pre-commit, docs, full test
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Liz
parent
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7 changed files with 348 additions and 101 deletions
11
README.rst
11
README.rst
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@ -94,8 +94,19 @@ Usage Example
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.. code-block:: python
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import time
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import board
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import adafruit_as5600
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i2c = board.I2C()
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sensor = adafruit_as5600.AS5600(i2c)
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while True:
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print(f"Raw angle: {sensor.raw_angle}")
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print(f"Scaled angle: {sensor.angle}")
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print(f"Magnitude: {sensor.magnitude}")
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time.sleep(2)
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Documentation
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=============
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API documentation for this library can be found on `Read the Docs <https://docs.circuitpython.org/projects/as5600/en/latest/>`_.
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@ -26,14 +26,15 @@ Implementation Notes
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* Adafruit's Register library: https://github.com/adafruit/Adafruit_CircuitPython_Register
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"""
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from micropython import const
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from adafruit_bus_device.i2c_device import I2CDevice
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from adafruit_register.i2c_bit import ROBit, RWBit
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from adafruit_register.i2c_bits import RWBits
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from adafruit_register.i2c_struct import ROUnaryStruct, UnaryStruct
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from adafruit_register.i2c_bits import RWBits, ROBits
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from adafruit_register.i2c_bit import RWBit, ROBit
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from micropython import const
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try:
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import typing # pylint: disable=unused-import
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from typing import Optional
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from busio import I2C
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except ImportError:
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pass
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@ -42,21 +43,21 @@ __version__ = "0.0.0+auto.0"
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__repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_AS5600.git"
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# I2C Address
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AS5600_DEFAULT_ADDRESS = const(0x36)
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_ADDR = const(0x36)
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# Register addresses
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_AS5600_REG_ZMCO = const(0x00) # ZMCO register (burn count)
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_AS5600_REG_ZPOS_H = const(0x01) # Zero position high byte
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_AS5600_REG_MPOS_H = const(0x03) # Maximum position high byte
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_AS5600_REG_MANG_H = const(0x05) # Maximum angle high byte
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_AS5600_REG_CONF_L = const(0x08) # Configuration register low byte
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_AS5600_REG_CONF_H = const(0x07) # Configuration register high byte
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_AS5600_REG_STATUS = const(0x0B) # Status register
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_AS5600_REG_RAWANGLE_H = const(0x0C) # Raw angle high byte
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_AS5600_REG_ANGLE_H = const(0x0E) # Scaled angle high byte
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_AS5600_REG_AGC = const(0x1A) # Automatic Gain Control register
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_AS5600_REG_MAGNITUDE_H = const(0x1B) # Magnitude high byte
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_AS5600_REG_BURN = const(0xFF) # Burn command register
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_ZMCO = const(0x00) # ZMCO register (burn count)
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_ZPOS_H = const(0x01) # Zero position high byte
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_MPOS_H = const(0x03) # Maximum position high byte
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_MANG_H = const(0x05) # Maximum angle high byte
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_CONF_L = const(0x08) # Configuration register low byte
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_CONF_H = const(0x07) # Configuration register high byte
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_STATUS = const(0x0B) # Status register
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_RAWANGLE_H = const(0x0C) # Raw angle high byte
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_ANGLE_H = const(0x0E) # Scaled angle high byte
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_AGC = const(0x1A) # Automatic Gain Control register
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_MAGNITUDE_H = const(0x1B) # Magnitude high byte
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_BURN = const(0xFF) # Burn command register
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# Power mode constants
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POWER_MODE_NOM = const(0x00) # Normal mode (default)
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@ -89,56 +90,70 @@ SLOW_FILTER_4X = const(0x02) # 4x
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SLOW_FILTER_2X = const(0x03) # 2x
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# Fast filter threshold constants
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FAST_FILTER_THRESH_SLOW_ONLY = const(0x00) # Slow filter only (default)
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FAST_FILTER_THRESH_6LSB = const(0x01) # 6 LSB
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FAST_FILTER_THRESH_7LSB = const(0x02) # 7 LSB
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FAST_FILTER_THRESH_9LSB = const(0x03) # 9 LSB
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FAST_FILTER_THRESH_18LSB = const(0x04) # 18 LSB
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FAST_FILTER_THRESH_21LSB = const(0x05) # 21 LSB
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FAST_FILTER_THRESH_24LSB = const(0x06) # 24 LSB
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FAST_FILTER_THRESH_10LSB = const(0x07) # 10 LSB
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FAST_FILTER_SLOW_ONLY = const(0x00) # Slow filter only (default)
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FAST_FILTER_6LSB = const(0x01) # 6 LSB
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FAST_FILTER_7LSB = const(0x02) # 7 LSB
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FAST_FILTER_9LSB = const(0x03) # 9 LSB
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FAST_FILTER_18LSB = const(0x04) # 18 LSB
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FAST_FILTER_21LSB = const(0x05) # 21 LSB
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FAST_FILTER_24LSB = const(0x06) # 24 LSB
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FAST_FILTER_10LSB = const(0x07) # 10 LSB
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class AS5600:
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"""Driver for the AS5600 12-bit contactless position sensor.
