Merge pull request #798 from adafruit/as5600

As5600

library.properties

@@ -1,5 +1,5 @@
 name=Adafruit WipperSnapper
-version=1.0.0-beta.110
+version=1.0.0-beta.111
 author=Adafruit
 maintainer=Adafruit <adafruitio@adafruit.com>
 sentence=Arduino application for Adafruit.io WipperSnapper
@@ -7,4 +7,4 @@ paragraph=Arduino application for Adafruit.io WipperSnapper
 category=Communication
 url=https://github.com/adafruit/Adafruit_Wippersnapper_Arduino
 architectures=*
-depends=OmronD6T - Community Fork, SdFat - Adafruit Fork, Adafruit NeoPixel, Adafruit SPIFlash, ArduinoJson, Adafruit DotStar, Adafruit HDC302x, Adafruit INA219, Adafruit INA260 Library, Adafruit INA237 and INA238 Library, Adafruit LTR329 and LTR303, Adafruit LTR390 Library, Adafruit MCP3421, Adafruit NAU7802 Library, Adafruit SleepyDog Library, Adafruit TMP117, Adafruit TinyUSB Library, Adafruit AHTX0, Adafruit BME280 Library, Adafruit BMP280 Library, Adafruit BMP3XX Library, Adafruit DPS310, Adafruit DS248x, Adafruit SCD30, Adafruit SGP30 Sensor, Adafruit SGP40 Sensor, Sensirion I2C SCD4x, Sensirion I2C SEN5X, Sensirion I2C SEN66, arduino-sht, Adafruit Si7021 Library, Adafruit MQTT Library, Adafruit MS8607, Adafruit MCP9808 Library, Adafruit MCP9600 Library, Adafruit MPL115A2, Adafruit MPRLS Library, Adafruit TSL2591 Library, Adafruit_VL53L0X, Adafruit VL53L1X, STM32duino VL53L4CD, STM32duino VL53L4CX, Adafruit_VL6180X, Adafruit PM25 AQI Sensor, Adafruit VCNL4020 Library, Adafruit VCNL4040, Adafruit VCNL4200 Library, Adafruit VEML7700 Library, Adafruit LC709203F, Adafruit LPS2X, Adafruit LPS28, Adafruit LPS35HW, Adafruit seesaw Library, Adafruit BME680 Library, Adafruit MAX1704X, Adafruit ADT7410 Library, Adafruit HTS221, Adafruit HTU21DF Library, Adafruit HTU31D Library, Adafruit PCT2075, hp_BH1750, ENS160 - Adafruit Fork, Adafruit BusIO, Adafruit Unified Sensor, Sensirion Core, Adafruit GFX Library, Adafruit LED Backpack Library, Adafruit LiquidCrystal, Adafruit SH110X, Adafruit SSD1306
+depends=OmronD6T - Community Fork, SdFat - Adafruit Fork, Adafruit NeoPixel, Adafruit SPIFlash, ArduinoJson, Adafruit DotStar, Adafruit HDC302x, Adafruit INA219, Adafruit INA260 Library, Adafruit INA237 and INA238 Library, Adafruit LTR329 and LTR303, Adafruit LTR390 Library, Adafruit MCP3421, Adafruit MLX90632 Library, Adafruit NAU7802 Library, Adafruit SleepyDog Library, Adafruit TMP117, Adafruit TinyUSB Library, Adafruit AHTX0, Adafruit AS5600 Library, Adafruit BME280 Library, Adafruit BMP280 Library, Adafruit BMP3XX Library, Adafruit DPS310, Adafruit DS248x, Adafruit SCD30, Adafruit SGP30 Sensor, Adafruit SGP40 Sensor, Sensirion I2C SCD4x, Sensirion I2C SEN5X, Sensirion I2C SEN66, arduino-sht, Adafruit Si7021 Library, Adafruit MQTT Library, Adafruit MS8607, Adafruit MCP9808 Library, Adafruit MCP9600 Library, Adafruit MPL115A2, Adafruit MPRLS Library, Adafruit TSL2591 Library, Adafruit_VL53L0X, Adafruit VL53L1X, STM32duino VL53L4CD, STM32duino VL53L4CX, Adafruit_VL6180X, Adafruit PM25 AQI Sensor, Adafruit VCNL4020 Library, Adafruit VCNL4040, Adafruit VCNL4200 Library, Adafruit VEML7700 Library, Adafruit LC709203F, Adafruit LPS2X, Adafruit LPS28, Adafruit LPS35HW, Adafruit seesaw Library, Adafruit BME680 Library, Adafruit MAX1704X, Adafruit ADT7410 Library, Adafruit HTS221, Adafruit HTU21DF Library, Adafruit HTU31D Library, Adafruit PCT2075, hp_BH1750, ENS160 - Adafruit Fork, Adafruit BusIO, Adafruit Unified Sensor, Sensirion Core, Adafruit GFX Library, Adafruit LED Backpack Library, Adafruit LiquidCrystal, Adafruit SH110X, Adafruit SSD1306

