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[driver] Add AS5600 driver + generalize data-type for external encoders #1166

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Jun 17, 2024
Merged

[driver] Add AS5600 driver + generalize data-type for external encoders #1166

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b6f3a89
generalized modm::angle type and renamed some methods
TomSaw Jun 10, 2024
55c88ba
added driver/encoder/as5600
TomSaw Jun 10, 2024
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30 changes: 16 additions & 14 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -722,104 +722,106 @@ your specific needs.
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ams5915">AMS5915</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-apa102">APA102</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-as5047">AS5047</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-at24mac402">AT24MAC402</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-as5600">AS5600</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-at24mac402">AT24MAC402</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-block-device-spi-flash">SPI Flash</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bme280">BME280</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bmi088">BMI088</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bmp085">BMP085</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bno055">BNO055</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-cat24aa">CAT24AA</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-cat24aa">CAT24AA</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-cycle_counter">CYCLE-COUNTER</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-drv832x_spi">DRV832X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1302">DS1302</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1631">DS1631</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds18b20">DS18B20</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ea_dog">EA-DOG</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ea_dog">EA-DOG</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input">Encoder Input</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input-bitbang">Encoder Input BitBang</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_output-bitbang">Encoder Output BitBang</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ft245">FT245</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ft6x06">FT6x06</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-gpio_sampler">Gpio Sampler</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-gpio_sampler">Gpio Sampler</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hclax">HCLAx</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hd44780">HD44780</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc58x">HMC58x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc6343">HMC6343</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hx711">HX711</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-i2c-eeprom">I2C-EEPROM</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-i2c-eeprom">I2C-EEPROM</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ili9341">ILI9341</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-is31fl3733">IS31FL3733</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-itg3200">ITG3200</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ixm42xxx">IXM42XXX</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-l3gd20">L3GD20</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lan8720a">LAN8720A</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lan8720a">LAN8720A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lawicel">LAWICEL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis302dl">LIS302DL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3dsh">LIS3DSH</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3mdl">LIS3MDL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lm75">LM75</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lp503x">LP503x</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lp503x">LP503x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm303a">LSM303A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6ds33">LSM6DS33</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6dso">LSM6DSO</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ltc2984">LTC2984</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max31855">MAX31855</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max31865">MAX31865</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max31865">MAX31865</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max6966">MAX6966</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max7219">MAX7219</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp23x17">MCP23x17</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp2515">MCP2515</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp3008">MCP3008</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp7941x">MCP7941x</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp7941x">MCP7941x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp990x">MCP990X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mmc5603">MMC5603</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ms5611">MS5611</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ms5837">MS5837</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-nokia5110">NOKIA5110</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-nrf24">NRF24</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-nrf24">NRF24</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-parallel_tft_display">TFT-DISPLAY</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pat9125el">PAT9125EL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca8574">PCA8574</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9535">PCA9535</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9548a">PCA9548A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9685">PCA9685</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9685">PCA9685</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-qmc5883l">QMC5883L</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sh1106">SH1106</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s65">SIEMENS-S65</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s75">SIEMENS-S75</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk6812">SK6812</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk9822">SK9822</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk9822">SK9822</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ssd1306">SSD1306</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7586s">ST7586S</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7789">ST7789</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stts22h">STTS22H</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stusb4500">STUSB4500</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sx1276">SX1276</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sx1276">SX1276</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sx128x">SX128X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3414">TCS3414</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3472">TCS3472</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tlc594x">TLC594x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp102">TMP102</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp12x">TMP12x</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp12x">TMP12x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp175">TMP175</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-touch2046">TOUCH2046</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl53l0">VL53L0</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl6180">VL6180</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ws2812">WS2812</a></td>
</tr><tr>
</tr>
</table>
<!--/drivertable-->
Expand Down
12 changes: 6 additions & 6 deletions examples/nucleo_g474re/as5047/main.cpp
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Expand Up @@ -35,22 +35,22 @@ class EncoderThread : public modm::pt::Protothread

while (true)
{
PT_CALL(encoder.readout());
PT_CALL(encoder.read());

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;
MODM_LOG_INFO << " angle degree: " << data.toDegree() << " degrees" << modm::endl;
MODM_LOG_INFO << " angle rad: " << data.toRadian() << " radians" << modm::endl;
MODM_LOG_INFO << " angle raw: " << data.data << modm::endl;

timeout.restart(std::chrono::milliseconds(500));
timeout.restart(500ms);
PT_WAIT_UNTIL(timeout.isExpired());
}

PT_END();
}

private:
modm::as5047::Data data;
modm::as5047::Data data{0};
modm::As5047<SpiMaster, Cs> encoder;

modm::ShortTimeout timeout;
Expand Down
45 changes: 6 additions & 39 deletions src/modm/driver/encoder/as5047.hpp
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Expand Up @@ -11,15 +11,15 @@
*/
// ----------------------------------------------------------------------------

#ifndef MODM_AS5047_HPP
#define MODM_AS5047_HPP
#pragma once

#include <array>
#include <numbers>
#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>
#include <modm/math/geometry/angle_int.hpp>

namespace modm
{
Expand Down Expand Up @@ -81,34 +81,7 @@ struct as5047

};

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>;
}

/// @return
constexpr float
getAngleDeg() const
{
const uint16_t angle = data & 0x3fff;
return static_cast<float>(angle) / 16383.f * 360.f;
}

/// @return
constexpr uint16_t
getAngleRaw() const
{
const uint16_t angle = data & 0x3fff;
return angle;
}

uint16_t data;
};
using Data = modm::IntegerAngle<14>;
}; // struct as5047

/**
Expand All @@ -129,13 +102,9 @@ class As5047 : public as5047, public modm::SpiDevice<SpiMaster>, protected modm:
*/
As5047(Data &data);

/// Call this function once before using the device
modm::ResumableResult<void>
initialize();

/// Read the raw data from the sensor
modm::ResumableResult<void>
readout();
read();

/// Get the data object for this sensor
inline Data &
Expand All @@ -152,6 +121,4 @@ class As5047 : public as5047, public modm::SpiDevice<SpiMaster>, protected modm:

} // namespace modm

#include "as5047_impl.hpp"

#endif // MODM_AS5047_HPP
#include "as5047_impl.hpp"
3 changes: 2 additions & 1 deletion src/modm/driver/encoder/as5047.lb
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Expand Up @@ -22,7 +22,8 @@ def prepare(module, options):
module.depends(
":architecture:gpio",
":architecture:spi.device",
":processing:resumable"
":processing:resumable",
":math:geometry"
)
return True

Expand Down
8 changes: 2 additions & 6 deletions src/modm/driver/encoder/as5047_impl.hpp
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Expand Up @@ -11,10 +11,6 @@
*/
// ----------------------------------------------------------------------------

#ifndef MODM_AS5047_HPP
#error "Don't include this file directly, use 'as5047.hpp' instead!"
#endif

namespace modm
{

Expand All @@ -27,7 +23,7 @@ As5047<SpiMaster, Cs>::As5047(Data &data) : data(data)

template<typename SpiMaster, typename Cs>
modm::ResumableResult<void>
As5047<SpiMaster, Cs>::readout()
As5047<SpiMaster, Cs>::read()
{
RF_BEGIN();

Expand All @@ -39,7 +35,7 @@ As5047<SpiMaster, Cs>::readout()
RF_CALL(SpiMaster::transfer(outBuffer, inBuffer, 2));
Cs::set();

modm::delay_us(1);
modm::delay(1us);

Cs::reset();
outBuffer[1] = 0;
Expand Down
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