0.3.0 AS5600

Author: RobTillaart

libraries/AS5600/AS5600.cpp

@@ -1,7 +1,7 @@
 //
 //    FILE: AS56000.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.2.0
+// VERSION: 0.3.0
 // PURPOSE: Arduino library for AS5600 magnetic rotation meter
 //    DATE: 2022-05-28
 //     URL: https://github.com/RobTillaart/AS5600
@@ -25,9 +25,13 @@
 //                      define constants for configuration functions.
 //                      fix conversion constants (4096 based)
 //                      add get- setOffset(degrees)   functions. (no radians yet)
+//  0.2.1   notreleased add bool return to set() functions.
+//                      update Readme (analog / PWM out)
+//  0.3.0   2022-07-07  fix #18 invalid mask setConfigure().
+
 
 // TODO
-//  Power-up time  1 minute
+//  Power-up time  1 minute (need HW)
 //  check  Timing Characteristics
 
 
@@ -151,9 +155,11 @@ uint8_t AS5600::getZMCO()
 }
 
 
-void AS5600::setZPosition(uint16_t value)
+bool AS5600::setZPosition(uint16_t value)
 {
-  writeReg2(AS5600_ZPOS, value & 0x0FFF);
+  if (value > 0x0FFF) return false;
+  writeReg2(AS5600_ZPOS, value);
+  return true;
 }
 
 
@@ -164,9 +170,11 @@ uint16_t AS5600::getZPosition()
 }
 
 
-void AS5600::setMPosition(uint16_t value)
+bool AS5600::setMPosition(uint16_t value)
 {
-  writeReg2(AS5600_MPOS, value & 0x0FFF);
+  if (value > 0x0FFF) return false;
+  writeReg2(AS5600_MPOS, value);
+  return true;
 }
 
 
@@ -177,9 +185,11 @@ uint16_t AS5600::getMPosition()
 }
 
 
-void AS5600::setMaxAngle(uint16_t value)
+bool AS5600::setMaxAngle(uint16_t value)
 {
-  writeReg2(AS5600_MANG, value & 0x0FFF);
+  if (value > 0x0FFF) return false;
+  writeReg2(AS5600_MANG, value);
+  return true;
 }
 
 
@@ -190,111 +200,120 @@ uint16_t AS5600::getMaxAngle()
 }
 
 
-void AS5600::setConfigure(uint16_t value)
+bool AS5600::setConfigure(uint16_t value)
 {
-  writeReg2(AS5600_CONF, value & 0x2FFF);
+  if (value > 0x3FFF) return false;
+  writeReg2(AS5600_CONF, value);
+  return true;
 }
 
 
 uint16_t AS5600::getConfigure()
 {
-    uint16_t value = readReg2(AS5600_CONF) & 0x2FFF;
+  uint16_t value = readReg2(AS5600_CONF) & 0x3FFF;
   return value;
 }
 
 
 //  details configure
-void AS5600::setPowerMode(uint8_t powerMode)
+bool AS5600::setPowerMode(uint8_t powerMode)
 {
-  if (powerMode > 3) return;
+  if (powerMode > 3) return false;
   uint8_t value = readReg(AS5600_CONF + 1);
   value &= ~AS5600_CONF_POWER_MODE;
   value |= powerMode;
   writeReg(AS5600_CONF + 1, value);
+  return true;
 }
 
 uint8_t AS5600::getPowerMode()
 {
   return readReg(AS5600_CONF + 1) & 0x03;
 }
 
-void AS5600::setHysteresis(uint8_t hysteresis)
+bool AS5600::setHysteresis(uint8_t hysteresis)
 {
-  if (hysteresis > 3) return;
+  if (hysteresis > 3) return false;
   uint8_t value = readReg(AS5600_CONF + 1);
   value &= ~AS5600_CONF_HYSTERESIS;
   value |= (hysteresis << 2);
   writeReg(AS5600_CONF + 1, value);
+  return true;
 }
 
 uint8_t AS5600::getHysteresis()
 {
   return (readReg(AS5600_CONF + 1) >> 2) & 0x03;
 }
 