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:param ~busio.I2C i2c_bus: The I2C bus the AS5600 is connected to.
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:param int address: The I2C device address. Defaults to :const:`AS5600_DEFAULT_ADDRESS`
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:param int address: The I2C device address. Defaults to :const:`_ADDR`
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"""
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# Register definitions using adafruit_register
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_zmco = ROUnaryStruct(_AS5600_REG_ZMCO, "B") # Read-only burn count
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_zmco = ROUnaryStruct(_ZMCO, "B") # Read-only burn count
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# 12-bit position registers (stored as 16-bit big-endian)
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_zpos = UnaryStruct(_AS5600_REG_ZPOS_H, ">H")
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_mpos = UnaryStruct(_AS5600_REG_MPOS_H, ">H")
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_mang = UnaryStruct(_AS5600_REG_MANG_H, ">H")
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_rawangle = ROUnaryStruct(_AS5600_REG_RAWANGLE_H, ">H")
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_angle = ROUnaryStruct(_AS5600_REG_ANGLE_H, ">H")
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_zpos = UnaryStruct(_ZPOS_H, ">H")
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_mpos = UnaryStruct(_MPOS_H, ">H")
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_mang = UnaryStruct(_MANG_H, ">H")
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_rawangle = ROUnaryStruct(_RAWANGLE_H, ">H")
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_angle = ROUnaryStruct(_ANGLE_H, ">H")
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# 8-bit registers
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_agc = ROUnaryStruct(_AS5600_REG_AGC, "B")
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_magnitude = ROUnaryStruct(_AS5600_REG_MAGNITUDE_H, ">H")
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agc: int = ROUnaryStruct(_AGC, "B")
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"""The current AGC (Automatic Gain Control) value.
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Range is 0-255 in 5V mode, 0-128 in 3.3V mode."""
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_magnitude = ROUnaryStruct(_MAGNITUDE_H, ">H")
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# Status register bits
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_mh = ROBit(_AS5600_REG_STATUS, 3) # MH (magnet too strong)
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_ml = ROBit(_AS5600_REG_STATUS, 4) # ML (magnet too weak)
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_md = ROBit(_AS5600_REG_STATUS, 5) # MD (magnet detected)
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min_gain_overflow: bool = ROBit(_STATUS, 3) # MH (magnet too strong)
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"""True if AGC minimum gain overflow occurred (magnet too strong)."""
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max_gain_overflow: bool = ROBit(_STATUS, 4) # ML (magnet too weak)
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"""True if AGC maximum gain overflow occurred (magnet too weak)."""
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magnet_detected: bool = ROBit(_STATUS, 5) # MD (magnet detected)
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"""True if a magnet is detected, otherwise False"""
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# Configuration bits
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_power_mode = RWBits(2, _AS5600_REG_CONF_L, 0)
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_hysteresis = RWBits(2, _AS5600_REG_CONF_L, 2)
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_output_stage = RWBits(2, _AS5600_REG_CONF_L, 4)
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_pwm_freq = RWBits(2, _AS5600_REG_CONF_L, 6)
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_slow_filter = RWBits(2, _AS5600_REG_CONF_H, 0)
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_fast_filter_thresh = RWBits(3, _AS5600_REG_CONF_H, 2)
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_watchdog = RWBit(_AS5600_REG_CONF_H, 5) # Bit 13 of the 16-bit config register
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_power_mode = RWBits(2, _CONF_L, 0)
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_hysteresis = RWBits(2, _CONF_L, 2)
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_output_stage = RWBits(2, _CONF_L, 4)
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_pwm_freq = RWBits(2, _CONF_L, 6)
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_slow_filter = RWBits(2, _CONF_H, 0)
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_fast_filter = RWBits(3, _CONF_H, 2)
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watchdog: bool = RWBit(_CONF_H, 5) # Bit 13 of the 16-bit config register
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"""Enable or disable the watchdog timer."""
