Merge branch 'dev'

Author: Richard Unger

.github/workflows/ccpp.yml

@@ -7,7 +7,7 @@ jobs:
       - uses: actions/checkout@v2
       - uses: arduino/arduino-lint-action@v1
         with:
-          library-manager: submit
+          library-manager: update
           project-type: library
   build:
     name: Test compile

README.md

@@ -14,17 +14,19 @@ What's here? See the sections below. Each driver or function should come with it
 
 ### Motor/Gate driver ICs
 
-[DRV8316 driver](src/drivers/drv8316/) - SPI driver for TI's DRV8316 motor driver IC.
+ - [DRV8316 driver](src/drivers/drv8316/) - SPI driver for TI's DRV8316 motor driver IC.
 
 ### Encoders
 
  - [AS5048A SPI driver](src/encoders/as5048a/) - SPI driver for the AMS AS5048A absolute position magnetic rotary encoder IC.
  - [AS5047 SPI driver](src/encoders/as5047/) - SPI driver for the AMS AS5047P and AS5047D absolute position magnetic rotary encoder ICs.
+ - [AS5047U SPI driver](src/encoders/as5047u/) - SPI driver for the AMS AS5047U absolute position magnetic rotary encoder ICs.
  - [MA730 SPI driver](src/encoders/ma730/) - SPI driver for the MPS MagAlpha MA730 absolute position magnetic rotary encoder IC.
  - [MA730 SSI driver](src/encoders/ma730/) - SSI driver for the MPS MagAlpha MA730 absolute position magnetic rotary encoder IC.
  - [AS5145 SSI driver](src/encoders/as5145/) - SSI driver for the AMS AS5145 and AS5045 absolute position magnetic rotary encoder ICs.
  - [TLE5012B SPI driver](src/encoders/tle5012b/) - SPI (half duplex) driver for TLE5012B absolute position magnetic rotary encoder IC.
  - [STM32 Hardware Encoder](src/encoders/stm32hwencoder/) - Hardware timer based encoder driver for ABI type quadrature encoders.
+ - [SC60228 SPI driver](src/encoders/sc60228/) - SPI driver for SemiMent SC60288 magnetic encoder IC.
 
 ### Communications
 

library.properties

@@ -1,5 +1,5 @@
 name=SimpleFOCDrivers
-version=1.0.0
+version=1.0.1
 author=Simplefoc <[email protected]>
 maintainer=Simplefoc <[email protected]>
 sentence=A library of supporting drivers for SimpleFOC. Motor drivers chips, encoder chips, current sensing and supporting code.

src/encoders/a1334/A1334.cpp

@@ -0,0 +1,54 @@
+
+#include "./A1334.h"
+
+
+
+A1334::A1334(SPISettings settings, int nCS) : settings(settings), nCS(nCS) {
+	// nix
+};
+
+
+
+A1334::~A1334() {
+};
+
+
+
+
+void A1334::init(SPIClass* _spi) {
+	spi = _spi;
+	if (nCS>=0)
+		pinMode(nCS, OUTPUT);
+	digitalWrite(nCS, HIGH);
+	//SPI has an internal SPI-device counter, it is possible to call "begin()" from different devices
+	spi->begin();
+	readRawAngle(); // read an angle
+};
+
+
+
+
+A1334Angle A1334::readRawAngle() {
+	uint16_t command = A1334_REG_ANG;
+	uint16_t cmdResult = spi_transfer16(command);	// TODO fast mode
+	cmdResult = spi_transfer16(command);	
+	A1334Angle result = { .reg = cmdResult };
+	// TODO check parity
+	// errorflag = result.ef;
+	return result;
+};
+
+
+
+
+uint16_t A1334::spi_transfer16(uint16_t outdata) {
+	if (nCS>=0)
+		digitalWrite(nCS, 0);
+	spi->beginTransaction(settings);
+	uint16_t result = spi->transfer16(outdata);
+	spi->endTransaction();
+	if (nCS>=0)
+		digitalWrite(nCS, 1);
+	return result;
+};
+

