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Trikarus/firmware_smartstepper_trikarus/stepper_nano_zero/as5047d.cpp

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/**********************************************************************
Copyright (C) 2018 MisfitTech LLC, All rights reserved.
MisfitTech uses a dual license model that allows the software to be used under
a standard GPL open source license, or a commercial license. The standard GPL
license requires that all software statically linked with MisfitTec Code is
also distributed under the same GPL V2 license terms. Details of both license
options follow:
- Open source licensing -
MisfitTech is a free download and may be used, modified, evaluated and
distributed without charge provided the user adheres to version two of the GNU
General Public License (GPL) and does not remove the copyright notice or this
text. The GPL V2 text is available on the gnu.org web site
- Commercial licensing -
Businesses and individuals that for commercial or other reasons cannot comply
with the terms of the GPL V2 license must obtain a low cost commercial license
before incorporating MisfitTech code into proprietary software for distribution in
any form. Commercial licenses can be purchased from www.misfittech.net
and do not require any source files to be changed.
This code is distributed in the hope that it will be useful. You cannot
use MisfitTech's code unless you agree that you use the software 'as is'.
MisfitTech's code is provided WITHOUT ANY WARRANTY; without even the implied
warranties of NON-INFRINGEMENT, MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. MisfitTech LLC disclaims all conditions and terms, be they
implied, expressed, or statutory.
Written by Trampas Stern for MisfitTech.
Misfit Tech invests time and resources providing this open source code,
please support MisfitTech and open-source hardware by purchasing
products from MisfitTech, www.misifittech.net!
*********************************************************************/
#include <Arduino.h>
#include "syslog.h"
#include "as5047d.h"
#include "SPI.h"
#include <stdio.h>
#include "board.h"
#define AS5047D_CMD_NOP (0x0000)
#define AS5047D_CMD_ERRFL (0x0001)
#define AS5047D_CMD_PROG (0x0003)
#define AS5047D_CMD_DIAAGC (0x3FFC)
#define AS5047D_CMD_MAG (0x3FFD)
#define AS5047D_CMD_ANGLEUNC (0x3FFE)
#define AS5047D_CMD_ANGLECOM (0x3FFF)
#define AS5048A_CMD_NOP (0x0000)
#define AS5048A_CMD_ERRFL (0x0001)
#define AS5048A_CMD_PROG (0x0003)
#define AS5048A_CMD_DIAAGC (0x3FFD)
#define AS5048A_CMD_MAG (0x3FFE)
#define AS5048A_CMD_ANGLE (0x3FFF)
#pragma GCC push_options
#pragma GCC optimize ("-Ofast")
static int getBit(int16_t data, int bit)
{
return (data>>bit) & 0x01;
}
static int getParity(uint16_t data)
{
int i,bits;
data=data & 0x7FFF; //mask out upper bit
//count number of bits, brute force
bits=0;
for(i=0; i<16; i++)
{
if (0 != (data & ((0x0001)<<i)))
{
bits++;
}
}
return (bits & 0x01); //return 1 if odd
}
boolean AS5047D::begin(int csPin)
{
#ifdef PIN_AS5047D_PWR
digitalWrite(PIN_AS5047D_PWR,HIGH);
#endif
digitalWrite(PIN_AS5047D_CS,LOW); //pull CS LOW by default (chip powered off)
digitalWrite(PIN_MOSI,LOW);
digitalWrite(PIN_SCK,LOW);
digitalWrite(PIN_MISO,LOW);
pinMode(PIN_MISO,OUTPUT);
delay(1000);
digitalWrite(PIN_AS5047D_CS,HIGH); //pull CS high
#ifdef PIN_AS5047D_PWR
digitalWrite(PIN_AS5047D_PWR,LOW);
#endif
pinMode(PIN_MISO,INPUT);
error=false;
SPISettings settingsA(5000000, MSBFIRST, SPI_MODE1); ///400000, MSBFIRST, SPI_MODE1);
chipSelectPin=csPin;
LOG("csPin is %d",csPin);
pinMode(chipSelectPin,OUTPUT);
digitalWrite(chipSelectPin,HIGH); //pull CS high by default
delay(1);
SPI.begin(); //AS5047D SPI uses mode=1 (CPOL=0, CPHA=1)
LOG("Begin AS5047D...");
SPI.beginTransaction(settingsA);
SPI.transfer16(AS5047D_CMD_NOP);
delay(10);
//wait for the LF bit to be set
uint16_t data=0,t0=100;
while (getBit(data,8)==0 && t0>0)
{
delay(1);
t0--;
if (t0==0)
{
ERROR("LF bit not set");
error=true;
break;
//return false;
}
LOG("AS5047D diag data is 0x%04X",data);
data=readAddress(AS5047D_CMD_DIAAGC);
}
if (error)
{
error=false;
uint16_t data=0,t0=100;
while (getBit(data,8)==0 && t0>0)
{
delay(1);
t0--;
if (t0==0)
{
ERROR("AS5048A OCF bit not set");
error=true;
