ams_as5048b.h

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/**************************************************************************/
/**************************************************************************/
 
#if ARDUINO >= 100
 #include <Arduino.h>
#else
 #include <WProgram.h>
#endif
 
#include <math.h>
#include <Wire.h>
 
// custom debug class
#include "Debug.h"
 
 
#ifndef _AMS_AS5048B_H_
#define _AMS_AS5048B_H_
 
 
#define ANGLE_READ_ERROR -1000
 
 
// OPERATIONS
//#define SERIAL_DEBUG_ENABLED - modified to use custom Debug class
//#define USE_WIREBEGIN_ENABLED // to comment if Wire.begin() function is called in Setup() for instance. Usefull to manage one or several I2C devices in the same sketch
 
// Default addresses for AS5048B
#define AS5048_ADDRESS 0x40 // 0b10000 + ( A1 & A2 to GND)
#define AS5048B_PROG_REG 0x03
#define AS5048B_ADDR_REG 0x15
#define AS5048B_ZEROMSB_REG 0x16 //bits 0..7
#define AS5048B_ZEROLSB_REG 0x17 //bits 0..5
#define AS5048B_GAIN_REG 0xFA
#define AS5048B_DIAG_REG 0xFB
#define AS5048B_MAGNMSB_REG 0xFC //bits 0..7
#define AS5048B_MAGNLSB_REG 0xFD //bits 0..5
#define AS5048B_ANGLMSB_REG 0xFE //bits 0..7
#define AS5048B_ANGLLSB_REG 0xFF //bits 0..5
#define AS5048B_RESOLUTION 16384.0 //14 bits
 
 
// Moving Exponential Average on angle - beware heavy calculation for some Arduino boards
// This is a 1st order low pass filter
// Moving average is calculated on Sine et Cosine values of the angle to provide an extrapolated accurate angle value.
#define EXP_MOVAVG_N 5  //history length impact on moving average impact - keep in mind the moving average will be impacted by the measurement frequency too
#define EXP_MOVAVG_LOOP 1 //number of measurements before starting mobile Average - starting with a simple average - 1 allows a quick start. Value must be 1 minimum
 
//unit consts - just to make the units more readable
#define U_RAW 1
#define U_TRN 2
#define U_DEG 3
#define U_RAD 4
#define U_GRAD 5
#define U_MOA 6
#define U_SOA 7
#define U_MILNATO 8
#define U_MILSE 9
#define U_MILRU 10
 
 
 
 
 
class AMS_AS5048B {
 public:
    AMS_AS5048B(void);
    AMS_AS5048B(uint8_t chipAddress);
 
    void        begin(void); // to init the object, must be called in the setup loop
    void        toggleDebug(void); // start / stop debug through serial at anytime
    void        setClockWise(boolean cw = true); //set clockwise counting, default is false (native sensor)
    void        progRegister(uint8_t regVal); //nothing so far - manipulate the OTP register
    void        doProg(void); //progress programming slave address OTP
    void        doProgZero(void); //progress programming zero position OTP
    void        addressRegW(uint8_t regVal); //change the chip address
    uint8_t     addressRegR(void); //read chip address
    void        setZeroReg(void); //set Zero to current angle position
    void        zeroRegW(uint16_t regVal); //write Zero register value
    uint16_t    zeroRegR(void); //read Zero register value
    uint16_t    angleRegR(void); //read raw value of the angle register
    uint8_t     diagR(void); //read diagnostic register
    uint16_t    magnitudeR(void); //read current magnitude
    double      angleR(int unit = U_RAW, boolean newVal = true); //Read current angle or get last measure with unit conversion : RAW, TRN, DEG, RAD, GRAD, MOA, SOA, MILNATO, MILSE, MILRU
    uint8_t     getAutoGain(void);
    uint8_t     getDiagReg(void);
 
    void        updateMovingAvgExp(void); //measure the current angle and feed the Exponential Moving Average calculation
    double      getMovingAvgExp(int unit = U_RAW); //get Exponential Moving Average calculation
    void        resetMovingAvgExp(void); //reset Exponential Moving Average calculation values
 
 private:
    //variables
    boolean     _debugFlag;
    boolean     _clockWise;
    uint8_t     _chipAddress;
    uint8_t     _addressRegVal;
    uint16_t    _zeroRegVal;
    double      _lastAngleRaw;
    double      _movingAvgExpAngle;
    double      _movingAvgExpSin;
    double      _movingAvgExpCos;
    double      _movingAvgExpAlpha;
    int     _movingAvgCountLoop;
    boolean     _i2cerror;
 
    //methods
    uint8_t     readReg8(uint8_t address);
    uint16_t    readReg16(uint8_t address); //16 bit value got from 2x8bits registers (7..0 MSB + 5..0 LSB) => 14 bits value
    void        writeReg(uint8_t address, uint8_t value);
    double      convertAngle(int unit, double angle); //RAW, TRN, DEG, RAD, GRAD, MOA, SOA, MILNATO, MILSE, MILRU
    double      getExpAvgRawAngle(void);
    void        printDebug(void);
};
 
#endif