platformio.ini

@@ -32,6 +32,7 @@ lib_deps =
     adafruit/ENS160 - Adafruit Fork
     adafruit/Adafruit SleepyDog Library
     adafruit/Adafruit AHTX0
+    adafruit/Adafruit AS5600 Library
     adafruit/Adafruit BME280 Library
     adafruit/Adafruit BMP280 Library
     adafruit/Adafruit BMP3XX Library
@@ -57,6 +58,7 @@ lib_deps =
     adafruit/Adafruit MCP3421
     adafruit/Adafruit MCP9808 Library
     adafruit/Adafruit MCP9600 Library
+    adafruit/Adafruit MLX90632 Library
     adafruit/Adafruit MPL115A2
     adafruit/Adafruit MPRLS Library
     adafruit/Adafruit MS8607
@@ -203,7 +205,8 @@ board_build.partitions = min_spiffs.csv
 extends = common:esp32
 board = featheresp32-s2
 build_flags = -DARDUINO_ADAFRUIT_FEATHER_ESP32S2 -DBOARD_HAS_PSRAM
-board_build.partitions = tinyuf2-partitions-4MB.csv
+;set partition to tinyuf2-partitions-4MB-noota.csv as of CPY 10
+board_build.partitions = tinyuf2-partitions-4MB-noota.csv
 extra_scripts = pre:rename_usb_config.py
 
 ; Adafruit Feather ESP32-S2 TFT
@@ -211,7 +214,8 @@ extra_scripts = pre:rename_usb_config.py
 extends = common:esp32
 board = adafruit_feather_esp32s2_tft
 build_flags = -DARDUINO_ADAFRUIT_FEATHER_ESP32S2_TFT -DBOARD_HAS_PSRAM
-board_build.partitions = tinyuf2-partitions-4MB.csv
+;set partition to tinyuf2-partitions-4MB-noota.csv as of CPY 10
+board_build.partitions = tinyuf2-partitions-4MB-noota.csv
 extra_scripts = pre:rename_usb_config.py
 
 ; Adafruit Feather ESP32-S2 Reverse TFT
@@ -219,7 +223,8 @@ extra_scripts = pre:rename_usb_config.py
 extends = common:esp32
 board = adafruit_feather_esp32s2_reversetft
 build_flags = -DARDUINO_ADAFRUIT_FEATHER_ESP32S2_REVTFT -DBOARD_HAS_PSRAM
-board_build.partitions = tinyuf2-partitions-4MB.csv
+;set partition to tinyuf2-partitions-4MB-noota.csv as of CPY 10
+board_build.partitions = tinyuf2-partitions-4MB-noota.csv
 extra_scripts = pre:rename_usb_config.py
 
 ; Adafruit Feather ESP32-S3 2MB PSRAM
@@ -227,8 +232,8 @@ extra_scripts = pre:rename_usb_config.py
 extends = common:esp32
 board = adafruit_feather_esp32s3
 build_flags = -DARDUINO_ADAFRUIT_FEATHER_ESP32S3 -DBOARD_HAS_PSRAM
-;set partition to tinyuf2-partitions-4MB.csv as of idf 5.1
-board_build.partitions = tinyuf2-partitions-4MB.csv
+;set partition to tinyuf2-partitions-4MB-noota.csv as of CPY 10
+board_build.partitions = tinyuf2-partitions-4MB-noota.csv
 extra_scripts = pre:rename_usb_config.py
 
