK    (gpio_num_t)18
#define SS     (gpio_num_t)5

//Define encoder and spi pins
AS5050A encoder(SS,MOSI,MISO,SCK,1000000); 

//Initialize hardware
void initHardware(){
  pinMode(SS,OUTPUT);
  pinMode(MISO,INPUT);
  pinMode(MOSI,OUTPUT);
  pinMode(SCK,OUTPUT);
  digitalWrite(SS,HIGH);

  Serial.begin(9600);
}

//Alarm callback
void alarmEventCallback(int32_t alarm){
    Serial.print("ALARM CALLBACK: ");
    Serial.println(alarm);
}

void setup(){
    initHardware();
    encoder.begin();
    encoder.setAlarmPoint(450);		//set and event when absolute event between 445 and 455 (+- 5 -> see as5050a.h file)
    encoder.setAlarmPoint(-350);	//set and event when absolute event between -355 and -345 (+- 5 -> see as5050a.h file)
    encoder.alarmEvent(&alarmEventCallback); //pass a function address to be called by alarm event callback.
}

void loop(){
      delay(1);
      Serial.print("Value: ");
      Serial.print(encoder.readValue(),DEC); //need to be call to all others methods work.
      Serial.print("\t Angle: ");
      Serial.print(encoder.getAngle(),DEC);
      Serial.print("\t Rotations: ");
      Serial.print(encoder.getRotations(),DEC);
      Serial.print("\t Absolute Angle: ");
      Serial.println(encoder.getAbsoluteAngle(),DEC); //need to call to be able treat the alarm event.
}