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* 0.39 - changed step count to TCC2, improved the dir pin setup/hold …
…times * - added support for the MKS Servo42 (A1333 encoder) Update the licenses, added user manual
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| Original file line number | Diff line number | Diff line change |
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| /********************************************************************** | ||
| Copyright (C) 2019 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 "A1333.h" | ||
| #include "SPI.h" | ||
| #include <stdio.h> | ||
| #include "board.h" | ||
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| #define A1333_CMD_NOP (0x0000) | ||
| #define A1333_ANG15 (0x3200) | ||
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| SPISettings settingsA(500000, MSBFIRST, SPI_MODE3); ///400000, MSBFIRST, SPI_MODE1); | ||
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| boolean A1333::begin(int csPin) | ||
| { | ||
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| 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); | ||
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| digitalWrite(PIN_AS5047D_CS,HIGH); //pull CS high | ||
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| pinMode(PIN_MISO,INPUT); | ||
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| chipSelectPin=csPin; | ||
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| LOG("csPin is %d",csPin); | ||
| pinMode(chipSelectPin,OUTPUT); | ||
| digitalWrite(chipSelectPin,HIGH); //pull CS high by default | ||
| delay(1); | ||
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| SPI.begin(); //AS5047D SPI uses mode=1 (CPOL=0, CPHA=1) | ||
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| LOG("Begin A1333..."); | ||
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| LOG("Address is 0x%04X",readAddress(A1333_ANG15)); | ||
| } | ||
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| //read the encoders | ||
| int16_t A1333::readAddress(uint16_t addr) | ||
| { | ||
| uint16_t data; | ||
| //make sure it is a write by setting bit 14 | ||
| //addr=addr | 0x4000; | ||
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| SPI.beginTransaction(settingsA); | ||
| digitalWrite(chipSelectPin, LOW); | ||
| delayMicroseconds(1); | ||
| //clock out the address to read | ||
| //LOG("address 0x%04X",addr); | ||
| 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); | ||
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| digitalWrite(chipSelectPin, HIGH); | ||
| SPI.endTransaction(); | ||
|
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| return data; | ||
| } | ||
|
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| //read the encoders | ||
| int16_t A1333::readEncoderAngle(void) | ||
| { | ||
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| return readAddress(A1333_ANG15)>>1; | ||
| } | ||
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| int16_t A1333::readEncoderAnglePipeLineRead(void) | ||
| { | ||
| static bool first=true; | ||
| uint16_t addr = A1333_ANG15; | ||
| uint16_t addr2; | ||
| uint16_t data; | ||
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| if (first) | ||
| { | ||
| //make sure it is a write by setting bit 14 | ||
| //addr2=addr | 0x4000; | ||
| SPI.beginTransaction(settingsA); | ||
| digitalWrite(chipSelectPin, LOW); | ||
| delayMicroseconds(1); | ||
| //clock out the address to read | ||
| SPI.transfer16(addr); | ||
| digitalWrite(chipSelectPin, HIGH); | ||
| delayMicroseconds(1); | ||
| digitalWrite(chipSelectPin, LOW); | ||
| delayMicroseconds(1); | ||
| //clock out zeros to read in the data from address | ||
| data=SPI.transfer16(addr); | ||
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| digitalWrite(chipSelectPin, HIGH); | ||
| SPI.endTransaction(); | ||
| first=false; | ||
| return data>>1; | ||
| } | ||
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| SPI.beginTransaction(settingsA); | ||
| digitalWrite(chipSelectPin, LOW); | ||
| delayMicroseconds(1); | ||
| //clock out zeros to read in the data from address | ||
| data=SPI.transfer16(addr); | ||
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| digitalWrite(chipSelectPin, HIGH); | ||
| SPI.endTransaction(); | ||
| return data>>1; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,59 @@ | ||
| /********************************************************************** | ||
| Copyright (C) 2019 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! | ||
| *********************************************************************/ | ||
| #ifndef A1333_H_ | ||
| #define A1333_H_ | ||
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| #include <Arduino.h> | ||
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| #define A1333_DEGREES_PER_BIT (360.0/(float)(0x7FFF)) | ||
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| class A1333 { | ||
| private: | ||
| int chipSelectPin; | ||
| public: | ||
| boolean begin(int csPin); | ||
| int16_t readEncoderAngle(void); | ||
| int16_t readAddress(uint16_t addr); | ||
| int16_t readEncoderAnglePipeLineRead(void); | ||
| void diagnostics(char *ptrStr) {return;}; | ||
| bool getError(void) {return false;}; | ||
| }; | ||
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| #endif /* A1333_H_ */ |
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