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def __init__(self, i2c: I2C, address: int = AS5600_DEFAULT_ADDRESS) -> None:
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self.i2c_device = I2CDevice(i2c, address)
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# Check if we can communicate with the device
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# The AS5600 doesn't have a WHO_AM_I register, so we'll just try reading status
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_ = self.magnet_detected
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def __init__(self, i2c: I2C, address: int = _ADDR) -> None:
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try:
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self.i2c_device = I2CDevice(i2c, address)
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# Check if we can communicate with the device
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self.watchdog = False
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self.power_mode = POWER_MODE_NOM
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self.hysteresis = HYSTERESIS_OFF
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self.slow_filter = SLOW_FILTER_16X
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self.fast_filter_threshold = FAST_FILTER_SLOW_ONLY
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self.z_position = 0
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self.m_position = 4095
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self.max_angle = 4095
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except ValueError:
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raise ValueError(f"No I2C device found at address 0x{address:02X}")
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@property
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def zm_count(self) -> int:
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@ -196,42 +211,11 @@ class AS5600:
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This is scaled according to ZPOS/MPOS/MANG settings."""
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return self._angle & 0x0FFF
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@property
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def agc_min_gain_overflow(self) -> bool:
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"""True if AGC minimum gain overflow occurred (magnet too strong)."""
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return self._mh
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@property
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def agc_max_gain_overflow(self) -> bool:
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"""True if AGC maximum gain overflow occurred (magnet too weak)."""
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return self._ml
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@property
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def magnet_detected(self) -> bool:
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"""True if a magnet is detected."""
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return self._md
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@property
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def agc(self) -> int:
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"""The current AGC (Automatic Gain Control) value.
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Range is 0-255 in 5V mode, 0-128 in 3.3V mode."""
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return self._agc
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@property
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def magnitude(self) -> int:
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"""The magnitude value from the CORDIC processor (0-4095)."""
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return self._magnitude & 0x0FFF
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@property
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def watchdog(self) -> bool:
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"""Enable or disable the watchdog timer."""
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return self._watchdog
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@watchdog.setter
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def watchdog(self, value: bool) -> None:
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"""Enable or disable the watchdog timer."""
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self._watchdog = value
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@property
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def power_mode(self) -> int:
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"""The power mode setting. Use POWER_MODE_* constants."""
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@property
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def fast_filter_threshold(self) -> int:
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"""The fast filter threshold setting. Use FAST_FILTER_THRESH_* constants."""
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return self._fast_filter_thresh
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"""The fast filter threshold setting. Use FAST_FILTER_* constants."""
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return self._fast_filter
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@fast_filter_threshold.setter
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def fast_filter_threshold(self, value: int) -> None:
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"""Set the fast filter threshold. Use FAST_FILTER_THRESH_* constants."""
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"""Set the fast filter threshold. Use FAST_FILTER_* constants."""
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if not 0 <= value <= 7:
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raise ValueError("Invalid fast filter threshold setting")
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self._fast_filter_thresh = value
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self._fast_filter = value
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@ -25,7 +25,7 @@ extensions = [
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# Uncomment the below if you use native CircuitPython modules such as
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# digitalio, micropython and busio. List the modules you use. Without it, the
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# autodoc module docs will fail to generate with a warning.
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# autodoc_mock_imports = ["digitalio", "busio"]
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autodoc_mock_imports = ["digitalio", "busio", "adafruit_register"]
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autodoc_preserve_defaults = True
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@ -6,3 +6,12 @@ Ensure your device works with this simple test.
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.. literalinclude:: ../examples/as5600_simpletest.py
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:caption: examples/as5600_simpletest.py
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:linenos:
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Full test
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----------
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Full test of the library
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.. literalinclude:: ../examples/as5600_fulltest.py
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:caption: examples/as5600_fulltest.py
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:linenos:
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@ -24,14 +24,12 @@ Table of Contents
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.. toctree::
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:caption: Tutorials
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.. todo:: Add any Learn guide links here. If there are none, then simply delete this todo and leave
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the toctree above for use later.