 ; Adafruit Feather ESP32-S3 NO PSRAM
@@ -246,8 +251,8 @@ build_type = debug
 debug_tool = esp-builtin
 board = adafruit_feather_esp32s3_tft
 build_flags = -DARDUINO_ADAFRUIT_FEATHER_ESP32S3_TFT -DBOARD_HAS_PSRAM
-;set partition to tinyuf2-partitions-4MB.csv as of idf 5.1
-board_build.partitions = tinyuf2-partitions-4MB.csv
+;set partition to tinyuf2-partitions-4MB-noota.csv as of CPY 10
+board_build.partitions = tinyuf2-partitions-4MB-noota.csv
 extra_scripts = pre:rename_usb_config.py
 
 ; Adafruit Feather ESP32-S3 Reverse TFT
@@ -255,8 +260,8 @@ extra_scripts = pre:rename_usb_config.py
 extends = common:esp32
 board = adafruit_feather_esp32s3_reversetft
 build_flags = -DARDUINO_ADAFRUIT_FEATHER_ESP32S3_REVTFT -DBOARD_HAS_PSRAM
-;set partition to tinyuf2-partitions-4MB.csv as of idf 5.1
-board_build.partitions = tinyuf2-partitions-4MB.csv
+;set partition to tinyuf2-partitions-4MB-noota.csv as of CPY 10
+board_build.partitions = tinyuf2-partitions-4MB-noota.csv
 extra_scripts = pre:rename_usb_config.py
 
 ; Adafruit Magtag ESP32-S2
@@ -264,8 +269,8 @@ extra_scripts = pre:rename_usb_config.py
 extends = common:esp32
 board = adafruit_magtag29_esp32s2
 build_flags = -DARDUINO_MAGTAG29_ESP32S2 -DBOARD_HAS_PSRAM
-;set partition to tinyuf2-partitions-4MB.csv as of idf 5.1
-board_build.partitions = tinyuf2-partitions-4MB.csv
+;set partition to tinyuf2-partitions-4MB-noota.csv as of CPY 10
+board_build.partitions = tinyuf2-partitions-4MB-noota.csv
 extra_scripts = pre:rename_usb_config.py
 
 ; Adafruit Metro ESP32-S2
@@ -273,9 +278,12 @@ extra_scripts = pre:rename_usb_config.py
 extends = common:esp32
 board = adafruit_metro_esp32s2
 build_flags = -DARDUINO_METRO_ESP32S2 -DBOARD_HAS_PSRAM
-;set partition to tinyuf2-partitions-4MB.csv as of idf 5.1
-board_build.partitions = tinyuf2-partitions-4MB.csv
+;set partition to tinyuf2-partitions-4MB-noota.csv as of CPY 10
+board_build.partitions = tinyuf2-partitions-4MB-noota.csv
 extra_scripts =  pre:rename_usb_config.py
+; debug_tool = jlink
+; upload_protocol = jlink
+; debug_init_break = tbreak WipperSnapper_I2C_Driver_MLX90632D
 
 ; Adafruit Metro ESP32-S3
 [env:adafruit_metro_esp32s3]
@@ -285,13 +293,14 @@ build_flags = -DARDUINO_METRO_ESP32S3 -DBOARD_HAS_PSRAM
 ;set partition to tinyuf2-partitions-16MB.csv as of idf 5.1
 board_build.partitions = tinyuf2-partitions-16MB.csv
 extra_scripts =  pre:rename_usb_config.py
+debug_tool = jlink
 
 ; Adafruit Funhouse ESP32-S2
 [env:adafruit_funhouse_esp32s2]
 extends = common:esp32
 board = adafruit_funhouse_esp32s2
 build_flags = -DARDUINO_FUNHOUSE -DBOARD_HAS_PSRAM
-;set partition to tinyuf2-partitions-4MB.csv as of idf 5.1
+;set partition to tinyuf2-partitions-4MB-noota.csv as of CPY 10
 board_build.partitions = tinyuf2-partitions-4MB-noota.csv
 extra_scripts =  pre:rename_usb_config.py
 
