added AS5145 SSI sensor

Author: runger1101001

README.md

@@ -19,6 +19,8 @@ What's here? See the sections below. Each driver or function should come with it
  - [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.
  - [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.
  - [STM32 Hardware Encoder](src/encoders/stm32hwencoder/) - Hardware timer based encoder driver for ABI type quadrature encoders.
 
 ### Communications

src/encoders/as5145/MagneticSensorAS5145.cpp

@@ -0,0 +1,34 @@
+#include "./MagneticSensorAS5145.h"
+#include "common/foc_utils.h"
+#include "common/time_utils.h"
+
+MagneticSensorAS5145::MagneticSensorAS5145(SPISettings settings) : settings(settings) {
+
+}
+
+
+MagneticSensorAS5145::~MagneticSensorAS5145() {
+
+}
+
+void MagneticSensorAS5145::init(SPIClass* _spi) {
+    this->spi=_spi;
+    this->Sensor::init();
+}
+
+// check 40us delay between each read?
+float MagneticSensorAS5145::getSensorAngle() {
+    float angle_data = readRawAngleSSI();
+    angle_data = ( (float)angle_data / AS5145_CPR ) * _2PI;
+    // return the shaft angle
+    return angle_data;
+}
+
+
+uint16_t MagneticSensorAS5145::readRawAngleSSI() {
+    spi->beginTransaction(settings);
+    uint16_t value = spi->transfer16(0x0000);
+    //uint16_t parity = spi->transfer(0x00);
+    spi->endTransaction();
+    return (value>>3)&0x1FFF; // TODO this isn't what I expected from the datasheet... maybe there's a leading 0 bit?
+}; // 12bit angle value

src/encoders/as5145/MagneticSensorAS5145.h

@@ -0,0 +1,35 @@
+
+#ifndef __MAGNETIC_SENSOR_AS5145_H__
+#define __MAGNETIC_SENSOR_AS5145_H__
+
+#include "SPI.h"
+#include "common/base_classes/Sensor.h"
+
+
+#define AS5145_BITORDER MSBFIRST
+#define AS5145_CPR 4096.0f
+#define _2PI 6.28318530718f
+
+
+static SPISettings AS5145SSISettings(1000000, AS5145_BITORDER, SPI_MODE2); // @suppress("Invalid arguments")
+
+
+class MagneticSensorAS5145 : public Sensor {
+public:
+	MagneticSensorAS5145(SPISettings settings = AS5145SSISettings);
+	virtual ~MagneticSensorAS5145();
+
+    virtual float getSensorAngle() override;
+
+	virtual void init(SPIClass* _spi = &SPI);
+
+    uint16_t readRawAngleSSI();
+	
+private:
+	SPIClass* spi;
+	SPISettings settings;
+};
+
+
+
+#endif

src/encoders/as5145/README.md

@@ -0,0 +1,50 @@
+# AS5145 SimpleFOC driver
+
+SSI protocol driver for the AMS AS5145 magnetic encoder. Any of the A, B or H variants should work. AS5045 encoders should also be supported.
+
+Only angle reading is supported, might get to the status bits at a later time.
+The SSI protocol is "emulated" using the SPI peripheral.
+
+Tested with AS5145A on STM32G491 so far.
+
+## Hardware setup
+
+Wire the sensor's data (DO) line to the MISO (CIPO) pin, nCS, SCK as normal. Leave the MOSI pin unconnected.
+
+## Software setup
+
+```
+#include <Arduino.h>
+#include <SimpleFOC.h>
+#include <SimpleFOCDrivers.h>
+#include "encoders/as5145/MagneticSensorAS5145.h"
+
+MagneticSensorAS5145 sensor;
+SPIClass spi_ssi(PB15, PB14, PB13, PB12);
+
+long ts;
+
+void setup() {
+  Serial.begin(115200);
+  while (!Serial) ;
+  delay(2000);
+
+  Serial.println("Initializing sensor...");
+
+  spi_ssi.begin();
+  sensor.init(&spi_ssi);
+
+  Serial.println("Sensor initialized.");
+
+  ts = millis();
+}
+
+void loop() {
+  sensor.update();
+  if (millis() - ts > 1000) {
+    Serial.println(sensor.getAngle(), 3);
+    ts = millis();
+  }
+  delay(1);
+}
+```