AS5047: settings, ABI settings, zero setting

Author: Richard Unger

src/encoders/as5047/AS5047.cpp

@@ -85,21 +85,29 @@ AS5047Settings1 AS5047::readSettings1(){
 
 void AS5047::writeSettings1(AS5047Settings1 settings){
 	uint16_t command = AS5047_SETTINGS1_REG;  // set r=0, result is 0x0018
-	/*uint16_t cmdresult =*/ spi_transfer16(command);
-	/*cmdresult =*/ spi_transfer16(settings.reg);
+	spi_transfer16(command);
+	spi_transfer16(calcParity(settings.reg));
 }
 
 
 AS5047Settings2 AS5047::readSettings2(){
 	uint16_t command = AS5047_SETTINGS2_REG | AS5047_RW; // set r=1, result is 0x4019
-	/*uint16_t cmdresult =*/ spi_transfer16(command);
+	spi_transfer16(command);
 	AS5047Settings2 result = {
 			.reg = nop()
 	};
 	return result;
 }
 
 
+void AS5047::writeSettings2(AS5047Settings2 settings){
+	uint16_t command = AS5047_SETTINGS2_REG | AS5047_PARITY; // set r=0, result is 0x8019
+	spi_transfer16(command);
+	spi_transfer16(calcParity(settings.reg));
+}
+
+
+
 AS5047Diagnostics AS5047::readDiagnostics(){
 	uint16_t command = AS5047_DIAGNOSTICS_REG | AS5047_PARITY | AS5047_RW; // set r=1, result is 0xFFFC
 	/*uint16_t cmdresult =*/ spi_transfer16(command);
@@ -112,21 +120,96 @@ AS5047Diagnostics AS5047::readDiagnostics(){
 
 void AS5047::enablePWM(bool enable){
 	AS5047Settings1 settings = readSettings1();
+	if (settings.pwmon == enable) return; // no change
 	settings.pwmon = enable;
 	writeSettings1(settings);
 }
 
 void AS5047::enableABI(bool enable){
 	AS5047Settings1 settings = readSettings1();
-	settings.uvw_abi = enable?0:1;
+	uint8_t val = enable?0:1;
+	if (settings.uvw_abi == val) return; // no change
+	settings.uvw_abi = val;
 	writeSettings1(settings);
 }
 
 
+void AS5047::enableDEAC(bool enable){
+	AS5047Settings1 settings = readSettings1();
+	uint8_t val = enable?0:1;
+	if (settings.daecdis == val) return; // no change
+	settings.daecdis = enable?0:1;
+	writeSettings1(settings);
+}
+
+
+void AS5047::useCorrectedAngle(bool useCorrected){
+	AS5047Settings1 settings = readSettings1();
+	uint8_t val = useCorrected?0:1;
+	if (settings.dataselect == val) return; // no change
+	settings.dataselect = val;
+	writeSettings1(settings);
+}
+
+
+
+void AS5047::setHysteresis(uint8_t hyst){
+	if (hyst>3) hyst = 3;
+	uint8_t val = 3-hyst;
+	AS5047Settings2 settings = readSettings2();
+	if (settings.hys == val) return; // no change
+	settings.hys = val;
+	writeSettings2(settings);
+}
+
+
+
+
+void AS5047::setABIResolution(AS5047ABIRes res){
+	AS5047Settings1 settings = readSettings1();
+	uint8_t val = (res>>3)&0x01;
+	if (settings.abibin!=val || settings.uvw_abi!=0) {
+		settings.abibin = val;
+		settings.uvw_abi = 0;
+		writeSettings1(settings);
+	}
+	AS5047Settings2 settings2 = readSettings2();
+	val = (res&0x07);
+	if (settings2.abires!=val) {
+		settings2.abires = val;
+		writeSettings2(settings2);
+	}
+} 
+
+
 
