as560x

package
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 Go to latest Published: Dec 25, 2023 License: BSD-3-Clause Imports: 6 Imported by: 0

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Index

Constants

View Source 
const (
	// NATIVE_ANGLE_MAX is the maximum valid value for a native angle for a AS560x device
	NATIVE_ANGLE_MAX = (1 << 12) - 1 + iota
	// NATIVE_ANGLE_RANGE is the number of unique values for native angles for a AS560x device
	NATIVE_ANGLE_RANGE
)
View Source 
const (
	// ZMCO contains the number of times a BURN_ANGLE command has been executed (max 3 burns)
	ZMCO = 0x00
	// ZPOS is the zero (start) position in RAW_ANGLE terms.
	ZPOS = 0x01
	// CONF supports custom config. Raw 14-bit register. See datasheet for mapping or use 'virtual registers' below.
	CONF = 0x07
	// STATUS indicates magnet position. Encapsulates MD, ML & MH. See also 'virtual registers' below.
	STATUS = 0x0b
	// RAW_ANGLE is the raw unscaled & unadjusted angle (12 bit: 0-4095/0xfff)
	RAW_ANGLE = 0x0c
	// ANGLE is RAW_ANGLE scaled & adjusted according to ZPOS (and MPOS/MANG on AS5600). (12 bit: 0-4095/0xfff)
	ANGLE = 0x0e
	// AGC is the Automatic Gain Control based on temp, airgap etc. 0-255 @ 5V, 0-128 @ 3.3V.
	AGC = 0x1a
	// MAGNITUDE indicates the magnitude value of the internal CORDIC output. See datasheet for more info.
	MAGNITUDE = 0x1b
	// BURN performs permanent programming of some registers. See BURN_XYZ cmd constants below for commands.
	BURN = 0xff
)

AS560x common device registers

View Source 
const (
	// MPOS is the maximum position in RAW_ANGLE terms. With ZPOS, defines a 'narrower angle' for higher resolution.
	MPOS = 0x03
	// MANG is the maximum angle. With ZPOS, defines a 'narrower angle' for higher resolution.
	MANG = 0x05
)

AS5600 specific registers

View Source 
const (
	// ABN. See datasheet for mapping
	ABN = 0x09
	// PUSHTHR. Configures push-button function. See datasheet and AGC
	PUSHTHR = 0x0a
)

AS5601 specific registers

View Source 
const (

	// WD is a Virtual Register for the Watchdog timer. See WATCHDOG_TIMER consts.
	WD = iota + virtualRegisterStartAddress
	// FTH is a Virtual Register for the Fast Filter Threshold. See FAST_FILTER_THRESHOLD consts.
	FTH
	// SF is a Virtual Register for the Slow Filter. See SLOW_FILTER_RESPONSE consts.
	SF
	// PWMF is a Virtual Register for PWM Frequency (AS5600 ONLY). See PWM_FREQUENCY consts.
	PWMF
	// OUTS is a Virtual Register for the Output Stage (AS5600 ONLY). See OUTPUT_STAGE consts.
	OUTS
	// HYST is a Virtual Register for Hysteresis. See HYSTERESIS consts.
	HYST
	// PM is a Virtual Register for the Power Mode. See POWER_MODE consts.
	PM

	// MD is a Virtual Register for the 'Magnet was detected' flag.
	MD
	// ML is a Virtual Register for the 'AGC maximum gain overflow' a.k.a 'magnet too weak' flag.
	ML
	// MH is a Virtual Register for the 'AGC minimum gain overflow' a.k.a 'magnet too strong' flag.
	MH
)
View Source 
const (
	// PM_NOM is the normal 'always on' power mode. No polling, max 6.5mA current
	PM_NOM = iota
	// PM_LPM1 is Low Power Mode 1. 5ms polling, max 3.4mA current
	PM_LPM1
	// PM_LPM2 is Low Power Mode 2. 20ms polling, max 1.8mA current
	PM_LPM2
	// PM_LPM3 is Low Power Mode 3. 100ms polling, max 1.5mA current
	PM_LPM3
)

POWER_MODE values for the PM component of CONF (and the PM VR)

View Source 
const (
	// HYST_OFF disables any hysteresis of the output
	HYST_OFF = iota
	// HYST_1LSB enables output hysteresis using 1 LSB
	HYST_1LSB
	// HYST_2LSB enables output hysteresis using 2 LSBs
	HYST_2LSB
	// HYST_3LSB enables output hysteresis using 3 LSBs
	HYST_3LSB
)

HYSTERESIS values for the HYST component of CONF (and the HYST VR)

View Source 
const (
	// OS_ANALOG_FULL_RANGE enables analog output with full range (0%-100% VDD)
	OS_ANALOG_FULL_RANGE = iota
	// OS_ANALOG_REDUCED_RANGE enables analog output with reduced range (10%-90% VDD)
	OS_ANALOG_REDUCED_RANGE
	// OS_DIGITAL_PWM enables digital PWM output. Frequency determined by PWMF
	OS_DIGITAL_PWM
)

