#include "MA735.h" MA735::MA735(SPISettings settings, int nCS) : settings(settings), nCS(nCS) { }; MA735::~MA735() { }; void MA735::init(SPIClass* _spi) { spi = _spi; if (nCS >= 0) { pinMode(nCS, OUTPUT); digitalWrite(nCS, HIGH); } }; float MA735::getCurrentAngle() { return (readRawAngle() * _2PI)/MA735_16BIT;//It doesn't matter that it is divided by 65536, because the raw angle fills empty data bits with empty zeros so sensor resolution doesn't affect angle calculation }; // angle in radians, return current value uint16_t MA735::readRawAngle() { uint16_t angle = transfer16(0x0000); return angle; }; // 9-13bit angle value uint16_t MA735::getZero() { uint16_t result = readRegister(MA735_REG_ZERO_POSITION_MSB)<<8; result |= readRegister(MA735_REG_ZERO_POSITION_LSB); return result; }; uint8_t MA735::getBiasCurrentTrimming() { return readRegister(MA735_REG_BCT); }; bool MA735::isBiasCurrrentTrimmingX() { return (readRegister(MA735_REG_ET) & 0x01)==0x01; }; bool MA735::isBiasCurrrentTrimmingY() { return (readRegister(MA735_REG_ET) & 0x02)==0x02; }; uint16_t MA735::getPulsesPerTurn() { uint16_t result = readRegister(MA735_REG_ILIP_PPT_LSB)>>6; result |= ((uint16_t)readRegister(MA735_REG_PPT_MSB))<<2; return result+1; }; uint8_t MA735::getIndexLength() { return (readRegister(MA735_REG_ILIP_PPT_LSB)>>2)&0x0F; }; uint8_t MA735::getRotationDirection() { return (readRegister(MA735_REG_RD)>>7); }; uint8_t MA735::getFieldStrengthHighThreshold() { return (readRegister(MA735_REG_MGLT_MGHT)>>2)&0x07; }; uint8_t MA735::getFieldStrengthLowThreshold() { return (readRegister(MA735_REG_MGLT_MGHT)>>5)&0x07; }; FieldStrength MA735::getFieldStrength() { return (FieldStrength)(readRegister(MA735_REG_MGH_MGL)>>6); }; uint8_t MA735::getFilterWindow() { return readRegister(MA735_REG_FW); }; uint8_t MA735::getHysteresis() { return readRegister(MA735_REG_HYS); }; float MA735::getResolution() { //All I could find in the datasheet was a table with the correlation, no function to convert Filter window to res. uint8_t reg = readRegister(MA735_REG_FW); float result; switch (reg) { case 51: result = 9.0; break; case 68: result = 9.5; break; case 85: result = 10.0; break; case 102: result = 10.5; break; case 119: result = 11.0; break; case 136: result = 11.5; break; case 153: result = 12.0; break; case 170: result = 12.5; break; case 187: result = 13.0; break; default: result = 11.0; break; } return result; }; int MA735::getUpdateTime() { //All I could find in the datasheet was a table with the correlation, no function to convert Filter window to update time. //Returns result in microseconds uint8_t reg = readRegister(MA735_REG_FW); int result; switch (reg) { case 51: result = 64; break; case 68: result = 128; break; case 85: result = 256; break; case 102: result = 512; break; case 119: result = 1024; break; case 136: result = 2048; break; case 153: result = 4096; break; case 170: result = 8192; break; case 187: result = 16384; break; default: result = 1024; break; } return result; }; void MA735::setZero(uint16_t value) { writeRegister(MA735_REG_ZERO_POSITION_MSB, value>>8); writeRegister(MA735_REG_ZERO_POSITION_LSB, value&0x00FF); }; void MA735::setBiasCurrentTrimming(uint8_t value) { writeRegister(MA735_REG_BCT, value); }; void MA735::setBiasCurrrentTrimmingEnabled(bool Xenabled, bool Yenabled) { uint8_t val = Xenabled ? 0x01 : 0x00; val |= (Yenabled ? 0x02 : 0x00); writeRegister(MA735_REG_ET, val); }; void MA735::setPulsesPerTurn(uint16_t value) { uint16_t pptVal = value - 1; writeRegister(MA735_REG_PPT_MSB, pptVal>>2); uint8_t val = readRegister(MA735_REG_ILIP_PPT_LSB); val &= 0x3F; val |= (pptVal&0x03)<<6; writeRegister(MA735_REG_ILIP_PPT_LSB, val); }; void MA735::setIndexLength(uint8_t value) { uint8_t val = readRegister(MA735_REG_ILIP_PPT_LSB); val &= 0xC0; val |= ((value<<2)&0x3F); writeRegister(MA735_REG_ILIP_PPT_LSB, val); }; void MA735::setRotationDirection(uint8_t value) { if (value==0) writeRegister(MA735_REG_RD, 0x00); else writeRegister(MA735_REG_RD, 0x80); }; void MA735::setFieldStrengthThresholds(uint8_t high, uint8_t low) { uint8_t val = (low<<5) | (high<<2); writeRegister(MA735_REG_MGLT_MGHT, val); }; void MA735::setFilterWindow(uint8_t value) { writeRegister(MA735_REG_FW, value); }; void MA735::setHysteresis(uint8_t value) { writeRegister(MA735_REG_HYS, value); }; void MA735::setResolution(float res) { //All I could find in the datasheet was a table with the correlation, no function to convert Filter window to res. uint8_t value; uint8_t res_int = res * 10;//It has to be a basic type for the switch case switch (res_int) { case 90: value = 51; break; case 95: value = 68; break; case 100: value = 85; break; case 105: value = 102; break; case 110: value = 119; break; case 115: value = 136; break; case 120: value = 153; break; case 125: value = 170; break; case 130: value = 187; break; default: value = 119; break; } writeRegister(MA735_REG_FW, value); }; void MA735::setUpdateTime(int microsec) { //All I could find in the datasheet was a table with the correlation, no function to convert Filter window to update time. //time in microseconds uint8_t value; switch (microsec) { case 64: value = 51; break; case 128: value = 68; break; case 256: value = 85; break; case 512: value = 102; break; case 1024: value = 119; break; case 2048: value = 136; break; case 4096: value = 153; break; case 8192: value = 170; break; case 16384: value = 187; break; default: value = 119; break; } writeRegister(MA735_REG_FW, value); }; uint16_t MA735::transfer16(uint16_t outValue) { spi->beginTransaction(settings); if (nCS >= 0) digitalWrite(nCS, LOW); uint16_t value = spi->transfer16(outValue); if (nCS >= 0) digitalWrite(nCS, HIGH); spi->endTransaction(); return value; }; uint8_t MA735::readRegister(uint8_t reg) { uint16_t cmd = 0x4000 | ((reg&0x001F)<<8); uint16_t value = transfer16(cmd); delayMicroseconds(1); value = transfer16(0x0000); return value>>8; }; uint8_t MA735::writeRegister(uint8_t reg, uint8_t value) { uint8_t write_check = readRegister(reg); //no need to rewrite, it is the exact same value if (write_check == value) { return write_check; } else { uint16_t cmd = 0x8000 | ((reg&0x1F)<<8) | value; uint16_t result = transfer16(cmd); delay(20); // 20ms delay required result = transfer16(0x0000); return result>>8; } };