@@ -320,7 +329,7 @@ build_flags =
     -DLV_LOG_PRINTF=1
     -DLV_LOG_COLOR=1
     -DLV_LOG_LEVEL=LV_LOG_LEVEL_TRACE
-;set partition to tinyuf2-partitions-4MB.csv as of idf 5.1
+;set partition to tinyuf2-partitions-4MB-noota.csv as of CPY 10
 board_build.partitions = tinyuf2-partitions-4MB-noota.csv
 extra_scripts =  pre:rename_usb_config.py
 
@@ -362,8 +371,8 @@ board_build.partitions = min_spiffs.csv
 extends = common:esp32
 board = adafruit_qtpy_esp32s2
 build_flags = -DARDUINO_ADAFRUIT_QTPY_ESP32S2 -DBOARD_HAS_PSRAM
-;set partition to tinyuf2-partitions-4MB.csv as of idf 5.1
-board_build.partitions = tinyuf2-partitions-4MB.csv
+;set partition to tinyuf2-partitions-4MB-noota.csv as of CPY 10
+board_build.partitions = tinyuf2-partitions-4MB-noota.csv
 extra_scripts =  pre:rename_usb_config.py
 
 ; Adafruit QT Py ESP32-S3 NO PSRAM
@@ -379,12 +388,14 @@ extra_scripts = pre:rename_usb_config.py
 extends = common:esp32
 board = adafruit_qtpy_esp32s3_n4r2
 build_flags = -DARDUINO_ADAFRUIT_QTPY_ESP32S3_N4R2 -DBOARD_HAS_PSRAM
+;set partition to tinyuf2-partitions-4MB-noota.csv as of CPY 10
 board_build.partitions = tinyuf2-partitions-4MB-noota.csv
 extra_scripts = pre:rename_usb_config.py
 
 [env:adafruit_qtpy_esp32s3_with_psram_debug]
 extends = common:esp32
 board = adafruit_qtpy_esp32s3_n4r2
+;set partition to tinyuf2-partitions-4MB-noota.csv as of CPY 10
 board_build.partitions = tinyuf2-partitions-4MB-noota.csv
 build_type = debug
 build_flags =

src/Wippersnapper.h

@@ -142,7 +142,7 @@
 #endif
 
 #define WS_VERSION                                                             \
-  "1.0.0-beta.110" ///< WipperSnapper app. version (semver-formatted)
+  "1.0.0-beta.111" ///< WipperSnapper app. version (semver-formatted)
 
 // Reserved Adafruit IO MQTT topics
 #define TOPIC_IO_THROTTLE "/throttle" ///< Adafruit IO Throttle MQTT Topic

