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mathieukaelinmathieukaelin
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Merge pull request #8 from monolithicpower/dev
Merge branch dev into master
2 parents 3c4bb23 + b9b3a23 commit 106534e

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‎README.md‎

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@@ -11,13 +11,13 @@ For more information on the MagAlpha sensor family:
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* [MagAlpha Support Materials](http://www.monolithicpower.com/Design-Support/Position-Sensors-Design-Support)
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## Supported sensors
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Supports all 3rd generation MagAlpha magnetic angle sensors from [Monolithic Power Systems](https://www.monolithicpower.com/).
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Supports all 3rd, 4th, 6th, 7th, 8th generation MagAlpha magnetic angle sensors from [Monolithic Power Systems](https://www.monolithicpower.com/).
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| Applications | Part Numbers |
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| ------------| ------------ |
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| Turning knob applications (potentiometer replacement) | MA800, MA820, MA850 |
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| Rotary encoders (optical encoder replacement, Servo motors, ...) | MA702, MA704, MA710, MA730 |
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| Position controlled motor drivers (FOC, ...) | MA302, MA310 |
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| Position controlled motor drivers (FOC, ...) | MA302, MA310, MA600 |
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| Motor commutation (hall switches replacement) | MA102 |
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@@ -39,6 +39,7 @@ MIT license, all text above must be included in any redistribution.
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### Serial communication
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All MagAlpha have a SPI communication interface. Some sensors like the MA702 also have an additional SSI (2-wire) interface.
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MagAlpha gen8 possess an I2C interface.
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#### SPI (4-wire interface)
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| Arduino | MagAlpha |
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| MISO | SSD |
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| SCK | SSCK |
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### I2C (2-wire interface)
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| Arduino | MagAlpha |
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| -------- | -------- |
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| SCL | SCL |
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| SDA | SDA |
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#### Arduino SPI pin mapping
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| Arduino / Genuino Board | MOSI | MISO | SCK | CS | Voltage Level |
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| ----------------------- | ---- | ---- | ---- | :---: | ------------- |

‎examples/gen3/gen3.ino‎

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#include <SPI.h>
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#include <MagAlphaGen3.h>
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#include <MagAlphaPartProperties.h>
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#define SPI_CS_PIN (7)
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#define SPI_SCLK_FREQUENCY (1000000)
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MagAlphaGen3 magalpha;
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double angle_real;
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uint16_t zero, bct, angle_raw;
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uint8_t register_value[2];
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bool crc_error;
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void setup() {
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magalpha.begin(SPI_SCLK_FREQUENCY, MagAlphaSPIMode::MODE_0, SPI_CS_PIN, &SPI);
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// Other ways of use of begin() that will set default settings to the SPI peripheral
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// magalpha.begin(SPI_CS_PIN, &SPI);
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//magalpha.setSpiClockFrequency(SPI_SCLK_FREQUENCY);
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//magalpha.setSpiDataMode(MagAlphaSPIMode::MODE0);
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//magalpha.setSpiChipSelectPin(SPI_CS_PIN);
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Serial.begin(115200);
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while(!Serial);
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}
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void loop() {
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// Read & Write registers
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register_value[0] = magalpha.writeRegister(0, 0xAA);
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Serial.println(register_value[0], HEX);
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register_value[0] = magalpha.readRegister(0);
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Serial.println(register_value[0], HEX);
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register_value[0] = magalpha.writeRegister(0, 0x00);
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// Read & Write registers in burst mode
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register_value[0] = 0xAA;
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register_value[1] = 0x55;
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magalpha.writeRegisterBurst(0, register_value, 2);
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magalpha.readRegisterBurst(0, register_value, 2);
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for(uint8_t i = 0; i < sizeof(register_value); i++) {
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Serial.print("Register ");
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Serial.print(i);
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Serial.print(" = ");
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Serial.println(register_value[i], HEX);
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}
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register_value[0] = 0x00;
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register_value[1] = 0x00;
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magalpha.writeRegisterBurst(0, register_value, 2);
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// Set & Get zero setting
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zero = magalpha.setCurrentAngleAsZero();
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Serial.print("Zero setting = ");
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Serial.println(zero, HEX);
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magalpha.setZero(0x0000);
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zero = magalpha.getZero();
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Serial.print("Zero setting = ");
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Serial.println(zero, HEX);
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// Set & Get BCT setting
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magalpha.setBct(0xAA55);
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bct = magalpha.getBct();
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Serial.print("BCT = ");
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Serial.println(bct, HEX);
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magalpha.setBct(0x00);
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// Read angle
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angle_raw = magalpha.readAngleRaw8();
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Serial.print("Angle raw (8 bits) = ");
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Serial.println(angle_raw, HEX);
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angle_raw = magalpha.readAngleRaw16();
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Serial.print("Angle raw (16 bits) = ");
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Serial.println(angle_raw, HEX);
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angle_raw = magalpha.readAngleRaw(&crc_error);
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if(crc_error) {
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Serial.println("An error occured during readAngleRaw");
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} else {
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Serial.print("readAngleRaw succeded, Angle raw (16 bits) = ");
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Serial.println(angle_raw, HEX);
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}
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angle_real = magalpha.readAngle();
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Serial.print("Angle in degree = ");
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Serial.println(angle_real, DEC);
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// This delay has been added only for visual purpose of the terminal
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delay(25);
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}

