ESP32 Support, General refactoring for architecture-independant code, Zero position write support. by paucarre · Pull Request #6 · ZoetropeLabs/AS5048A-Arduino

paucarre · 2017-12-16T21:22:58Z

The library doesn't work using ESP32 microcontrollers, the pull request resolves the issue. The reason is pretty simple. For fast microcontrollers it seems when sending a transfer, it's necessary to wait for the sensor to have data to be received.

I found several other problems, such as the use of word or int types which are not architecture-independant. I also seized the opportunity to remove a few class variables not used, and modernize the code a bit (constructor assignment, constants, variable declaration...)

Furthermore, I simplified the write method, removed all the code that splits and merges 16 bits variables into 8 bits. Same shall be done for write, which I will probably do later on.

Finally I added methods to get the rotation in degrees and radians.

Thanks for the library by the way!

... two more things:

The code is tested with Arduino UNO and ESP32. It seems to work for both.
I added sketches for both and renamed them so that they fit specifically the microcontroller type.

…p (removed unused class variables, proper C++ initialization, simplified write...). Added methods to get rotation in degrees and radians. Updated sketches adding esp32 example.

benhowes · 2017-12-20T14:43:30Z

@paucarre, this is fantastic! Most of the team is away at the moment, including me, however I will make sure that this gets tested and merged over the next couple of weeks.

Thanks ever so much for this and I think it's a really good contribution to the community

paucarre · 2017-12-20T23:21:17Z

No problem, take as much time as you need, just wanted to know if there were people notified of PR. So far it's working well for my purpose https://drive.google.com/file/d/1DPY4aPaDYzX_SdBavivNrGoniEyXbJqI/view

eborghi10

Thank you so much for your work.
I left a couple of comments, PTAL.

BTW, I tested on my ESP32 and it's not working.

eborghi10 · 2018-04-27T23:36:51Z

lib/AS5048A/AS5048A.cpp

+
+static const float AS5048A_MAX_VALUE = 8191.0;
+static const float AS5048A_TWICE_MAX_VALUE = AS5048A_MAX_VALUE * 2.0;
+static const float AS5048A_PI  = 3.14159265358979323846;


This variable is not necessary. You can use PI instead.
An example program would be:

void setup() { Serial.begin(9600); Serial.print(PI,20); } void loop() {}

And you will obtain as result 3.14159274101257324218.

You can use M_PI but it's not very precise.

eborghi10 · 2018-04-27T23:42:26Z

lib/AS5048A/AS5048A.cpp


 /**
- * Constructor
+ * Constructor usign response delay (ESP32 and similars)


eborghi10 · 2018-04-27T23:49:22Z

lib/AS5048A/AS5048A.cpp

-	data = AS5048A::getRawRotation();
-	rotation = (int)data - (int)position;
+	uint16_t data = AS5048A::getRawRotation();
+	int32_t rotation = (int32_t)data - (int32_t)position;


Consider using C++ casting static_cast<int32_t>(var).

eborghi10 · 2018-04-27T23:49:50Z

lib/AS5048A/AS5048A.cpp

+	uint16_t data = AS5048A::getRawRotation();
+	int32_t rotation = (int32_t)data - (int32_t)position;
 	if(rotation > 8191) rotation = -((0x3FFF)-rotation); //more than -180
 	//if(rotation < -0x1FFF) rotation = rotation+0x3FFF;


I would remove commented code.

eborghi10 · 2018-04-27T23:53:59Z

lib/AS5048A/AS5048A.cpp

+
+float AS5048A::getRotationInRadians(){
+	int32_t rotation = getRotation();
+	float degrees = AS5048A_PI * (rotation + AS5048A_MAX_VALUE) / AS5048A_MAX_VALUE;


float radians

You can also remove the variable.

eborghi10 · 2018-04-28T00:29:36Z

lib/AS5048A/AS5048A.cpp

@@ -245,12 +276,12 @@ word AS5048A::write(word registerAddress, word data) {
 	SPI.transfer(left_byte);


Why didn't you apply the same logic as in read()?

eborghi10 · 2018-04-28T00:31:15Z

lib/AS5048A/AS5048A.cpp

+
 	//Send a NOP to get the new data in the register
 	digitalWrite(_cs, LOW);
 	left_byte =-SPI.transfer(0x00);


Is this the reason why you didn't apply the 16-bit logic?

eborghi10 · 2018-04-28T00:38:28Z

lib/AS5048A/AS5048A.h

 	/**
 	 * Get the rotation of the sensor relative to the zero position.
 	 *
 	 * @return {int} between -2^13 and 2^13


{int32_t}

eborghi10 · 2018-04-28T01:14:27Z

src/sketch_esp32_nodemcu.ino

+	Serial.print("Got rotation of: 0x");
+	Serial.println(val, HEX);
+	Serial.print("State: ");
+	angleSensor.printState();


If you don't set Serial.begin(), this line will crash the app.

eborghi10 · 2018-04-28T02:32:25Z

lib/AS5048A/AS5048A.cpp

-	rotation = (int)data - (int)position;
+	uint16_t data = AS5048A::getRawRotation();
+	int32_t rotation = (int32_t)data - (int32_t)position;
 	if(rotation > 8191) rotation = -((0x3FFF)-rotation); //more than -180


if (rotation > AS5048A_MAX_VALUE)

Added support to write the zero position using SPI General refactoring of the library speeding up parity bit computation as well as reducing the total number of lines increasing code-clarity

paucarre added 7 commits December 16, 2017 21:15

Support for esp32. Architecture-independant types. Code style clean-u…

f8702a3

…p (removed unused class variables, proper C++ initialization, simplified write...). Added methods to get rotation in degrees and radians. Updated sketches adding esp32 example.

disable debug

7d55c40

support full backwards compatibility

d699d3f

updated revision number

fd34dfe

typo

6a3efb0

reverted unnecessary change

1280e0e

Updated doc. Simplified radians conversion

f765ea6

eborghi10 suggested changes Apr 28, 2018

View reviewed changes

Pau Carre and others added 2 commits January 5, 2020 15:27

By default disable sensor. It will be enabled whenever it needs to read

28d25fa

Support to write zero position (#1)

ca8086f

Added support to write the zero position using SPI General refactoring of the library speeding up parity bit computation as well as reducing the total number of lines increasing code-clarity

paucarre changed the title ~~Esp32 support~~ ESP32 Support, General refactoring for architecture-independant code, Zero position write support. Jan 19, 2020

Added angle inversion option and improved documentation

174efbd

eborghi10 mentioned this pull request Apr 15, 2025

Why esp32_delay = 50; eborghi10/AS5048A#6

Open

		@@ -245,12 +276,12 @@ word AS5048A::write(word registerAddress, word data) {
		SPI.transfer(left_byte);

Conversation

paucarre commented Dec 16, 2017 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

benhowes commented Dec 20, 2017

Uh oh!

paucarre commented Dec 20, 2017

Uh oh!

eborghi10 left a comment • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

paucarre commented Dec 16, 2017 •

edited

Loading

eborghi10 left a comment •

edited

Loading