 uint16_t AS5047::setZero(uint16_t value){
-	// TODO implement me!
-	return 0;
+	uint16_t command = AS5047_ZPOSL_REG | AS5047_PARITY | AS5047_RW;
+	spi_transfer16(command);
+	AS5047ZPosL posL = {
+			.reg = nop()
+	};
+	command = AS5047_ZPOSM_REG | AS5047_PARITY;
+	spi_transfer16(command);
+	spi_transfer16(calcParity((value>>6)&0x00FF));
+	command = AS5047_ZPOSL_REG;
+	posL.zposl = value&0x003F;
+	spi_transfer16(command);
+	spi_transfer16(calcParity(posL.reg));
+
+	return getZero();
+}
+
+
+uint16_t AS5047::getZero() {
+	uint16_t command = AS5047_ZPOSM_REG | AS5047_RW;
+	spi_transfer16(command);
+	command = AS5047_ZPOSL_REG | AS5047_PARITY | AS5047_RW;
+	uint16_t result = spi_transfer16(command);
+	AS5047ZPosL posL = {
+			.reg = nop()
+	};
+	return ((result&0x00FF)<<6) | posL.zposl;
 }
 
 
@@ -135,6 +218,17 @@ uint16_t AS5047::nop(){
 	return result&AS5047_RESULT_MASK;
 }
 
+
+uint16_t AS5047::calcParity(uint16_t data){
+	data = data & 0x7FFF;
+	int sum = 0;
+	for (int i=0;i<15;i++)
+		if ((data>>i)&0x0001)
+			sum++;
+	return (sum&0x01)==0x01?(data|0x8000):data;
+}
+
+
 uint16_t AS5047::spi_transfer16(uint16_t outdata) {
 	if (nCS>=0)
 		digitalWrite(nCS, 0);

src/encoders/as5047/AS5047.h

@@ -21,6 +21,7 @@ union AS5047Diagnostics {
 		uint16_t cof:1;
 		uint16_t magh:1;
 		uint16_t magl:1;
+		uint16_t unused:4;
 	};
 	uint16_t reg;
 };
@@ -29,6 +30,7 @@ union AS5047Diagnostics {
 union AS5047ZPosM {
 	struct {
 		uint16_t zposm:8;
+		uint16_t unused:8;
 	};
 	uint16_t reg;
 };
@@ -39,6 +41,7 @@ union AS5047ZPosL {
 		uint16_t zposl:6;
 		uint16_t comp_l_error_en:1;
 		uint16_t comp_h_error_en:1;
+		uint16_t unused:8;
 	};
 	uint16_t reg;
 };
@@ -54,6 +57,7 @@ union AS5047Settings1 {
 		uint16_t abibin:1;
 		uint16_t dataselect:1;
 		uint16_t pwmon:1;
+		uint16_t unused:8;
 	};
 	uint16_t reg;
 };
@@ -64,6 +68,7 @@ union AS5047Settings2 {
 		uint16_t uvwpp:3;
 		uint16_t hys:2;
 		uint16_t abires:3;
+		uint16_t unused:8;
 	};
 	uint16_t reg;
 };
@@ -76,6 +81,21 @@ struct AS5047Error {
 };
 
 
+enum AS5047ABIRes : uint8_t {
+	AS5047_ABI_1024 = 0b1010,
+	AS5047_ABI_2048 = 0b1001,
+	AS5047_ABI_4096 = 0b1000,
+	AS5047_ABI_100 = 0b0111,
+	AS5047_ABI_200 = 0b0110,
+	AS5047_ABI_400 = 0b0101,
+	AS5047_ABI_800 = 0b0100,
+	AS5047_ABI_1200 = 0b0011,
+	AS5047_ABI_1600 = 0b0010,
+	AS5047_ABI_2000 = 0b0001,
+	AS5047_ABI_4000 = 0b0000
+};
+
+
 #define AS5047_CPR 16384
 #define AS5047_ANGLECOM_REG 0x3FFF
 #define AS5047_ANGLEUNC_REG 0x3FFE
@@ -120,10 +140,18 @@ class AS5047 {
 	AS5047Settings1 readSettings1();
 	void writeSettings1(AS5047Settings1 settings);
 	AS5047Settings2 readSettings2();
+	void writeSettings2(AS5047Settings2 settings);
 	void enablePWM(bool enable);
 	void enableABI(bool enable);
+	void setABIResolution(AS5047ABIRes res);
+	void enableDEAC(bool enable);
+	void useCorrectedAngle(bool useCorrected);
+	void setHysteresis(uint8_t hyst);
 
 	uint16_t setZero(uint16_t);
+	uint16_t getZero();
+
+	uint16_t calcParity(uint16_t data);
 
 private: