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Use AS5600 auto increment suppress #463

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23 changes: 18 additions & 5 deletions src/sensors/MagneticSensorI2C.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,8 @@ MagneticSensorI2CConfig_s AS5600_I2C = {
.chip_address = 0x36,
.bit_resolution = 12,
.angle_register = 0x0C,
.data_start_bit = 11
.data_start_bit = 11,
.auto_increment_suppress = 1 // chip does not auto increment the angle register
};

/** Typical configuration for the 12bit AMS AS5048 magnetic sensor over I2C interface */
Expand Down Expand Up @@ -53,6 +54,7 @@ MagneticSensorI2C::MagneticSensorI2C(uint8_t _chip_address, int _bit_resolution,

MagneticSensorI2C::MagneticSensorI2C(MagneticSensorI2CConfig_s config){
chip_address = config.chip_address;
auto_increment_suppress = config.auto_increment_suppress;

// angle read register of the magnetic sensor
angle_register_msb = config.angle_register;
Expand All @@ -79,6 +81,14 @@ void MagneticSensorI2C::init(TwoWire* _wire){
wire->begin();

this->Sensor::init(); // call base class init

if(auto_increment_suppress) {
// register address needs to be written only once as subsequent reads
// do not auto increment the register address.
wire->beginTransmission(chip_address);
wire->write(angle_register_msb);
currWireError = wire->endTransmission(false);
}
}

// Shaft angle calculation
Expand All @@ -105,10 +115,13 @@ int MagneticSensorI2C::read(uint8_t angle_reg_msb) {
// read the angle register first MSB then LSB
byte readArray[2];
uint16_t readValue = 0;
// notify the device that is aboout to be read
wire->beginTransmission(chip_address);
wire->write(angle_reg_msb);
currWireError = wire->endTransmission(false);

if(auto_increment_suppress == 0) {
// notify the device that it is aboout to be read
wire->beginTransmission(chip_address);
wire->write(angle_reg_msb);
currWireError = wire->endTransmission(false);
}

// read the data msb and lsb
wire->requestFrom(chip_address, (uint8_t)2);
Expand Down
2 changes: 2 additions & 0 deletions src/sensors/MagneticSensorI2C.h
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ struct MagneticSensorI2CConfig_s {
int bit_resolution;
int angle_register;
int data_start_bit;
int auto_increment_suppress;
};
// some predefined structures
extern MagneticSensorI2CConfig_s AS5600_I2C,AS5048_I2C;
Expand Down Expand Up @@ -63,6 +64,7 @@ class MagneticSensorI2C: public Sensor{
// I2C variables
uint8_t angle_register_msb; //!< I2C angle register to read
uint8_t chip_address; //!< I2C chip select pins
int auto_increment_suppress; //!< I2C auto increment suppress

// I2C functions
/** Read one I2C register value */
Expand Down