OUTPUT_STAGE values for the OUTS component of CONF (and the OUTS VR - AS5600 ONLY)

View Source 
const (
	// PWMF_115_HZ enables PWM at 115 Hz
	PWMF_115_HZ = iota
	// PWMF_230_HZ enables PWM at 230 Hz
	PWMF_230_HZ
	// PWMF_460_HZ enables PWM at 460 Hz
	PWMF_460_HZ
	// PWMF_920_HZ enables PWM at 920 Hz
	PWMF_920_HZ
)

PWM_FREQUENCY values for the PWMF component of CONF (and the PWMF VR - ASS5600 ONLY)

View Source 
const (
	// SF_16X enables a 16x Slow Filter step response
	SF_16X = iota
	// SF_8X enables a 8x Slow Filter step response
	SF_8X
	// SF_4X enables a 4x Slow Filter step response
	SF_4X
	// SF_2X enables a 2x Slow Filter step response
	SF_2X
)

SLOW_FILTER_RESPONSE values for the SF (slow filter) component of CONF (and the SF VR)

View Source 
const (
	// FTH_NONE disables the fast filter (slow filter only)
	FTH_NONE = iota
	// FTH_6LSB enables a fast filter threshold with 6 LSBs
	FTH_6LSB
	// FTH_7LSB enables a fast filter threshold with 7 LSBs
	FTH_7LSB
	// FTH_9LSB enables a fast filter threshold with 9 LSBs
	FTH_9LSB
	// FTH_18LSB enables a fast filter threshold with 18 LSBs
	FTH_18LSB
	// FTH_21LSB enables a fast filter threshold with 21 LSBs
	FTH_21LSB
	// FTH_24LSB enables a fast filter threshold with 24 LSBs
	FTH_24SB
	// FTH_10LSB enables a fast filter threshold with 10 LSBs
	FTH_10LSB
)

FAST_FILTER_THRESHOLD values for the FTH (fast filter threshold) component of CONF (and the FTH VR)

View Source 
const (
	// WD_OFF disables the Watchdog Timer
	WD_OFF = iota
	// WD_ON enables the Watchdog Timer (automatic entry into LPM3 low-power mode enabled)
	WD_ON
)

WATCHDOG_TIMER values for the WD component of CONF (and the WD VR)

View Source 
const (
	// STATUS_MH is set in STATUS when the magnet field is too strong (AGC minimum gain overflow)
	STATUS_MH = 1 << (iota + 3)
	// STATUS_ML is set in STATUS when the magnet field is too weak (AGC maximum gain overflow)
	STATUS_ML
	// STATUS_MD is set n STATUS when the magnet is detected. Doesn't seem to work with some units.
	STATUS_MD
)

constants for the raw STATUS register bitfield value.

View Source 
const (
	// ABN_8 configures 8 output positions (61 Hz)
	ABN_8 = iota
	// ABN_16 configures 16 output positions (122 Hz)
	ABN_16
	// ABN_32 configures 32 output positions (244 Hz)
	ABN_32
	// ABN_64 configures 64 output positions (488 Hz)
	ABN_64
	// ABN_128 configures 128 output positions (976 Hz)
	ABN_128
	// ABN_256 configures 256 output positions (1.95 KHz)
	ABN_256
	// ABN_512 configures 512 output positions (3.9 KHz)
	ABN_512
	// ABN_1024 configures 1024 output positions (7.8 KHz)
	ABN_1024
	// ABN_2048 configures 2048 output positions (15.6 KHz)
	ABN_2048
)

ABN_MAPPING values for the ABN register (AS5601 ONLY)

View Source 
const BURN_ANGLE_COUNT_MAX uint16 = 3

BURN_ANGLE_COUNT_MAX is a constant for the maximum number of times a BURN_ANGLE command can be executed. Compare this with ZMCO

View Source 
const DefaultAddress uint8 = 0x36

DefaultAddress is the default I2C address of the AMS AS560x sensors (0x36).

Variables

This section is empty.

Functions

This section is empty.

Types

type AS5600Device 

type AS5600Device struct {
	// promote BaseDevice
	BaseDevice
}

AS5600Device represents an ams AS5600 device driver accessed over I2C

func NewAS5600 

func NewAS5600(bus drivers.I2C) AS5600Device

NewAS5600 creates a new AS5600Device given an I2C bus

func (*AS5600Device) Configure 

func (d *AS5600Device) Configure(cfg Config) error

Configure sets up the AMS AS5600 sensor device with the given configuration.

func (*AS5600Device) GetMaxAngle 

func (d *AS5600Device) GetMaxAngle(units AngleUnit) (uint16, float32, error)

GetMaxAngle returns the 'max position' (MANG) in different units

func (*AS5600Device) GetMaxPosition 

func (d *AS5600Device) GetMaxPosition(units AngleUnit) (uint16, float32, error)