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Learn Guide: <https://learn.adafruit.com/adafruit-as5600-magnetic-angle-sensor>
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.. toctree::
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:caption: Related Products
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.. todo:: Add any product links here. If there are none, then simply delete this todo and leave
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the toctree above for use later.
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Adafruit AS5600 Magnetic Angle Sensor <https://www.adafruit.com/product/6357>
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.. toctree::
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:caption: Other Links
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241
examples/as5600_fulltest.py
Normal file
241
examples/as5600_fulltest.py
Normal file
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@ -0,0 +1,241 @@
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# SPDX-FileCopyrightText: Copyright (c) 2025 Liz Clark for Adafruit Industries
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#
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# SPDX-License-Identifier: MIT
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"""
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Full library testing example for the Adafruit AS5600 CircuitPython library
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This example tests all functionality of the AS5600 magnetic angle sensor
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"""
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import time
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import board
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import adafruit_as5600
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# Initialize I2C and AS5600
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i2c = board.I2C() # uses board.SCL and board.SDA
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as5600 = adafruit_as5600.AS5600(i2c)
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print("Adafruit AS5600 Full Test")
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print("AS5600 found!")
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print()
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# Test zm_count property
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zm_count = as5600.zm_count
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print(f"ZM Count (burn count): {zm_count}")
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# Test z_position property
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z_pos = as5600.z_position
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print(f"Z Position: {z_pos}")
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# Test setting z_position (XOR current value with 0xADA to change it)
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test_pos = (z_pos ^ 0xADA) & 0x0FFF # XOR with 0xADA and keep within 12-bit range
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print(f"Setting Z Position to {test_pos} (0x{test_pos:03X})... ")
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try:
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as5600.z_position = test_pos
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print("Success")
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new_z_pos = as5600.z_position
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print(f"New Z Position: {new_z_pos} (0x{new_z_pos:03X})")
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except Exception as e:
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print(f"Failed: {e}")
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# Test m_position property
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m_pos = as5600.m_position
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print(f"M Position: {m_pos}")
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# Test setting m_position (XOR current value with 0xBEE)
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test_m_pos = (m_pos ^ 0xBEE) & 0x0FFF
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print(f"Setting M Position to {test_m_pos} (0x{test_m_pos:03X})... ")
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try:
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as5600.m_position = test_m_pos
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print("Success")
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new_m_pos = as5600.m_position
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print(f"New M Position: {new_m_pos} (0x{new_m_pos:03X})")
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except Exception as e:
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print(f"Failed: {e}")
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# Test max_angle property
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max_angle = as5600.max_angle
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print(f"Max Angle: {max_angle}")
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# Test setting max_angle (XOR current value with 0xCAB)
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test_max_angle = (max_angle ^ 0xCAB) & 0x0FFF
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print(f"Setting Max Angle to {test_max_angle} (0x{test_max_angle:03X})... ")
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try:
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as5600.max_angle = test_max_angle
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print("Success")
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new_max_angle = as5600.max_angle
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print(f"New Max Angle: {new_max_angle} (0x{new_max_angle:03X})")
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except Exception as e:
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print(f"Failed: {e}")
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# Test watchdog property
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print("Turning on watchdog... ")
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try:
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as5600.watchdog = True
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print("Success")
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print(f"Watchdog status: {'ENABLED' if as5600.watchdog else 'DISABLED'}")
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except Exception as e:
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print(f"Failed: {e}")
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print("Turning off watchdog...")
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try:
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as5600.watchdog = False
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print("Success")
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print(f"Watchdog status: {'ENABLED' if as5600.watchdog else 'DISABLED'}")
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except Exception as e:
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print(f"Failed: {e}")
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# Test power_mode property
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print("Setting power mode...")
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try:
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as5600.power_mode = adafruit_as5600.POWER_MODE_NOM
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print("Success")
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mode = as5600.power_mode
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print("Power mode: ")
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if mode == adafruit_as5600.POWER_MODE_NOM:
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print("Normal")
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elif mode == adafruit_as5600.POWER_MODE_LPM1:
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print("Low Power Mode 1")
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elif mode == adafruit_as5600.POWER_MODE_LPM2:
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print("Low Power Mode 2")
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elif mode == adafruit_as5600.POWER_MODE_LPM3:
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print("Low Power Mode 3")
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except Exception as e:
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print(f"Failed: {e}")
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# Test hysteresis property
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print("Setting hysteresis...")
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try:
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as5600.hysteresis = adafruit_as5600.HYSTERESIS_OFF
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print("Success")
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hysteresis = as5600.hysteresis
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print("Hysteresis: ")
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if hysteresis == adafruit_as5600.HYSTERESIS_OFF:
|
||||
print("OFF")
|
||||
elif hysteresis == adafruit_as5600.HYSTERESIS_1LSB:
|
||||
print("1 LSB")
|
||||
elif hysteresis == adafruit_as5600.HYSTERESIS_2LSB:
|
||||
print("2 LSB")
|
||||
elif hysteresis == adafruit_as5600.HYSTERESIS_3LSB:
|
||||
print("3 LSB")
|
||||
except Exception as e:
|
||||
print(f"Failed: {e}")
|
||||
|
||||
# Test output_stage property
|
||||
print("Setting output stage...")
|
||||
try:
|
||||
as5600.output_stage = adafruit_as5600.OUTPUT_STAGE_ANALOG_FULL
|
||||
print("Success")
|
||||
output_stage = as5600.output_stage
|
||||
print("Output stage: ")
|
||||
if output_stage == adafruit_as5600.OUTPUT_STAGE_ANALOG_FULL:
|
||||
print("Analog Full (0% to 100%)")
|
||||
elif output_stage == adafruit_as5600.OUTPUT_STAGE_ANALOG_REDUCED:
|
||||
print("Analog Reduced (10% to 90%)")
|
||||
elif output_stage == adafruit_as5600.OUTPUT_STAGE_DIGITAL_PWM:
|
||||
print("Digital PWM")
|
||||
elif output_stage == adafruit_as5600.OUTPUT_STAGE_RESERVED:
|
||||
print("Reserved")
|
||||
except Exception as e:
|
||||
print(f"Failed: {e}")
|
||||
|
||||
# Test pwm_frequency property
|
||||
print("Setting PWM frequency...")
|
||||
try:
|
||||
as5600.pwm_frequency = adafruit_as5600.PWM_FREQ_115HZ
|
||||
print("Success")
|
||||
pwm_freq = as5600.pwm_frequency
|
||||
print("PWM frequency: ")
|
||||
if pwm_freq == adafruit_as5600.PWM_FREQ_115HZ:
|
||||
print("115 Hz")
|
||||
elif pwm_freq == adafruit_as5600.PWM_FREQ_230HZ:
|
||||
print("230 Hz")
|
||||
elif pwm_freq == adafruit_as5600.PWM_FREQ_460HZ:
|
||||
print("460 Hz")
|
||||
elif pwm_freq == adafruit_as5600.PWM_FREQ_920HZ:
|
||||
print("920 Hz")
|
||||
except Exception as e:
|
||||
print(f"Failed: {e}")
|
||||
|
||||
# Test slow_filter property
|
||||
print("Setting slow filter to 16x (options: 16X=0, 8X=1, 4X=2, 2X=3)... ")
|
||||
try:
|
||||
as5600.slow_filter = adafruit_as5600.SLOW_FILTER_16X
|
||||
print("Success")
|
||||
slow_filter = as5600.slow_filter
|
||||
print("Slow filter: ")
|
||||
if slow_filter == adafruit_as5600.SLOW_FILTER_16X:
|
||||
print("16x")
|
||||
elif slow_filter == adafruit_as5600.SLOW_FILTER_8X:
|
||||
print("8x")
|
||||
elif slow_filter == adafruit_as5600.SLOW_FILTER_4X:
|
||||
print("4x")
|
||||
elif slow_filter == adafruit_as5600.SLOW_FILTER_2X:
|
||||
print("2x")
|
||||
except Exception as e:
|
||||
print(f"Failed: {e}")
|
||||
|
||||
# Test fast_filter_threshold property
|
||||
print("Setting fast filter threshold... ")
|
||||
try:
|
||||
as5600.fast_filter_threshold = adafruit_as5600.FAST_FILTER_SLOW_ONLY
|
||||
print("Success")
|
||||
fast_thresh = as5600.fast_filter_threshold
|
||||
print("Fast filter threshold: ", end="")
|
||||
if fast_thresh == adafruit_as5600.FAST_FILTER_SLOW_ONLY:
|
||||
print("Slow filter only")
|
||||
elif fast_thresh == adafruit_as5600.FAST_FILTER_6LSB:
|
||||
print("6 LSB")
|
||||
elif fast_thresh == adafruit_as5600.FAST_FILTER_7LSB:
|
||||
print("7 LSB")
|
||||
elif fast_thresh == adafruit_as5600.FAST_FILTER_9LSB:
|
||||
print("9 LSB")
|
||||
elif fast_thresh == adafruit_as5600.FAST_FILTER_18LSB:
|
||||
print("18 LSB")
|
||||
elif fast_thresh == adafruit_as5600.FAST_FILTER_21LSB:
|
||||
print("21 LSB")
|
||||
elif fast_thresh == adafruit_as5600.FAST_FILTER_24LSB:
|
||||
print("24 LSB")
|
||||
elif fast_thresh == adafruit_as5600.FAST_FILTER_10LSB:
|
||||
print("10 LSB")
|
||||
except Exception as e:
|
||||
print(f"Failed: {e}")
|
||||
|
||||
# Reset position settings to defaults
|
||||
print("\nResetting position settings to defaults...")
