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working on SSI sensors (not ready!)
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‎src/encoders/aeat8800q24/AEAT8800Q24.cpp‎

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#include "AEAT8800Q24.h"
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AEAT8800Q24::AEAT8800Q24(int nCS, int pinNSL, SPISettings spiSettings, SPISettings ssiSettings) : nCS(nCS), pinNSL(pinNSL), spiSettings(spiSettings), ssiSettings(ssiSettings) {
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};
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AEAT8800Q24::~AEAT8800Q24(){
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};
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void AEAT8800Q24::init(SPIClass* _spi){
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spi = _spi;
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spi->beginTransaction(ssiSettings);
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};
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float AEAT8800Q24::getCurrentAngle() {
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return ((float)readRawAngle())/(float)AEAT8800Q24_CPR * 2.0f * (float)PI;
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}; // angle in radians, return current value
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// reads angle via ssi
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uint16_t AEAT8800Q24::readRawAngle() {
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// digitalWrite(pinNSL, LOW); //TODO maybe we don't need it...
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// // 300ns delay
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// delayMicroseconds(1);
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uint16_t value = spi->transfer16(0x0000);
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uint8_t status = spi->transfer(0x00);
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//digitalWrite(pinNSL, HIGH);
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// // 200ns delay before next read...
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// delayMicroseconds(1);
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lastStatus.reg = status;
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return value;
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};
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AEAT8800Q24_Status_t AEAT8800Q24::getLastStatus() {
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return lastStatus;
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}
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uint16_t AEAT8800Q24::getZero(){
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uint8_t value = readRegister(AEAT8800Q24_REG_ZERO_MSB);
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return (value<<8)|readRegister(AEAT8800Q24_REG_ZERO_LSB);
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};
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void AEAT8800Q24::setZero(uint16_t value){
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writeRegister(AEAT8800Q24_REG_ZERO_MSB, (value>>8)&0xFF);
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writeRegister(AEAT8800Q24_REG_ZERO_LSB, value&0xFF);
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};
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AEAT8800Q24_CONF0_t AEAT8800Q24::getConf0(){
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AEAT8800Q24_CONF0_t result;
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result.reg = readRegister(AEAT8800Q24_REG_CONF0);
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return result;
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};
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void AEAT8800Q24::setConf0(AEAT8800Q24_CONF0_t value){
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writeRegister(AEAT8800Q24_REG_CONF0, value.reg);
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};
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AEAT8800Q24_CONF1_t AEAT8800Q24::getConf1(){
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AEAT8800Q24_CONF1_t result;
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result.reg = readRegister(AEAT8800Q24_REG_CONF1);
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return result;
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};
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void AEAT8800Q24::setConf1(AEAT8800Q24_CONF1_t value){
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writeRegister(AEAT8800Q24_REG_CONF1, value.reg);
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};
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AEAT8800Q24_CONF2_t AEAT8800Q24::getConf2(){
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AEAT8800Q24_CONF2_t result;
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result.reg = readRegister(AEAT8800Q24_REG_CONF2);
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return result;
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};
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void AEAT8800Q24::setConf2(AEAT8800Q24_CONF2_t value){
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writeRegister(AEAT8800Q24_REG_CONF2, value.reg);
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};
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uint16_t AEAT8800Q24::transfer16SPI(uint16_t outValue) {
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// delay 1us between switching the CS line to SPI
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delayMicroseconds(1);
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if (nCS >= 0)
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digitalWrite(nCS, LOW);
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spi->endTransaction();
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spi->beginTransaction(spiSettings);
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uint16_t value = spi->transfer16(outValue);
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spi->endTransaction();
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if (nCS >= 0)
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digitalWrite(nCS, HIGH);
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// delay 1us between switching the CS line to SSI
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delayMicroseconds(1);
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spi->beginTransaction(ssiSettings);
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return value;
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};
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uint8_t AEAT8800Q24::readRegister(uint8_t reg) {
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uint16_t cmd = 0x8000 | ((reg&0x001F)<<8);
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uint16_t value = transfer16SPI(cmd);
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return value&0x00FF;
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};
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void AEAT8800Q24::writeRegister(uint8_t reg, uint8_t value) {
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uint16_t cmd = 0x4000 | ((reg&0x1F)<<8) | value;
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uint16_t result = transfer16SPI(cmd);
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};

