AS5601 Class Reference

Class that functions for interacting with AS5601 magnetic rotary position sensor. More...

#include <as5601.h>

Public Member Functions
void	Begin ()
	Initialize the I2C bus.
uint8_t	get_pos (double *new_pos)
	Calculate an unwrap the position.
uint8_t	get_agc ()
	Calculate the automatic gain control (AGC)
uint16_t	get_magnitude ()
	Get the magnitude value of the internal CORDIC output.
uint16_t	get_conf ()
	Get the configuration register.
uint8_t	set_zero ()
	Set zero by setting offset angle.
void	init_zero ()
	Reset zero position set the offset to zero.
void	set_gear_ratio (uint8_t enc_ratio)
	Set the gear ratio between encoder and measure axis.

Private Member Functions
uint8_t	i2c_byte_transaction (uint8_t i2c_address, uint8_t i2c_register)
uint16_t	i2c_word_transaction (uint8_t i2c_address, uint8_t i2c_register)

Private Attributes
double	_angle_offset = 0
int32_t	_n = 0
float	_raw_prev_pos = 0
uint8_t	_enc_ratio = 0

Detailed Description

Class that functions for interacting with AS5601 magnetic rotary position sensor.

Definition at line 36 of file as5601.h.

Member Function Documentation

Begin()

void AS5601::Begin ( )

inline

Initialize the I2C bus.

Definition at line 44 of file as5601.h.

References I2C_FREQ.

get_agc()

uint8_t AS5601::get_agc ( )

inline

Calculate the automatic gain control (AGC)

Returns

The AGC range is 0-255 counts, the gain value should be in the center of its range

Definition at line 97 of file as5601.h.

References AGC, AS5601_ID, and i2c_byte_transaction().

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get_conf()

uint16_t AS5601::get_conf ( )

inline

Get the configuration register.

Returns

The Configuration register

Definition at line 117 of file as5601.h.

References AS5601_ID, CONF_HIGH, and i2c_word_transaction().

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get_magnitude()

uint16_t AS5601::get_magnitude ( )

inline

Get the magnitude value of the internal CORDIC output.

Returns

The magnitude value of the internal CORDIC output

Definition at line 107 of file as5601.h.

References AS5601_ID, i2c_word_transaction(), and MAGNITUDE_HIGH.

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get_pos()

uint8_t AS5601::get_pos ( double * new_pos )

inline

Calculate an unwrap the position.

Parameters

new_pos

Calculate the current position of the sensor

Returns

The state of the AS5601: Magnet is too strong Magnet is too weak Magnet was detect

Definition at line 60 of file as5601.h.

References _angle_offset, _enc_ratio, _n, _raw_prev_pos, AS5601_ID, i2c_byte_transaction(), i2c_word_transaction(), RAW_ANG_HIGH, and STATUS_REG.

Referenced by homing(), loop(), and set_zero().

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i2c_byte_transaction()

uint8_t AS5601::i2c_byte_transaction ( uint8_t i2c_address, uint8_t i2c_register )

inlineprivate

Definition at line 163 of file as5601.h.

Referenced by get_agc(), get_pos(), and i2c_word_transaction().

i2c_word_transaction()

uint16_t AS5601::i2c_word_transaction ( uint8_t i2c_address, uint8_t i2c_register )

inlineprivate

Definition at line 173 of file as5601.h.

References i2c_byte_transaction().

Referenced by get_conf(), get_magnitude(), and get_pos().

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init_zero()

void AS5601::init_zero ( )

inline

Reset zero position set the offset to zero.

Definition at line 142 of file as5601.h.

References _angle_offset.

Referenced by homing().

set_gear_ratio()

void AS5601::set_gear_ratio ( uint8_t enc_ratio )

inline

Set the gear ratio between encoder and measure axis.

Parameters

enc_ratio

An uitn8_t, that represents the gear ratio

Definition at line 153 of file as5601.h.

References _enc_ratio.

Referenced by setup().

set_zero()

uint8_t AS5601::set_zero ( )

inline

Set zero by setting offset angle.

Returns

The state of the AS5601: Magnet is too strong Magnet is too weak Magnet was detect

Definition at line 130 of file as5601.h.

References _angle_offset, and get_pos().

Referenced by homing().

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Member Data Documentation

_angle_offset

double AS5601::_angle_offset = 0

private

Definition at line 158 of file as5601.h.

Referenced by get_pos(), init_zero(), and set_zero().

_enc_ratio

uint8_t AS5601::_enc_ratio = 0

private

Definition at line 161 of file as5601.h.

Referenced by get_pos(), and set_gear_ratio().

_n

int32_t AS5601::_n = 0

private

Definition at line 159 of file as5601.h.

Referenced by get_pos().

_raw_prev_pos

float AS5601::_raw_prev_pos = 0

private

Definition at line 160 of file as5601.h.

Referenced by get_pos().

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The documentation for this class was generated from the following file:

• libraries/as5601.h