|
||||
as5600.z_position = 0
|
||||
as5600.m_position = 4095
|
||||
as5600.max_angle = 4095
|
||||
|
||||
print("\nStarting continuous angle reading...")
|
||||
print("=" * 80)
|
||||
|
||||
# Continuously read and display angle values
|
||||
while True:
|
||||
# Get angle readings
|
||||
raw_angle = as5600.raw_angle
|
||||
angle = as5600.angle
|
||||
|
||||
# Build output string
|
||||
output = f"Raw: {raw_angle:4d} (0x{raw_angle:03X}) | Scaled: {angle:4d} (0x{angle:03X})"
|
||||
|
||||
# Check status conditions
|
||||
if as5600.magnet_detected:
|
||||
output += " | Magnet: YES"
|
||||
else:
|
||||
output += " | Magnet: NO "
|
||||
|
||||
if as5600.min_gain_overflow:
|
||||
output += " | MH: magnet too strong"
|
||||
|
||||
if as5600.max_gain_overflow:
|
||||
output += " | ML: magnet too weak"
|
||||
|
||||
# Get AGC and Magnitude values
|
||||
agc = as5600.agc
|
||||
magnitude = as5600.magnitude
|
||||
output += f" | AGC: {agc:3d} | Mag: {magnitude:4d}"
|
||||
|
||||
print(output)
|
||||
time.sleep(2)
|
||||
|
|
@ -1,24 +1,28 @@
|
|||
# SPDX-FileCopyrightText: Copyright (c) 2025 Liz Clark for Adafruit Industries
|
||||
#
|
||||
# SPDX-License-Identifier: MIT
|
||||
"""AS5600 Simple Test"""
|
||||
|
||||
import time
|
||||
|
||||
import board
|
||||
|
||||
import adafruit_as5600
|
||||
|
||||
# Create I2C bus and sensor instance
|
||||
i2c = board.I2C()
|
||||
sensor = adafruit_as5600.AS5600(i2c)
|
||||
|
||||
# Configure sensor
|
||||
sensor.power_mode = adafruit_as5600.POWER_MODE_NOM
|
||||
sensor.hysteresis = adafruit_as5600.HYSTERESIS_OFF
|
||||
sensor.slow_filter = adafruit_as5600.SLOW_FILTER_16X
|
||||
|
||||
while True:
|
||||
# Read angle values
|
||||
print(f"Raw angle: {sensor.raw_angle}")
|
||||
print(f"Scaled angle: {sensor.angle}")
|
||||
print(f"Magnitude: {sensor.magnitude}")
|
||||
print(f"Magnet detected: {sensor.magnet_detected}")
|
||||
if sensor.magnet_detected:
|
||||
if sensor.max_gain_overflow is True:
|
||||
print("Magnet is too weak")
|
||||
if sensor.min_gain_overflow is True:
|
||||
print("Magnet is too strong")
|
||||
print(f"Raw angle: {sensor.raw_angle}")
|
||||
print(f"Scaled angle: {sensor.angle}")
|
||||
print(f"Magnitude: {sensor.magnitude}")
|
||||
else:
|
||||
print("Waiting for magnet..")
|
||||
print()
|
||||
time.sleep(2)
|
||||
Loading…
Reference in a new issue