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[driver] Adding AS5047 driver and example #1138
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,79 @@ | ||
| // coding: utf-8 | ||
| /* | ||
| * Copyright (c) 2024, Henrik Hose | ||
| * | ||
| * This file is part of the modm project. | ||
| * | ||
| * This Source Code Form is subject to the terms of the Mozilla Public | ||
| * License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| * file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
| */ | ||
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| #include <modm/board.hpp> | ||
| #include <modm/driver/encoder/as5047.hpp> | ||
| #include <modm/processing.hpp> | ||
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| using SpiMaster = SpiMaster1; | ||
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| using Cs = modm::platform::GpioB10; | ||
| using Mosi = modm::platform::GpioB5; | ||
| using Miso = modm::platform::GpioB4; | ||
| using Sck = modm::platform::GpioB3; | ||
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| using namespace Board; | ||
| using namespace modm::literals; | ||
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| class EncoderThread : public modm::pt::Protothread | ||
| { | ||
| public: | ||
| EncoderThread() : encoder(data) {} | ||
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| bool | ||
| run() | ||
| { | ||
| PT_BEGIN(); | ||
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| while (true) | ||
| { | ||
| PT_CALL(encoder.readout()); | ||
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| MODM_LOG_INFO << "\nNew readout:" << modm::endl; | ||
| MODM_LOG_INFO << " angle degree: " << data.getAngleDeg() << " degrees" << modm::endl; | ||
| MODM_LOG_INFO << " angle rad: " << data.getAngleRad() << " radians" << modm::endl; | ||
| MODM_LOG_INFO << " angle raw: " << data.getAngleRaw() << modm::endl; | ||
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| timeout.restart(std::chrono::milliseconds(500)); | ||
| PT_WAIT_UNTIL(timeout.isExpired()); | ||
| } | ||
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| PT_END(); | ||
| } | ||
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| private: | ||
| modm::as5047::Data data; | ||
| modm::As5047<SpiMaster, Cs> encoder; | ||
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| modm::ShortTimeout timeout; | ||
| } encoderThread; | ||
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| int | ||
| main() | ||
| { | ||
| Board::initialize(); | ||
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| Cs::setOutput(modm::Gpio::High); | ||
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| SpiMaster::connect<Miso::Miso, Mosi::Mosi, Sck::Sck>(); | ||
| SpiMaster::initialize<Board::SystemClock, 1.3_MHz>(); | ||
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| MODM_LOG_INFO << "==========AS5047 Test==========" << modm::endl; | ||
| MODM_LOG_DEBUG << "Debug logging here" << modm::endl; | ||
| MODM_LOG_INFO << "Info logging here" << modm::endl; | ||
| MODM_LOG_WARNING << "Warning logging here" << modm::endl; | ||
| MODM_LOG_ERROR << "Error logging here" << modm::endl; | ||
| MODM_LOG_INFO << "===============================" << modm::endl; | ||
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| while (true) { encoderThread.run(); } | ||
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| return 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| <library> | ||
| <extends>modm:nucleo-g474re</extends> | ||
| <options> | ||
| <option name="modm:build:build.path">../../../build/nucleo_g474re/as5047</option> | ||
| </options> | ||
| <modules> | ||
| <module>modm:driver:as5047</module> | ||
| <module>modm:platform:gpio</module> | ||
| <module>modm:platform:spi:1</module> | ||
| <module>modm:processing:protothread</module> | ||
| <module>modm:processing:timer</module> | ||
| <module>modm:build:scons</module> | ||
| </modules> | ||
| </library> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,157 @@ | ||
| // coding: utf-8 | ||
| // ---------------------------------------------------------------------------- | ||
| /* | ||
| * Copyright (c) 2024, Henrik Hose | ||
| * | ||
| * This file is part of the modm project. | ||
| * | ||
| * This Source Code Form is subject to the terms of the Mozilla Public | ||
| * License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| * file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
| */ | ||
| // ---------------------------------------------------------------------------- | ||
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| #ifndef MODM_AS5047_HPP | ||
| #define MODM_AS5047_HPP | ||
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| #include <array> | ||
| #include <modm/architecture/interface/register.hpp> | ||
| #include <modm/architecture/interface/spi_device.hpp> | ||
| #include <modm/processing/resumable.hpp> | ||
| #include <modm/processing/timer.hpp> | ||
| #include <numbers> | ||
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| namespace modm | ||
| { | ||
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| /// @cond | ||
| namespace detail | ||
| { | ||
| constexpr uint16_t | ||
| as5047_setMsbToEvenParity(const uint16_t num) | ||
| { | ||
| uint16_t par = 0x7fff & num; | ||
| par ^= par >> 8; | ||
| par ^= par >> 4; | ||
