Thank you Doug!
#include <SPI.h> unsigned int reading = 0; // AS4047P Registers #define AS5047P_select_pin 10 /** volatile **/ #define NOP 0x0000 #define ERRFL 0x0001 #define PROG 0x0003 #define DIAAGC 0x3FFC #define CORDICMAG 0x3FFD #define ANGLEUNC 0x3FFE #define ANGLECOM 0x3FFF /** non-volatile **/ #define ZPOSM 0x0016 #define ZPOSL 0x0017 #define SETTINGS1 0x0018 #define SETTINGS2 0x0019 #define RD 0x40 // bit 14 "1" is Read + parity even #define WR 0x3F //bit 14 ="0" is Write //Op Arduino: D10 CS, D11 MOSI, D12 MISO, D13 SCK //SPISettings settings(2000000, MSBFIRST, SPI_MODE1); SPISettings settings(SPI_CLOCK_DIV4, MSBFIRST, SPI_MODE1); void setup() { pinMode(AS5047P_select_pin, OUTPUT); SPI.begin(); SPI.setDataMode(SPI_MODE1); // properties chip SPI.setBitOrder(MSBFIRST); //properties chip Serial.begin(115200); // start serial for output Serial.println(" AS5047P:"); AS5047P_Write( AS5047P_select_pin , SETTINGS1, 0x0001); //DJL was 0x0004); AS5047P_Write( AS5047P_select_pin , SETTINGS2, 0x0000); AS5047P_Write( AS5047P_select_pin , ZPOSM, 0x0000); // is it really possible to initially set angle at 0 degrees?? AS5047P_Write( AS5047P_select_pin , ZPOSL, 0x0000); } void loop() { DumpRegisterValues(); Serial.println(); delay(200); } void DumpRegisterValues() { Serial.print("NOP: "); Serial.println(AS5047P_Read( AS5047P_select_pin, NOP) & 0x3FFF, BIN); // strip bit 14..15 Serial.print("ERRFL: "); Serial.println(AS5047P_Read( AS5047P_select_pin, ERRFL) & 0x3FFF, BIN); // strip bit 14..15 Serial.print("PROG: "); Serial.println(AS5047P_Read( AS5047P_select_pin, PROG) & 0x3FFF, BIN); // strip bit 14..15 Serial.print("DIAAGC: "); Serial.println(AS5047P_Read( AS5047P_select_pin, DIAAGC) & 0x3FFF, BIN); // strip bit 14..15 Serial.print("CORDICMAG: "); Serial.println(AS5047P_Read( AS5047P_select_pin, CORDICMAG) & 0x3FFF, DEC); // strip bit 14..15 Serial.print("ANGLEUNC: "); Serial.println(AS5047P_Read( AS5047P_select_pin, ANGLEUNC) & 0x3FFF, DEC); // strip bit 14..15 Serial.print("ANGLECOM: "); Serial.println(AS5047P_Read( AS5047P_select_pin, ANGLECOM) & 0x3FFF, DEC); // strip bit 14..15 Serial.print("ZPOSM: "); Serial.println(AS5047P_Read( AS5047P_select_pin, ZPOSM) & 0x3FFF, BIN); // strip bit 14..15 Serial.print("ZPOSL: "); Serial.println(AS5047P_Read( AS5047P_select_pin, ZPOSL) & 0x3FFF, BIN); // strip bit 14..15 Serial.print("SETTINGS1: "); Serial.println(AS5047P_Read( AS5047P_select_pin, SETTINGS1) & 0x3FFF, BIN); // strip bit 14..15 Serial.print("SETTINGS2: "); Serial.println(AS5047P_Read( AS5047P_select_pin, SETTINGS2) & 0x3FFF, BIN); // strip bit 14..15 } // ************************Write to AS5047P ************************** void AS5047P_Write( int SSPin, int address, int value) { // take the SS pin low to select the chip: SPI.beginTransaction(settings); digitalWrite(SSPin, LOW); Serial.println(value, HEX); // send in the address via SPI: byte v_l = address & 0x00FF; byte v_h = (unsigned int)(address & 0x3F00) >> 8; if (parity(address & 0x3F) == 1) v_h = v_h | 0x80; // set parity bit //v_h = v_h & (WR | 0x80); // its a write command and don't change the parity bit (0x80) Serial.print( " parity: "); Serial.println(parity(address & 0x3F)); Serial.print(v_h, HEX); Serial.print(" A "); Serial.println(v_l, HEX); SPI.transfer(v_h); SPI.transfer(v_l); digitalWrite(SSPin, HIGH); SPI.endTransaction(); delay(2); SPI.beginTransaction(settings); digitalWrite(SSPin, LOW); // send value via SPI: v_l = value & 0x00FF; v_h = (unsigned int)(value & 0x3F00) >> 8; if (parity(value & 0x3F) == 1) v_h = v_h | 0x80; // set parity bit //v_h = v_h & (WR | 0x80); // its a write command and don't change the parity bit (0x80) Serial.print(v_h, HEX); Serial.print(" D "); Serial.println(v_l, HEX); SPI.transfer(v_h); SPI.transfer(v_l); // take the SS pin high to de-select the chip: digitalWrite(SSPin, HIGH); SPI.endTransaction(); } //*******************Read from AS5047P ******************************** unsigned int AS5047P_Read( int SSPin, unsigned int address) { unsigned int result = 0; // result to return byte res_h = 0; byte res_l = 0; // take the SS pin low to select the chip: SPI.beginTransaction(settings); digitalWrite(SSPin, LOW); // send in the address and value via SPI: byte v_l = address & 0x00FF; byte v_h = (unsigned int)(address & 0x3F00) >> 8; if (parity(address | (RD << 8)) == 1) v_h = v_h | 0x80; // set parity bit v_h = v_h | RD; // its a read command // Serial.print( " parity: ");Serial.println(parity(address | (RD <<8))); // Serial.print(v_h, HEX); Serial.print(" A "); Serial.print(v_l, HEX); Serial.print(" >> "); res_h = SPI.transfer(v_h); res_l = SPI.transfer(v_l); digitalWrite(SSPin, HIGH); SPI.endTransaction(); delay(2); SPI.beginTransaction(settings); digitalWrite(SSPin, LOW); //if (parity(0x00 | (RD <<8))==1) res_h = res_h | 0x80; // set parity bit //res_h = res_h | RD; res_h = (SPI.transfer(0x00)); res_l = SPI.transfer(0x00); res_h = res_h & 0x3F; // filter bits outside data //Serial.print(res_h, HEX); Serial.print(" R "); Serial.print(res_l, HEX); Serial.print(" "); digitalWrite(SSPin, HIGH); SPI.endTransaction(); return (result = (res_h << 8) | res_l); } //*******************check parity ****************************************** int parity(unsigned int x) { int parity = 0; while (x > 0) { parity = (parity + (x & 1)) % 2; x >>= 1; } return (parity); }
file: /Techref/io/sensor/pos/enc/ENC2-47P-Arduino.htm, 6KB, , updated: 2017/6/11 19:17, local time: 2024/8/31 17:06,
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