‎examples/gen4/gen4.ino‎

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#include <SPI.h>
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#include <MagAlphaGen4.h>
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#include <MagAlphaPartProperties.h>
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#define SPI_CS_PIN (7)
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#define SPI_SCLK_FREQUENCY (1000000)
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MagAlphaGen4 magalpha;
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double angle_real;
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uint16_t zero, bct, angle_raw;
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uint8_t register_value[2];
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bool crc_error;
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void setup() {
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magalpha.begin(SPI_SCLK_FREQUENCY, MagAlphaSPIMode::MODE_0, SPI_CS_PIN, &SPI);
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// Other ways of use of begin() that will set default settings to the SPI peripheral
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// magalpha.begin(SPI_CS_PIN, &SPI);
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//magalpha.setSpiClockFrequency(SPI_SCLK_FREQUENCY);
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//magalpha.setSpiDataMode(MagAlphaSPIMode::MODE0);
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//magalpha.setSpiChipSelectPin(SPI_CS_PIN);
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Serial.begin(115200);
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while(!Serial);
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}
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void loop() {
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// Read & Write registers
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register_value[0] = magalpha.writeRegister(0, 0xAA);
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Serial.println(register_value[0], HEX);
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register_value[0] = magalpha.readRegister(0);
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Serial.println(register_value[0], HEX);
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register_value[0] = magalpha.writeRegister(0, 0x00);
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// Read & Write registers in burst mode
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register_value[0] = 0xAA;
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register_value[1] = 0x55;
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magalpha.writeRegisterBurst(0, register_value, 2);
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magalpha.readRegisterBurst(0, register_value, 2);
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for(uint8_t i = 0; i < sizeof(register_value); i++) {
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Serial.print("Register ");
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Serial.print(i);
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Serial.print(" = ");
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Serial.println(register_value[i], HEX);
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}
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register_value[0] = 0x00;
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register_value[1] = 0x00;
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magalpha.writeRegisterBurst(0, register_value, 2);
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// Set & Get zero setting
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zero = magalpha.setCurrentAngleAsZero();
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Serial.print("Zero setting = ");
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Serial.println(zero, HEX);
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magalpha.setZero(0x0000);
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zero = magalpha.getZero();
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Serial.print("Zero setting = ");
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Serial.println(zero, HEX);
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// Set & Get BCT setting
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magalpha.setBct(0xAA55);
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bct = magalpha.getBct();
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Serial.print("BCT = ");
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Serial.println(bct, HEX);
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magalpha.setBct(0x00);
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// Memory management
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magalpha.writeRegister(0, 0xAA);
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magalpha.storeRegister(0);
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magalpha.writeRegister(0, 0x00);
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magalpha.restoreAllRegisters();
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if(magalpha.readRegister(0) != 0xAA) {
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Serial.println("An error occured during restoreAllRegisters");
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}
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magalpha.writeRegister(0, 0x00);
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magalpha.storeAllRegisters();
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magalpha.restoreAllRegisters();
80+
if(magalpha.readRegister(0) != 0x00) {
81+
Serial.println("An error occured during storeAllRegisters");
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}
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// Clear error flags
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magalpha.clearErrorFlags();
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// Read angle
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angle_raw = magalpha.readAngleRaw8();
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Serial.print("Angle raw (8 bits) = ");
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Serial.println(angle_raw, HEX);
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angle_raw = magalpha.readAngleRaw16();
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Serial.print("Angle raw (16 bits) = ");
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Serial.println(angle_raw, HEX);
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angle_raw = magalpha.readAngleRaw(&crc_error);
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if(crc_error) {
96+
Serial.println("An error occured during readAngleRaw");
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} else {
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Serial.print("readAngleRaw succeded, Angle raw (16 bits) = ");
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Serial.println(angle_raw, HEX);
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}
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angle_real = magalpha.readAngle();
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Serial.print("Angle in degree = ");
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Serial.println(angle_real, DEC);
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// This delay has been added only for visual purpose of the terminal
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delay(25);
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}