src/components/i2c/WipperSnapper_I2C.cpp

@@ -236,6 +236,16 @@ bool WipperSnapper_Component_I2C::initI2CDevice(
     }
     _ahtx0->configureDriver(msgDeviceInitReq);
     drivers.push_back(_ahtx0);
+  } else if (strcmp("as5600", msgDeviceInitReq->i2c_device_name) == 0) {
+    _as5600 = new WipperSnapper_I2C_Driver_AS5600(this->_i2c, i2cAddress);
+    if (!_as5600->begin()) {
+      WS_DEBUG_PRINTLN("ERROR: Failed to initialize AS5600 chip!");
+      _busStatusResponse =
+          wippersnapper_i2c_v1_BusResponse_BUS_RESPONSE_DEVICE_INIT_FAIL;
+      return false;
+    }
+    _as5600->configureDriver(msgDeviceInitReq);
+    drivers.push_back(_as5600);
   } else if (strcmp("bh1750", msgDeviceInitReq->i2c_device_name) == 0) {
     _bh1750 = new WipperSnapper_I2C_Driver_BH1750(this->_i2c, i2cAddress);
     if (!_bh1750->begin()) {
@@ -537,6 +547,33 @@ bool WipperSnapper_Component_I2C::initI2CDevice(
     _mcp9808->configureDriver(msgDeviceInitReq);
     drivers.push_back(_mcp9808);
     WS_DEBUG_PRINTLN("MCP9808 Initialized Successfully!");
+  } else if (strcmp("mlx90632b", msgDeviceInitReq->i2c_device_name) == 0 ||
+             strcmp("mlx90632d_med", msgDeviceInitReq->i2c_device_name) == 0) {
+    _mlx90632d = new WipperSnapper_I2C_Driver_MLX90632D(this->_i2c, i2cAddress);
+    if (!_mlx90632d->begin()) {
+      WS_DEBUG_PRINTLN("ERROR: Failed to initialize MLX90632!");
+      _busStatusResponse =
+          wippersnapper_i2c_v1_BusResponse_BUS_RESPONSE_DEVICE_INIT_FAIL;
+      return false;
+    }
+    _mlx90632d->configureDriver(msgDeviceInitReq);
+    drivers.push_back(_mlx90632d);
+    WS_DEBUG_PRINTLN("MLX90632 Initialized Successfully!");
+  } else if (strcmp("mlx90632d_ext", msgDeviceInitReq->i2c_device_name) == 0) {
+    _mlx90632d_ext =
+        new WipperSnapper_I2C_Driver_MLX90632D(this->_i2c, i2cAddress);
+    // set extended range
+    if (!_mlx90632d_ext->begin() ||
+        !_mlx90632d_ext->ConfigureAndPrintSensorInfo(true)) {
+      WS_DEBUG_PRINTLN(
+          "ERROR: Failed to initialize MLX90632D with extended range!");
+      _busStatusResponse =
+          wippersnapper_i2c_v1_BusResponse_BUS_RESPONSE_DEVICE_INIT_FAIL;
+      return false;
+    }
+    _mlx90632d_ext->configureDriver(msgDeviceInitReq);
+    drivers.push_back(_mlx90632d_ext);
+    WS_DEBUG_PRINTLN("MLX90632D_EXT Initialized Successfully!");
   } else if (strcmp("mpl115a2", msgDeviceInitReq->i2c_device_name) == 0) {
     _mpl115a2 = new WipperSnapper_I2C_Driver_MPL115A2(this->_i2c, i2cAddress);
     if (!_mpl115a2->begin()) {

src/components/i2c/WipperSnapper_I2C.h

@@ -22,6 +22,7 @@
 #include "drivers/WipperSnapper_I2C_Driver.h"
 #include "drivers/WipperSnapper_I2C_Driver_ADT7410.h"
 #include "drivers/WipperSnapper_I2C_Driver_AHTX0.h"
+#include "drivers/WipperSnapper_I2C_Driver_AS5600.h"
 #include "drivers/WipperSnapper_I2C_Driver_BH1750.h"
 #include "drivers/WipperSnapper_I2C_Driver_BME280.h"
 #include "drivers/WipperSnapper_I2C_Driver_BME680.h"
@@ -50,6 +51,7 @@
 #include "drivers/WipperSnapper_I2C_Driver_MAX17048.h"
 #include "drivers/WipperSnapper_I2C_Driver_MCP3421.h"
 #include "drivers/WipperSnapper_I2C_Driver_MCP9808.h"
+#include "drivers/WipperSnapper_I2C_Driver_MLX90632D.h"
 #include "drivers/WipperSnapper_I2C_Driver_MPL115A2.h"
 #include "drivers/WipperSnapper_I2C_Driver_MPRLS.h"
 #include "drivers/WipperSnapper_I2C_Driver_MS8607.h"
@@ -157,6 +159,7 @@ private:
       _drivers_out; ///< List of i2c output drivers
   // Sensor driver objects
   WipperSnapper_I2C_Driver_AHTX0 *_ahtx0 = nullptr;
+  WipperSnapper_I2C_Driver_AS5600 *_as5600 = nullptr;
   WipperSnapper_I2C_Driver_D6T1A *_d6t1a = nullptr;
   WipperSnapper_I2C_Driver_DPS310 *_dps310 = nullptr;
   WipperSnapper_I2C_Driver_DS2484 *_ds2484 = nullptr;
@@ -180,6 +183,8 @@ private:
   WipperSnapper_I2C_Driver_LTR390 *_ltr390 = nullptr;
   WipperSnapper_I2C_Driver_MCP3421 *_mcp3421 = nullptr;
   WipperSnapper_I2C_Driver_MCP9808 *_mcp9808 = nullptr;
+  WipperSnapper_I2C_Driver_MLX90632D *_mlx90632d = nullptr;
+  WipperSnapper_I2C_Driver_MLX90632D *_mlx90632d_ext = nullptr;
   WipperSnapper_I2C_Driver_MPL115A2 *_mpl115a2 = nullptr;
   WipperSnapper_I2C_Driver_MPRLS *_mprls = nullptr;
   WipperSnapper_I2C_Driver_MS8607 *_ms8607 = nullptr;

src/components/i2c/drivers/WipperSnapper_I2C_Driver_AS5600.h

@@ -0,0 +1,155 @@
+/*!
+ * @file WipperSnapper_I2C_Driver_AS5600.h
+ *
+ * Device driver for the AS5600 Magnetic Angle sensor.
+ *
+ * Adafruit invests time and resources providing this open source code,
+ * please support Adafruit and open-source hardware by purchasing
+ * products from Adafruit!
+ *
+ * Copyright (c) Tyeth Gundry 2024 for Adafruit Industries.
+ *
+ * MIT license, all text here must be included in any redistribution.
+ *
+ */
+#ifndef WipperSnapper_I2C_Driver_AS5600_H
+#define WipperSnapper_I2C_Driver_AS5600_H
+
+#include <Adafruit_AS5600.h>
+
+#include "WipperSnapper_I2C_Driver.h"
+#include "Wippersnapper.h"
+
+/**************************************************************************/
+/*!
+    @brief  Class that provides a driver interface for a AS5600 sensor.
+*/
+/**************************************************************************/
+class WipperSnapper_I2C_Driver_AS5600 : public WipperSnapper_I2C_Driver {
+public:
+  /*******************************************************************************/
+  /*!
+      @brief    Constructor for the AS5600 sensor.
+      @param    i2c
+                The I2C interface.
+      @param    sensorAddress
+                7-bit device address.
+  */
+  /*******************************************************************************/
+  WipperSnapper_I2C_Driver_AS5600(TwoWire *i2c, uint16_t sensorAddress)
+      : WipperSnapper_I2C_Driver(i2c, sensorAddress) {
+    _as5600 = nullptr;
+    _angle = 0;
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Destructor for an AS5600 sensor.
+  */
+  /*******************************************************************************/
+  ~WipperSnapper_I2C_Driver_AS5600() {
+    if (_as5600) {
+      delete _as5600;
+      _as5600 = nullptr;
+    }
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Initializes the AS5600 sensor and begins I2C.
+      @returns  True if initialized successfully, False otherwise.
+  */
+  /*******************************************************************************/
+  bool begin() {
+    _as5600 = new Adafruit_AS5600();
+    if (!_as5600->begin((uint8_t)_sensorAddress, _i2c)) {
+      WS_DEBUG_PRINTLN("Failed to find AS5600 chip");
+      return false;
+    }
+
+    if (!configureSensor()) {
+      WS_DEBUG_PRINTLN("Failed to configure AS5600 sensor");
+      return false;
+    }
+    return true;
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Configures the AS5600 sensor.
+      @returns  True if the sensor was configured successfully, False otherwise.
+  */
+  /*******************************************************************************/
+  bool configureSensor() {
+    return _as5600->enableWatchdog(false) &&
+           // Normal (high) power mode
+           _as5600->setPowerMode(AS5600_POWER_MODE_NOM) &&
+           // No Hysteresis
+           _as5600->setHysteresis(AS5600_HYSTERESIS_OFF) &&
+           // analog output (0-VCC for 0-360 degrees)
+           _as5600->setOutputStage(AS5600_OUTPUT_STAGE_ANALOG_FULL) &&
+           // setup filters
+           _as5600->setSlowFilter(AS5600_SLOW_FILTER_16X) &&
+           _as5600->setFastFilterThresh(AS5600_FAST_FILTER_THRESH_SLOW_ONLY) &&
+           // Reset position settings to defaults
+           _as5600->setZPosition(0) && _as5600->setMPosition(4095) &&
+           _as5600->setMaxAngle(4095);
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Reads the Angle sensor.
+      @returns  True if the sensor was read successfully, False otherwise.
+  */
+  /*******************************************************************************/
+  bool readSensor() {
+    if (!_as5600->isMagnetDetected()) {
+      WS_DEBUG_PRINTLN("Magnet not detected!");
+      return false;
+    }
+
+    // Continuously read and display angle values
+    uint16_t rawAngle = _as5600->getRawAngle();
+    uint16_t angle = _as5600->getAngle();
+
+    WS_DEBUG_PRINT("AS5600 Raw: ");
+    WS_DEBUG_PRINT(rawAngle);
+    WS_DEBUG_PRINT(" | Scaled: ");
+    WS_DEBUG_PRINT(angle);
+
+    // Check status conditions
+    if (_as5600->isAGCminGainOverflow()) {
+      WS_DEBUG_PRINTLN(" | MH: magnet too strong");
+      return false;
+    }
+    if (_as5600->isAGCmaxGainOverflow()) {
+      WS_DEBUG_PRINTLN(" | ML: magnet too weak");
+      return false;
+    }
+    _angle = ((float)angle / 4095.0) * 360.0;
+    return true;
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Reads the Angle sensor with short wait for data.
+      @param    rawEvent
+                Angle sensor reading
+      @returns  True if the sensor event was obtained successfully, False
+                otherwise.
+  */
+  /*******************************************************************************/
+  bool getEventRaw(sensors_event_t *rawEvent) {
+    if (!readSensor()) {
+      return false;
+    }
+    rawEvent->data[0] = _angle;
+    return true;
+  }
+
+protected:
+  float _angle;             ///< Current angle reading from the AS5600 sensor
+  Adafruit_AS5600 *_as5600; ///< Pointer to AS5600 sensor object
+};
+
+#endif // WipperSnapper_I2C_Driver_AS5600

src/components/i2c/drivers/WipperSnapper_I2C_Driver_MLX90632D.h

@@ -0,0 +1,233 @@
+/*!
+ * @file WipperSnapper_I2C_Driver_MLX90632D.h
+ *
+ * Device driver for a Melexis MLX90632-D (medical) thermal FIR sensor.
+ *
+ * Adafruit invests time and resources providing this open source code,
+ * please support Adafruit and open-source hardware by purchasing
+ * products from Adafruit!
+ *
+ * Copyright (c) Tyeth Gundry 2025 for Adafruit Industries.
+ *
+ * MIT license, all text here must be included in any redistribution.
+ *
+ */
+
+#ifndef WipperSnapper_I2C_Driver_MLX90632D_H
+#define WipperSnapper_I2C_Driver_MLX90632D_H
+
+#include <Adafruit_MLX90632.h>
+
+#include "WipperSnapper_I2C_Driver.h"
+
+/**************************************************************************/
+/*!
+    @brief  Sensor driver for the Melexis MLX90632-D temperature sensor.
+*/
+/**************************************************************************/
+class WipperSnapper_I2C_Driver_MLX90632D : public WipperSnapper_I2C_Driver {
+public:
+  /*******************************************************************************/
+  /*!
+      @brief    Constructor for an MLX90632 sensor.
+      @param    i2c
+                The I2C interface.
+      @param    sensorAddress
+                7-bit device address.
+  */
+  /*******************************************************************************/
+  WipperSnapper_I2C_Driver_MLX90632D(TwoWire *i2c, uint16_t sensorAddress)
+      : WipperSnapper_I2C_Driver(i2c, sensorAddress) {
+    _i2c = i2c;
+    _sensorAddress = sensorAddress;
+    _mlx90632 = nullptr;
+    _deviceTemp = NAN;
+    _objectTemp = NAN;
+    _lastRead = 0;
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Destructor for an MLX90632 sensor.
+  */
+  /*******************************************************************************/
+  ~WipperSnapper_I2C_Driver_MLX90632D() {
+    if (_mlx90632) {
+      delete _mlx90632;
+      _mlx90632 = nullptr;
+    }
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Initializes the MLX90632 sensor and begins I2C.
+      @returns  True if initialized successfully, False otherwise.
+  */
+  /*******************************************************************************/
+  bool begin() {
+    if (_mlx90632) {
+      delete _mlx90632;
+      _mlx90632 = nullptr;
+    }
+    _mlx90632 = new Adafruit_MLX90632();
+    // attempt to initialize MLX90632
+    if (!_mlx90632->begin(_sensorAddress, _i2c))
+      return false;
+
+    return ConfigureAndPrintSensorInfo();
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Configures the MLX90632 sensor and prints its information.
+      @param    extendedInsteadOfMedicalRange
+                If true, configures the sensor for extended temperature
+     range/acc.
+      @returns  True if configuration fetching and setting were successful.
+  */
+  /*******************************************************************************/
+  bool ConfigureAndPrintSensorInfo(bool extendedInsteadOfMedicalRange = false) {
+    // Reset the device