-void AS5600::setOutputMode(uint8_t outputMode)
+bool AS5600::setOutputMode(uint8_t outputMode)
 {
-  if (outputMode > 2) return;
+  if (outputMode > 2) return false;
   uint8_t value = readReg(AS5600_CONF + 1);
   value &= ~AS5600_CONF_OUTPUT_MODE;
   value |= (outputMode << 4);
   writeReg(AS5600_CONF + 1, value);
+  return true;
 }
 
 uint8_t AS5600::getOutputMode()
 {
   return (readReg(AS5600_CONF + 1) >> 4) & 0x03;
 }
 
-void AS5600::setPWMFrequency(uint8_t pwmFreq)
+bool AS5600::setPWMFrequency(uint8_t pwmFreq)
 {
-  if (pwmFreq > 3) return;
+  if (pwmFreq > 3) return false;
   uint8_t value = readReg(AS5600_CONF + 1);
   value &= ~AS5600_CONF_PWM_FREQUENCY;
   value |= (pwmFreq << 6);
   writeReg(AS5600_CONF + 1, value);
+  return true;
 }
 
 uint8_t AS5600::getPWMFrequency()
 {
   return (readReg(AS5600_CONF + 1) >> 6) & 0x03;
 }
 
-void AS5600::setSlowFilter(uint8_t mask)
+bool AS5600::setSlowFilter(uint8_t mask)
 {
-  if (mask > 3) return;
+  if (mask > 3) return false;
   uint8_t value = readReg(AS5600_CONF);
   value &= ~AS5600_CONF_SLOW_FILTER;
   value |= mask;
   writeReg(AS5600_CONF, value);
+  return true;
 }
 
 uint8_t AS5600::getSlowFilter()
 {
   return readReg(AS5600_CONF) & 0x03;
 }
 
-void AS5600::setFastFilter(uint8_t mask)
+bool AS5600::setFastFilter(uint8_t mask)
 {
-  if (mask > 7) return;
+  if (mask > 7) return false;
   uint8_t value = readReg(AS5600_CONF);
   value &= ~AS5600_CONF_FAST_FILTER;
   value |= (mask << 2);
   writeReg(AS5600_CONF, value);
+  return true;
 }
 
 uint8_t AS5600::getFastFilter()
 {
   return (readReg(AS5600_CONF) >> 2) & 0x07;
 }
 
-void AS5600::setWatchDog(uint8_t mask)
+bool AS5600::setWatchDog(uint8_t mask)
 {
-  if (mask > 1) return;
+  if (mask > 1) return false;
   uint8_t value = readReg(AS5600_CONF);
   value &= ~AS5600_CONF_WATCH_DOG;
   value |= (mask << 5);
   writeReg(AS5600_CONF, value);
+  return true;
 }
 
 uint8_t AS5600::getWatchDog()
@@ -324,7 +343,7 @@ uint16_t AS5600::readAngle()
 {
   uint16_t value = readReg2(AS5600_ANGLE) & 0x0FFF;
   if (_offset > 0) value = (value + _offset) & 0x0FFF;
-  
+
   if ((_directionPin == 255) && (_direction == AS5600_COUNTERCLOCK_WISE))
   {
     value = (4096 - value) & 4095;
@@ -333,18 +352,18 @@ uint16_t AS5600::readAngle()
 }
 
 
-void AS5600::setOffset(float degrees)
+bool AS5600::setOffset(float degrees)
 {
-  bool neg = false;
-  if (degrees < 0)
-  {
-    neg = true;
-    degrees = -degrees;
-  }
+  // expect loss of precision.
+  if (abs(degrees) > 36000) return false;
+  bool neg = (degrees < 0);
+  if (neg) degrees = -degrees;
+
   uint16_t offset = round(degrees * (4096 / 360.0));
   offset &= 4095;
   if (neg) offset = 4096 - offset;
-  _offset = offset;  
+  _offset = offset;
+  return true;
 }
 
 

libraries/AS5600/AS5600.h

@@ -2,7 +2,7 @@
 //
 //    FILE: AS5600.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.2.0
+// VERSION: 0.3.0
 // PURPOSE: Arduino library for AS5600 magnetic rotation meter
 //    DATE: 2022-05-28
 //     URL: https://github.com/RobTillaart/AS5600
@@ -12,7 +12,7 @@
 #include "Wire.h"
 