return false;
}
data=readAddress(AS5048A_CMD_DIAAGC);
LOG("AS5048A diag data is 0x%04X",data);
}
as5047d=false;
}
#ifdef NZS_AS5047_PIPELINE
//read encoder a few times to flush the pipeline
readEncoderAnglePipeLineRead();
readEncoderAnglePipeLineRead();
#endif
return true;
}
//read the encoders
int16_t AS5047D::readAddress(uint16_t addr)
{
uint16_t data;
error=false;
//make sure it is a read by setting bit 14
addr=addr | 0x4000;
//add the parity to the command
if (1 == getParity(addr))
{
addr=(addr & 0x7FFF) | 0x8000; //add parity bit to make command even number of bits
}
digitalWrite(chipSelectPin, LOW);
delayMicroseconds(1);
//clock out the address to read
SPI.transfer16(addr);
digitalWrite(chipSelectPin, HIGH);
delayMicroseconds(1);
digitalWrite(chipSelectPin, LOW);
//clock out zeros to read in the data from address
data=SPI.transfer16(0x00);
digitalWrite(chipSelectPin, HIGH);
if (data & (1<<14))
{
//if bit 14 is set then we have an error
ERROR("read command 0x%04X failed",addr);
error=true;
return -1;
}
if (data>>15 != getParity(data))
{
//parity did not match
ERROR("read command parity error 0x%04X ",addr);
error=true;
return -2;
}
data=data & 0x3FFF; //mask off the error and parity bits
return data;
}
//read the encoders
int16_t AS5047D::readEncoderAngle(void)
{
if (as5047d)
{
return readAddress(AS5047D_CMD_ANGLECOM);
}
return readAddress(AS5048A_CMD_ANGLE);
}
//pipelined read of the encoder angle used for high speed reads, but value is always one read behind
int16_t AS5047D::readEncoderAnglePipeLineRead(void)
{
int16_t data;
int error, t0=10;
GPIO_LOW(chipSelectPin);//(chipSelectPin, LOW);
//delayMicroseconds(1);
do {
// doing two 8 bit transfers is faster than one 16 bit
data =(uint16_t)SPI.transfer(0xFF)<<8 | ((uint16_t)SPI.transfer(0xFF) & 0x0FF);
t0--;
if (t0<=0)
{
ERROR("AS5047D problem");
break;
}
//data=SPI.transfer16(0xFFFF); //to speed things up we know the parity and address for the read
}while(data & (1<<14)); //while error bit is set
data=data & 0x3FFF; //mask off the error and parity bits
GPIO_HIGH(chipSelectPin);
//digitalWrite(chipSelectPin, HIGH);
//TODO we really should check for errors and return a negative result or something
return data;
}
void AS5047D::diagnostics(char *ptrStr)
{
int16_t data;
int m,d;
if (as5047d)
{
data=readAddress(AS5047D_CMD_DIAAGC);
if (NULL == ptrStr)
{
LOG("DIAAGC: 0x%04X", data);
LOG("MAGL: %d", getBit(data,11));
LOG("MAGH: %d", getBit(data,10));
LOG("COF: %d", getBit(data,9));
LOG("LFGL: %d", getBit(data,8));
LOG("AGC: %d", data & 0x0FF);
data=readAddress(AS5047D_CMD_MAG);
LOG("CMAG: 0x%04X(%d)",data,data);
data=readAddress(AS5047D_CMD_ANGLEUNC);
m=(int)((float)data*AS5047D_DEGREES_PER_BIT);
d=(int)((float)data*AS5047D_DEGREES_PER_BIT*100 -m*100);
LOG("CORDICANG: 0x%04X(%d) %d.%02d deg(est)",data,data,m,d);
data=readAddress(AS5047D_CMD_ANGLECOM);
m=(int)((float)data*AS5047D_DEGREES_PER_BIT);
d=(int)((float)data*AS5047D_DEGREES_PER_BIT*100 -m*100);
LOG("DAECANG: 0x%04X(%d) %d.%02d deg(est)",data,data,m,d);
}else
{
sprintf(ptrStr,"DIAAGC: 0x%04X\n\r", data);
sprintf(ptrStr,"%sMAGL: %d\n\r", ptrStr,getBit(data,11));
sprintf(ptrStr,"%sMAGH: %d\n\r", ptrStr,getBit(data,10));
sprintf(ptrStr,"%sCOF: %d\n\r", ptrStr, getBit(data,9));
sprintf(ptrStr,"%sLFGL: %d\n\r", ptrStr, getBit(data,8));
sprintf(ptrStr,"%sAGC: %d\n\r", ptrStr,data & 0x0FF);
data=readAddress(AS5047D_CMD_MAG);
sprintf(ptrStr,"%sCMAG: 0x%04X(%d)\n\r", ptrStr,data,data);
data=readAddress(AS5047D_CMD_ANGLEUNC);
m=(int)((float)data*AS5047D_DEGREES_PER_BIT);
d=(int)((float)data*AS5047D_DEGREES_PER_BIT*100 -m*100);
sprintf(ptrStr,"%sCORDICANG: 0x%04X(%d) %d.%02d deg(est)\n\r", ptrStr,data,data,m,d);
data=readAddress(AS5047D_CMD_ANGLECOM);
m=(int)((float)data*AS5047D_DEGREES_PER_BIT);
d=(int)((float)data*AS5047D_DEGREES_PER_BIT*100 -m*100);
sprintf(ptrStr,"%sDAECANG: 0x%04X(%d) %d.%02d deg(est)\n\r", ptrStr,data,data,m,d);
}
} else
{
data=readAddress(AS5048A_CMD_DIAAGC);
sprintf(ptrStr,"AS5048A DIAAGC: 0x%04X\n\r", data);
data=readAddress(AS5048A_CMD_MAG);
sprintf(ptrStr,"%sMagnitude: %d\n\r", ptrStr,data);
data=readAddress(AS5048A_CMD_ANGLE);
sprintf(ptrStr,"%sAngle: %d\n\r", ptrStr,data);
}
}
#pragma GCC pop_options
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