| par ^= par >> 2; | ||
| par ^= par >> 1; | ||
| return ((par & 1) << 15) | (0x7fff & num); | ||
| } | ||
| } // namespace detail | ||
| /// @endcond | ||
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| /// @ingroup modm_driver_as5047 | ||
| struct as5047 | ||
| { | ||
| enum class Errorfl : uint16_t | ||
| { | ||
| Parerr = Bit2, | ||
| Invcomm = Bit1, | ||
| Frerr = Bit0, | ||
| }; | ||
| MODM_FLAGS16(Errorfl) | ||
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| enum class Prog : uint16_t | ||
| { | ||
| Progver = Bit6, | ||
| Progotp = Bit3, | ||
| Otpref = Bit2, | ||
| Progen = Bit0, | ||
| }; | ||
| MODM_FLAGS16(Prog) | ||
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| enum class Diaagc : uint16_t | ||
| { | ||
| Magl = Bit11, | ||
| Magh = Bit10, | ||
| Cof = Bit9, | ||
| Lf = Bit8, | ||
| }; | ||
| MODM_FLAGS16(Diaagc) | ||
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| enum class Register : uint16_t | ||
| { | ||
| ReadNop = detail::as5047_setMsbToEvenParity(((1 << 14) | 0x0000)), | ||
| ReadErrfl = detail::as5047_setMsbToEvenParity(((1 << 14) | 0x0001)), | ||
| ReadProg = detail::as5047_setMsbToEvenParity(((1 << 14) | 0x0003)), | ||
| ReadDiaagc = detail::as5047_setMsbToEvenParity(((1 << 14) | 0x3FFC)), | ||
| ReadMag = detail::as5047_setMsbToEvenParity(((1 << 14) | 0x3FFD)), | ||
| ReadAngleunc = detail::as5047_setMsbToEvenParity(((1 << 14) | 0x3FFE)), | ||
| ReadAnglecom = detail::as5047_setMsbToEvenParity(((1 << 14) | 0x3FFF)), | ||
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| }; | ||
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| struct modm_packed Data | ||
| { | ||
| /// @return | ||
| constexpr float | ||
| getAngleRad() const | ||
| { | ||
| const uint16_t angle = data & 0x3fff; | ||
| return static_cast<float>(angle) / 16383.f * 2.f * std::numbers::pi_v<float>; | ||
| } | ||
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| /// @return | ||
| constexpr float | ||
| getAngleDeg() const | ||
| { | ||
| const uint16_t angle = data & 0x3fff; | ||
| return static_cast<float>(angle) / 16383.f * 360.f; | ||
| } | ||
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| /// @return | ||
| constexpr uint16_t | ||
| getAngleRaw() const | ||
| { | ||
| const uint16_t angle = data & 0x3fff; | ||
| return angle; | ||
| } | ||
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| uint16_t data; | ||
| }; | ||
| }; // struct as5047 | ||
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| /** | ||
| * @tparam SpiMaster | ||
| * @tparam Cs | ||
| * | ||
| * @author Henrik Hose | ||
| * @ingroup modm_driver_as5047 | ||
| */ | ||
| template<typename SpiMaster, typename Cs> | ||
| class As5047 : public as5047, public modm::SpiDevice<SpiMaster>, protected modm::NestedResumable<5> | ||
| { | ||
| public: | ||
| using Data = as5047::Data; | ||
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| /** | ||
| * @param data pointer to buffer of the internal data of type Data | ||
| */ | ||
| As5047(Data &data); | ||
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| /// Call this function once before using the device | ||
| modm::ResumableResult<void> | ||
| initialize(); | ||
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| /// Read the raw data from the sensor | ||
| modm::ResumableResult<void> | ||
| readout(); | ||
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| /// Get the data object for this sensor | ||
| inline Data & | ||
| getData() | ||
| { | ||
| return data; | ||
| } | ||
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| private: | ||
| Data &data; | ||
| uint8_t inBuffer[2]; | ||
| uint8_t outBuffer[2]; | ||
| }; | ||
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| } // namespace modm | ||
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| #include "as5047_impl.hpp" | ||
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| #endif // MODM_AS5047_HPP | ||
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This is the modm namespace which is quite generic. Would be good to move to
struct as5047or put into the relevant:mathmodule.There was a problem hiding this comment.
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I'm not sure, how to move it into the struct?
If I declare `setMsbToEvenParity` as `static constexpr` in the `as5047` struct, I get an error saying `error: 'static constexpr uint16_t modm::as5047::setMsbToEvenParity(uint16_t)' used before its definition`
I think this might be related to this:
Do you have any suggestions?
Should I put everything into an
as5047namespace?I don't think moving the function as is to the
math:is appropriate, since the function specifically calculates and sets bit 15 of auint16_t, if moved tomath:, a more generic version might be more appropriate. Also, other modm modules likeetlcpphave their own functions to calculate parity bits...There was a problem hiding this comment.
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Ugh, C++ amiright!1!!
You can put it into a
modm::detailsnamespace then and use/// @condand/// @endcondto block doxypress from indexing it (Examples). Prolly prefix the function withas5047_to avoid collisions if you wanna be super careful.There was a problem hiding this comment.
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🐈 No we are super careful 🐱