‎examples/gen6/gen6.ino‎

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#include <SPI.h>
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#include <MagAlphaGen6.h>
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#include <MagAlphaPartProperties.h>
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#define SPI_CS_PIN (7)
7+
#define SPI_SCLK_FREQUENCY (1000000)
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9+
MagAlphaGen6 magalpha;
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11+
double angle_real, speed;
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uint16_t zero, bct, angle_raw, turn;
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uint8_t register_value[2];
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bool crc_error;
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void setup() {
17+
18+
magalpha.begin(SPI_SCLK_FREQUENCY, MagAlphaSPIMode::MODE_0, SPI_CS_PIN, &SPI);
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// Other ways of use of begin() that will set default settings to the SPI peripheral
20+
// magalpha.begin(SPI_CS_PIN, &SPI);
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22+
//magalpha.setSpiClockFrequency(SPI_SCLK_FREQUENCY);
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//magalpha.setSpiDataMode(MagAlphaSPIMode::MODE0);
24+
//magalpha.setSpiChipSelectPin(SPI_CS_PIN);
25+
Serial.begin(115200);
26+
while(!Serial);
27+
}
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void loop() {
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// Read & Write registers
32+
register_value[0] = magalpha.writeRegister(0, 0xAA);
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Serial.println(register_value[0], HEX);
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register_value[0] = magalpha.readRegister(0);
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Serial.println(register_value[0], HEX);
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register_value[0] = magalpha.writeRegister(0, 0x00);
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// Read & Write registers in burst mode
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register_value[0] = 0xAA;
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register_value[1] = 0x55;
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magalpha.writeRegisterBurst(0, register_value, 2);
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magalpha.readRegisterBurst(0, register_value, 2);
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for(uint8_t i = 0; i < sizeof(register_value); i++) {
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Serial.print("Register ");
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Serial.print(i);
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Serial.print(" = ");
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Serial.println(register_value[i], HEX);
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}
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register_value[0] = 0x00;
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register_value[1] = 0x00;
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magalpha.writeRegisterBurst(0, register_value, 2);
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// Set & Get zero setting
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zero = magalpha.setCurrentAngleAsZero();
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Serial.print("Zero setting = ");
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Serial.println(zero, HEX);
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magalpha.setZero(0x0000);
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zero = magalpha.getZero();
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Serial.print("Zero setting = ");
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Serial.println(zero, HEX);
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// Set & Get BCT setting
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magalpha.setBct(0xAA55);
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bct = magalpha.getBct();
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Serial.print("BCT = ");
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Serial.println(bct, HEX);
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magalpha.setBct(0x00);
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// Memory management
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magalpha.writeRegister(0, 0xAA);
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magalpha.storeRegisterBlock(0);
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magalpha.writeRegister(0, 0x00);
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magalpha.restoreAllRegisters();
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if(magalpha.readRegister(0) != 0xAA) {
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Serial.println("An error occured during restoreAllRegisters");
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}
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magalpha.writeRegister(0, 0x00);
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magalpha.storeAllRegisters();
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magalpha.restoreAllRegisters();
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if(magalpha.readRegister(0) != 0x00) {
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Serial.println("An error occured during storeAllRegisters");
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}
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// Clear error flags
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magalpha.clearErrorFlags();
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speed = magalpha.readSpeed();
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Serial.println(speed);
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turn = magalpha.readTurn();
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Serial.println(turn);
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// Read angle
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angle_raw = magalpha.readAngleRaw8();
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Serial.print("Angle raw (8 bits) = ");
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Serial.println(angle_raw, HEX);
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angle_raw = magalpha.readAngleRaw16();
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Serial.print("Angle raw (16 bits) = ");
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Serial.println(angle_raw, HEX);
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angle_raw = magalpha.readAngleRaw(&crc_error);
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if(crc_error) {
101+
Serial.println("An error occured during readAngleRaw");
102+
} else {
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Serial.print("readAngleRaw succeded, Angle raw (16 bits) = ");
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Serial.println(angle_raw, HEX);
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}
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angle_real = magalpha.readAngle();
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Serial.print("Angle in degree = ");
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Serial.println(angle_real, DEC);
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// This delay has been added only for visual purpose of the terminal
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delay(25);
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}

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