‎src/encoders/aeat8800q24/AEAT8800Q24.h‎

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#ifndef __AEAT8800Q24_H__
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#define __AEAT8800Q24_H__
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#include "Arduino.h"
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#include "SPI.h"
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#define AEAT8800Q24_CPR 65536
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#define AEAT8800Q24_REG_CUST0 0x00
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#define AEAT8800Q24_REG_CUST1 0x01
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#define AEAT8800Q24_REG_ZERO_LSB 0x02
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#define AEAT8800Q24_REG_ZERO_MSB 0x03
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#define AEAT8800Q24_REG_CONF0 0x04
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#define AEAT8800Q24_REG_CONF1 0x05
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#define AEAT8800Q24_REG_CONF2 0x06
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#define AEAT8800Q24_REG_CONF_OTP 0x13
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#define AEAT8800Q24_REG_CAL_OTP 0x1B
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#define AEAT8800Q24_REG_CUST_OTP 0x11
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#define AEAT8800Q24_REG_CAL 0x17
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#define AEAT8800Q24_CONF_OTP_ON 0xA3
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#define AEAT8800Q24_CAL_OTP_ON 0xA5
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#define AEAT8800Q24_CUST_OTP_ON 0xA1
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#define AEAT8800Q24_CAL_ON 0x02
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#define AEAT8800Q24_CAL_OFF 0x00
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typedef union {
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struct {
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uint8_t uvw_pwm_mode:1;
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uint8_t pwm:2;
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uint8_t iwidth:2;
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uint8_t uvw:3;
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};
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uint8_t reg;
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} AEAT8800Q24_CONF0_t;
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typedef union {
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struct {
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uint8_t cpr1:4;
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uint8_t hys:4;
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};
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uint8_t reg;
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} AEAT8800Q24_CONF1_t;
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typedef union {
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struct {
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uint8_t dir:1;
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uint8_t zero_latency:1;
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uint8_t abs_res:2;
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uint8_t cpr2:4;
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};
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uint8_t reg;
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} AEAT8800Q24_CONF2_t;
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typedef union {
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struct {
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uint8_t mhi:1;
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uint8_t mlo:1;
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uint8_t ready:1;
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uint8_t parity:1;
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uint8_t :4;
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};
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uint8_t reg;
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} AEAT8800Q24_Status_t;
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#if defined(ESP32)
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#define AEAT8800Q24_BITORDER MSBFIRST
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#else
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#define AEAT8800Q24_BITORDER BitOrder::MSBFIRST
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#endif
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static SPISettings AEAT8800Q24SPISettings(1000000, AEAT8800Q24_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
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static SPISettings AEAT8800Q24SSISettings(4000000, AEAT8800Q24_BITORDER, SPI_MODE2); // @suppress("Invalid arguments")
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class AEAT8800Q24 {
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public:
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AEAT8800Q24(int nCS, int pinNSL = MOSI, SPISettings spiSettings = AEAT8800Q24SPISettings, SPISettings ssiSettings = AEAT8800Q24SSISettings);
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virtual ~AEAT8800Q24();
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virtual void init(SPIClass* _spi = &SPI);
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float getCurrentAngle(); // angle in radians, return current value
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uint16_t readRawAngle(); // 14bit angle value
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AEAT8800Q24_Status_t getLastStatus(); // get status associated with last angle read
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uint16_t getZero();
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void setZero(uint16_t);
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AEAT8800Q24_CONF0_t getConf0();
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void setConf0(AEAT8800Q24_CONF0_t);
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AEAT8800Q24_CONF1_t getConf1();
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void setConf1(AEAT8800Q24_CONF1_t);
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AEAT8800Q24_CONF2_t getConf2();
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void setConf2(AEAT8800Q24_CONF2_t);
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private:
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int nCS = -1;
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int pinNSL = -1;
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SPISettings spiSettings;
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SPISettings ssiSettings;
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SPIClass* spi;
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AEAT8800Q24_Status_t lastStatus;
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uint16_t transfer16SPI(uint16_t outValue);
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uint8_t readRegister(uint8_t reg);
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void writeRegister(uint8_t reg, uint8_t value);
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};
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#endif

‎src/encoders/aeat8800q24/MagneticSensorAEAT8800Q24.cpp‎

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#include "./MagneticSensorAEAT8800Q24.h"
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#include "common/foc_utils.h"
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#include "common/time_utils.h"
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MagneticSensorAEAT8800Q24::MagneticSensorAEAT8800Q24(int nCS, int pinNSL, SPISettings spiSettings, SPISettings ssiSettings) : AEAT8800Q24(nCS, pinNSL, spiSettings, ssiSettings) {
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};
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MagneticSensorAEAT8800Q24::~MagneticSensorAEAT8800Q24(){
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};
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void MagneticSensorAEAT8800Q24::init(SPIClass* _spi) {
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this->AEAT8800Q24::init(_spi);
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this->Sensor::init();
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};
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float MagneticSensorAEAT8800Q24::getSensorAngle() {
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float angle_data = readRawAngle();
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angle_data = ( angle_data / (float)AEAT8800Q24_CPR) * _2PI;
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// return the shaft angle
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return angle_data;
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};