src/encoders/a1334/A1334.h

@@ -0,0 +1,51 @@
+
+
+#ifndef __A1334_H__
+#define __A1334_H__
+
+#include <Arduino.h>
+#include <SPI.h>
+
+
+#define A1334_CPR 4096
+#define A1334_BITORDER MSBFIRST
+
+static SPISettings A1334SPISettings(8000000, A1334_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
+
+
+typedef union {
+	struct {
+		uint16_t angle:12;
+		uint16_t p:1;
+		uint16_t nf:1;
+		uint16_t ef:1;
+		uint16_t ridc:1;
+	};
+	uint16_t reg;
+} A1334Angle;
+
+
+#define A1334_REG_ANG 0x2000
+
+
+
+
+class A1334 {
+public:
+	A1334(SPISettings settings = A1334SPISettings, int nCS = -1);
+	virtual ~A1334();
+
+	virtual void init(SPIClass* _spi = &SPI);
+	A1334Angle readRawAngle(); // 10 or 12 bit angle value    
+protected:
+	uint16_t spi_transfer16(uint16_t outdata);
+	SPIClass* spi;
+	SPISettings settings;
+	int nCS = -1;
+};
+
+
+
+
+
+#endif

src/encoders/a1334/MagneticSensorA1334.cpp

@@ -0,0 +1,27 @@
+
+#include "./MagneticSensorA1334.h"
+#include "common/foc_utils.h"
+#include "common/time_utils.h"
+
+MagneticSensorA1334::MagneticSensorA1334(int nCS, SPISettings settings) : A1334(settings, nCS) {
+
+}
+
+
+MagneticSensorA1334::~MagneticSensorA1334(){ 
+
+}
+
+
+void MagneticSensorA1334::init(SPIClass* _spi) {
+    this->A1334::init(_spi);
+    this->Sensor::init();
+}
+
+
+float MagneticSensorA1334::getSensorAngle() {
+    A1334Angle angle_data = readRawAngle();
+    float result = ( angle_data.angle / (float)A1334_CPR) * _2PI;
+    // return the shaft angle
+    return result;
+}

src/encoders/a1334/MagneticSensorA1334.h

@@ -0,0 +1,24 @@
+
+#ifndef __MAGNETIC_SENSOR_A1334_H__
+#define __MAGNETIC_SENSOR_A1334_H__
+
+#include "common/base_classes/Sensor.h"
+#include "./A1334.h"
+
+
+
+class MagneticSensorA1334 : public Sensor, public A1334 {
+public:
+	MagneticSensorA1334(int nCS = -1, SPISettings settings = A1334SPISettings);
+	virtual ~MagneticSensorA1334();
+
+    virtual float getSensorAngle() override;
+
+	virtual void init(SPIClass* _spi = &SPI);
+private:
+};
+
+
+
+
+#endif

src/encoders/as5047/README.md

@@ -1,11 +1,12 @@
 # AS5047 SimpleFOC driver
 
-While AS5047 absolute position magnetic rotary encoder is supported by the standard MagneticSensorSPI driver included in the base distribution, this AS5047-specific driver includes some optimisations:
+While the AS5047 absolute position magnetic rotary encoder is supported by the standard MagneticSensorSPI driver included in the base distribution, this AS5047-specific driver includes some optimisations:
 
 - access to the other registers of the AS5047, including the magnitude value which can be used to check the magnet strength, and the diagnostics register
 - access to the error state of the sensor, and ability to clear errors
 - it has a fastMode setting, in which the sensor is sent only 1 command per getAngle() call - the value returned will be from previous getAngle() invocation
 
+This driver should work with AS5047P and AS5047D models. The AS5047U has it's own driver [here](../as5047u/).
 
 ## Hardware setup