 
-#define AS5600_LIB_VERSION              (F("0.2.0"))
+#define AS5600_LIB_VERSION              (F("0.3.0"))
 
 //  setDirection
 const uint8_t AS5600_CLOCK_WISE         = 0;  //  LOW
@@ -93,57 +93,76 @@ class AS5600
 
   //  SET CONFIGURE REGISTERS
   //  read datasheet first
+
+  //  0         = AS5600_CLOCK_WISE
+  //  1         = AS5600_COUNTERCLOCK_WISE
+  //  all other = AS5600_COUNTERCLOCK_WISE
   void     setDirection(uint8_t direction = AS5600_CLOCK_WISE);
   uint8_t  getDirection();
 
   uint8_t  getZMCO();
 
-  void     setZPosition(uint16_t value);
+  //  0 .. 4095
+  //  returns false if parameter out of range
+  bool     setZPosition(uint16_t value);
   uint16_t getZPosition();
 
-  void     setMPosition(uint16_t value);
+  //  0 .. 4095
+  //  returns false if parameter out of range
+  bool     setMPosition(uint16_t value);
   uint16_t getMPosition();
 
-  void     setMaxAngle(uint16_t value);
+  //  0 .. 4095
+  //  returns false if parameter out of range
+  bool     setMaxAngle(uint16_t value);
   uint16_t getMaxAngle();
 
   //  access the whole configuration register
   //  check datasheet for bit fields
-  void     setConfigure(uint16_t value);
+  //  returns false if parameter out of range
+  bool     setConfigure(uint16_t value);
   uint16_t getConfigure();
 
   //  access details of the configuration register
   //  0 = Normal
   //  1,2,3 are low power mode - check datasheet
-  void     setPowerMode(uint8_t powerMode);
+  //  returns false if parameter out of range
+  bool     setPowerMode(uint8_t powerMode);
   uint8_t  getPowerMode();
 
   //  0 = off    1 = lsb1    2 = lsb2    3 = lsb3
-  void     setHysteresis(uint8_t hysteresis);
+  //  returns false if parameter out of range
+  //  suppresses noise when the magnet is not moving.
+  bool     setHysteresis(uint8_t hysteresis);
   uint8_t  getHysteresis();
 
   //  0 = analog 0-100%
   //  1 = analog 10-90%
   //  2 = PWM
-  void     setOutputMode(uint8_t outputMode);
+  //  returns false if parameter out of range
+  bool     setOutputMode(uint8_t outputMode);
   uint8_t  getOutputMode();
 
   //  0 = 115    1 = 230    2 = 460    3 = 920 (Hz)
-  void     setPWMFrequency(uint8_t pwmFreq);
+  //  returns false if parameter out of range
+  bool     setPWMFrequency(uint8_t pwmFreq);
   uint8_t  getPWMFrequency();
 
   //  0 = 16x    1 = 8x     2 = 4x     3 = 2x
-  void     setSlowFilter(uint8_t mask);
+  //  returns false if parameter out of range
+  bool     setSlowFilter(uint8_t mask);
   uint8_t  getSlowFilter();
 
   //  0 = none   1 = LSB6   2 = LSB7   3 = LSB9
   //  4 = LSB18  5 = LSB21  6 = LSB24  7 = LSB10
-  void     setFastFilter(uint8_t mask);
+  //  returns false if parameter out of range
+  bool     setFastFilter(uint8_t mask);
   uint8_t  getFastFilter();
 
   //  0 = OFF
   //  1 = ON   (auto low power mode)
-  void     setWatchDog(uint8_t mask);
+  //  returns false if parameter out of range
+  bool     setWatchDog(uint8_t mask);
   uint8_t  getWatchDog();
 
 
@@ -152,7 +171,10 @@ class AS5600
   uint16_t readAngle();
 
   //  software based offset.
-  void     setOffset(float degrees);
+  //  degrees = -359.99 .. 359.99 (preferred)
+  //  returns false if abs(parameter) > 36000
+  //          => expect loss of precision
+  bool     setOffset(float degrees);
   float    getOffset();