‎src/encoders/aeat8800q24/MagneticSensorAEAT8800Q24.h‎

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#ifndef __MAGNETICSENSORAEAT8800Q24_H__
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#define __MAGNETICSENSORAEAT8800Q24_H__
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#include "common/base_classes/Sensor.h"
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#include "./AEAT8800Q24.h"
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class MagneticSensorAEAT8800Q24 : public Sensor, public AEAT8800Q24 {
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public:
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MagneticSensorAEAT8800Q24(int nCS, int pinNSL = MOSI, SPISettings spiSettings = AEAT8800Q24SPISettings, SPISettings ssiSettings = AEAT8800Q24SSISettings);
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virtual ~MagneticSensorAEAT8800Q24();
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virtual float getSensorAngle() override;
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virtual void init(SPIClass* _spi = &SPI);
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};
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#endif

‎src/encoders/aeat8800q24/README.md‎

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# AEAT-8800-Q24 SimpleFOC driver
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SPI/SSI driver for the absolute position magnetic rotary encoder. This encoder is not supported by the
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normal SimpleFOC drivers due to its mixed SPI/SSI mode.
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- access to the configuration registers of the AEAT-8800-Q24, enabling you to set parameters
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- angles are read via SSI, with 16 bit (!) precision
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- currently only 16 bit resolution is supported, don't lower the resolution
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## Hardware setup
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Connect as per normal for your SPI bus. No special hardware setup is needed to use this driver. nCS pin is
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required.
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Note that due to the way SSI and SPI share pins, you can normally only run one of these sensors per SPI bus.
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## Software setup
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Its actually easier to use than the standard SPI sensor class, because it is less generic:
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```c++
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#include "Arduino.h"
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#include "Wire.h"
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#include "SPI.h"
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#include "SimpleFOC.h"
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#include "SimpleFOCDrivers.h"
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#include "encoders/aeat8800q24/MagneticSensorAEAT8800Q24.h"
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#define SENSOR1_CS 5 // some digital pin that you're using as the nCS pin
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MagneticSensorAEAT8800Q24 sensor1(SENSOR1_CS);
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void setup() {
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sensor1.init();
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}
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```
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Set some options:
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```c++
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MagneticSensorAEAT8800Q24 sensor1(SENSOR1_CS, MOSI_pin, mySPISettings, mySSISettings);
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```
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Use another SPI bus:
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```c++
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void setup() {
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sensor1.init(SPI2);
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}
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```
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Here's how you can use it:
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```c++
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// get the angle, in radians, including full rotations
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float a1 = sensor1.getAngle();
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// get the velocity, in rad/s - note: you have to call getAngle() on a regular basis for it to work
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float v1 = sensor1.getVelocity();
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// get the angle, in radians, no full rotations
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float a2 = sensor1.getCurrentAngle();
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// get the raw 16 bit value
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uint16_t raw = sensor1.readRawAngle();
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// check status
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float angle = sensor1.getSensorAngle();
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AEAT8800Q24_Status_t status = sensor1.getLastStatus();
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if (status.mlo)
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Serial.println("Sensor magnet low error");
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if (status.mhi)
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Serial.println("Sensor magnet high error");
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```

‎src/encoders/ma730/MA730.h‎

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#endif
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static SPISettings MA730SPISettings(8000000, MA730_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
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static SPISettings MA730SSISettings(8000000, MA730_BITORDER, SPI_MODE1); // @suppress("Invalid arguments")
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class MA730 {

‎src/encoders/ma730/MagneticSensorMA730SSI.cpp‎

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#include "./MagneticSensorMA730SSI.h"
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#include "common/foc_utils.h"
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#include "common/time_utils.h"
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MagneticSensorMA730SSI::MagneticSensorMA730SSI(SPISettings settings) : settings(settings) {
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}
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MagneticSensorMA730SSI::~MagneticSensorMA730SSI(){
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}
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void MagneticSensorMA730SSI::init(SPIClass* _spi) {
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this->spi=_spi;
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this->Sensor::init();
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}
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// check 40us delay between each read?
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float MagneticSensorMA730SSI::getSensorAngle() {
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float angle_data = readRawAngle();
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angle_data = ( angle_data / (float)MA730_CPR) * _2PI;
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// return the shaft angle
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return angle_data;
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}
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uint16_t MagneticSensorMA730SSI::readRawAngle() {
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spi->beginTransaction(settings);
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uint16_t value = spi->transfer16(0x0000);
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uint8_t parity = spi->transfer(0x00);
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// TODO: check parity
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spi->endTransaction();
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return value>>2;
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}; // 14bit angle value

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