GetMaxPosition returns the 'max position' (MPOS) in different units

func (*AS5600Device) SetMaxAngle 

func (d *AS5600Device) SetMaxAngle(mang float32, units AngleUnit) error

SetMaxAngle sets the 'max angle' (MANG) in different units

func (*AS5600Device) SetMaxPosition 

func (d *AS5600Device) SetMaxPosition(mpos float32, units AngleUnit) error

SetMaxPosition sets the 'max position' (MPOS) in different units

func (*AS5600Device) WriteRegister 

func (d *AS5600Device) WriteRegister(address uint8, value uint16) error

WriteRegister writes the given value for the given register to the AS560x device via I2C

type AS5601Device 

type AS5601Device struct {
	BaseDevice // promote base device
}

AS5601Device represents an ams AS5601 device driver accessed over I2C

func NewAS5601 

func NewAS5601(bus drivers.I2C) AS5601Device

NewAS5601 creates a new AS5601Device given an I2C bus

type AngleUnit 

type AngleUnit int

AngleUnit is an enum to allow the use of different units when reading/writing angles from the AS560x sensors. 

const (
	// ANGLE_NATIVE uses the device's native angle measurement. i.e. 12-bit integer, 0 <= angle <= 0xfff (4095)
	ANGLE_NATIVE AngleUnit = iota
	// ANGLE_DEGREES_INT measures angles in degrees using integer arithmetic for speed. i.e. 0 <= angle < 360
	ANGLE_DEGREES_INT
	// ANGLE_DEGREES_FLOAT measures angles in degrees using floating point (slower). i.e. 0.0 <= angle < 360.0
	ANGLE_DEGREES_FLOAT
	// ANGLE_RADIANS measures angles in radians using floating point (slower). i.e. 0.0 <= angle < 2 * PI
	ANGLE_RADIANS
)

type BURN_CMD 

type BURN_CMD uint16

BURN_CMD is a command to write to the BURN register. 

const (
	// BURN_ANGLE is the value to write to BURN to permanently program ZPOS & MPOS (Max 3 times!)
	BURN_ANGLE BURN_CMD = 0x80
	// BURN_SETTING is the value to write to BURN to permanently program MANG & CONF (ONCE ONLY!)
	BURN_SETTING BURN_CMD = 0x40
)

type BaseDevice 

type BaseDevice struct {
	// contains filtered or unexported fields
}

BaseDevice handles the common behaviour between AS5600 & AS5601 devices

func (*BaseDevice) Angle 

func (d *BaseDevice) Angle(units AngleUnit) (uint16, float32, error)

Angle reads the (scaled & adjusted) ANGLE register in various units

func (*BaseDevice) Burn 

func (d *BaseDevice) Burn(burnCmd BURN_CMD) error

Burn is a convenience method to program the device permanently by writing to the BURN register (limited number of times use!)

func (*BaseDevice) Configure 

func (d *BaseDevice) Configure(cfg Config)

Configure sets up the AMS AS560x sensor device with the given configuration.

func (*BaseDevice) GetZeroPosition 

func (d *BaseDevice) GetZeroPosition(units AngleUnit) (uint16, float32, error)

GetZeroPosition returns the 'zero position' (ZPOS) in various units

func (*BaseDevice) MagnetStatus 

func (d *BaseDevice) MagnetStatus() (detected bool, strength MagnetStrength, err error)

MagnetStatus reads the STATUS register and reports magnet position characteristics

func (*BaseDevice) RawAngle 

func (d *BaseDevice) RawAngle(units AngleUnit) (uint16, float32, error)

RawAngle reads the (unscaled & unadjusted) RAW_ANGLE register in various units

func (*BaseDevice) ReadRegister 

func (d *BaseDevice) ReadRegister(address uint8) (uint16, error)

ReadRegister reads the value for the given register from the AS560x device via I2C

func (*BaseDevice) SetZeroPosition 

func (d *BaseDevice) SetZeroPosition(zpos float32, units AngleUnit) error

SetZeroPosition sets the 'zero position' (ZPOS) in various units

func (*BaseDevice) WriteRegister 

func (d *BaseDevice) WriteRegister(address uint8, value uint16) error

WriteRegister writes the given value for the given register to the AS560x device via I2C

type Config 

type Config struct {
	// Address is the I2C address of the AS560x device. If left zero this will default to 0x36
	Address uint8
}

Config holds the configuration for the AMS AS560x sensor devices.

type MagnetStrength 

type MagnetStrength int

MagnetStrength is an enum to indicate the magnetic field strength detected by the AS560x sensors. 

const (
	// MagnetTooWeak indicates that the magnet strength is too weak (AGC maximum gain overflow) - move it closer
	MagnetTooWeak MagnetStrength = iota - 1
	// MagnetOk indicates that the magnet strength is about right.
	MagnetOk
	// MagnetTooStrong indicates that the magnet strength is too strong (AGC minimum gain overflow) - move it further away
	MagnetTooStrong
)

Source Files

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