【模块】as5600

as5600 是磁编码器，一般用于电机测转速

简介

这个模块有三种读取方法，adc、pwm、i2c，但是我只搞出来了一种，i2c

使用方法就是在上面放一个扁平的磁铁，旋转，这里数值就会相应增大或减小

代码

as5600.h

#ifndef __AS5600_H__
#define __AS5600_H__

#include "i2c.h"

#define AS5600_I2C_HANDLE hi2c1

#define I2C_TIME_OUT_BASE   10
#define I2C_TIME_OUT_BYTE   1

/*
注意:AS5600的地址0x36是指的是原始7位设备地址,而ST I2C库中的设备地址是指原始设备地址左移一位得到的设备地址
*/

#define AS5600_RAW_ADDR    0x36
#define AS5600_ADDR        (AS5600_RAW_ADDR << 1)
#define AS5600_WRITE_ADDR  (AS5600_RAW_ADDR << 1)
#define AS5600_READ_ADDR   ((AS5600_RAW_ADDR << 1) | 1)


#define AS5600_RESOLUTION 4096 //12bit Resolution 

#define AS5600_RAW_ANGLE_REGISTER  0x0C


void bsp_as5600Init(void);
uint16_t bsp_as5600GetRawAngle(void);
float bsp_as5600GetAngle(void);

#endif /* __BSP_AS5600_H */

as5600.c

#include "bsp_as5600.h"

#define abs(x) ((x)>0?(x):-(x))
#define _2PI 6.28318530718

static float angle_data_prev; //上次位置
static float full_rotation_offset; //转过的整圈数

void bsp_as5600Init(void) {
  /* init i2c interface */
  
  /* init var */
  full_rotation_offset = 0;
  angle_data_prev = bsp_as5600GetRawAngle();
}

static int i2cWrite(uint8_t dev_addr, uint8_t *pData, uint32_t count) {
  int status;
  int i2c_time_out = I2C_TIME_OUT_BASE + count * I2C_TIME_OUT_BYTE;
  
  status = HAL_I2C_Master_Transmit(&AS5600_I2C_HANDLE, dev_addr, pData, count, i2c_time_out);
  return status;
}

static int i2cRead(uint8_t dev_addr, uint8_t *pData, uint32_t count) {
  int status;
  int i2c_time_out = I2C_TIME_OUT_BASE + count * I2C_TIME_OUT_BYTE;
  
  status = HAL_I2C_Master_Receive(&AS5600_I2C_HANDLE, (dev_addr | 1), pData, count, i2c_time_out);
  return status;
}

uint16_t bsp_as5600GetRawAngle(void) {
  uint16_t raw_angle;
  uint8_t buffer[2] = {0};
  uint8_t raw_angle_register = AS5600_RAW_ANGLE_REGISTER;
  
  i2cWrite(AS5600_ADDR, &raw_angle_register, 1);
  i2cRead(AS5600_ADDR, buffer, 2);
  raw_angle = ((uint16_t)buffer[0] << 8) | (uint16_t)buffer[1];
  return raw_angle;
}

float bsp_as5600GetAngle(void) {
  float angle_data = bsp_as5600GetRawAngle();
  
  float d_angle = angle_data - angle_data_prev;
  if(abs(d_angle) > (0.8 * AS5600_RESOLUTION)) {
    full_rotation_offset += (d_angle > 0 ? -_2PI : _2PI);
  }
  angle_data_prev = angle_data;
  
  return (full_rotation_offset + (angle_data / (float)AS5600_RESOLUTION)*_2PI);
}

使用

初始化 bsp_as5600Init();

读取角度 angle = bsp_as5600GetAngle();

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