+    if (!_mlx90632->reset()) {
+      WS_DEBUG_PRINTLN(F("Device reset failed"));
+      return false;
+    }
+
+    uint16_t productCode = _mlx90632->getProductCode();
+    // Decode product code bits
+    uint8_t fov = (productCode >> 8) & 0x3;
+    uint8_t package = (productCode >> 5) & 0x7;
+    uint8_t accuracy = productCode & 0x1F;
+
+    if (!_mlx90632->setMode(MLX90632_MODE_CONTINUOUS)) {
+      WS_DEBUG_PRINTLN(F("Failed to set mode"));
+      return false;
+    }
+
+    // set accuracy mode based on medical if detected
+    if (accuracy == 1) {
+      // Set and get measurement select (medical)
+      if (!extendedInsteadOfMedicalRange &&
+          !_mlx90632->setMeasurementSelect(MLX90632_MEAS_MEDICAL)) {
+        WS_DEBUG_PRINTLN(F("Failed to set measurement select to Medical"));
+        return false;
+      } else if (extendedInsteadOfMedicalRange &&
+                 !_mlx90632->setMeasurementSelect(
+                     MLX90632_MEAS_EXTENDED_RANGE)) {
+        WS_DEBUG_PRINTLN(
+            F("Failed to set measurement select to Extended Range"));
+        return false;
+      }
+    }
+
+    // Set and get refresh rate (default to 2Hz)
+    if (!_mlx90632->setRefreshRate(MLX90632_REFRESH_2HZ)) {
+      WS_DEBUG_PRINTLN(F("Failed to set refresh rate to 2Hz"));
+      return false;
+    }
+
+    if (!_mlx90632->resetNewData()) {
+      WS_DEBUG_PRINTLN(F("Failed to reset new data flag"));
+      return false;
+    }
+    return true;
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Checks if sensor was read within last 1s, or is the first read.
+      @returns  True if the sensor was recently read, False otherwise.
+  */
+  /*******************************************************************************/
+  bool HasBeenReadInLast200ms() {
+    return _lastRead != 0 && millis() - _lastRead < 200;
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Reads the sensor.
+      @returns  True if the sensor was read successfully, False otherwise.
+  */
+  /*******************************************************************************/
+  bool ReadSensorData() {
+    bool result = false;
+    if (HasBeenReadInLast200ms()) {
+      WS_DEBUG_PRINTLN(F("Sensor was read recently, using cached data"));
+      return true;
+    }
+
+    // Check if we need to trigger a new measurement for step modes
+    mlx90632_mode_t currentMode = _mlx90632->getMode();
+    if (currentMode == MLX90632_MODE_STEP ||
+        currentMode == MLX90632_MODE_SLEEPING_STEP) {
+      // Trigger single measurement (SOC bit) for step modes
+      if (!_mlx90632->startSingleMeasurement()) {
+        WS_DEBUG_PRINTLN(F("Failed to start single measurement"));
+        return false;
+      }
+      delay(510); // Wait for measurement to complete @ 2Hz
+    }
+
+    // Only check new data flag - much more efficient for continuous mode
+    if (_mlx90632->isNewData()) {
+      _deviceTemp = _mlx90632->getAmbientTemperature();
+      _objectTemp = _mlx90632->getObjectTemperature();
+      if (isnan(_objectTemp)) {
+        WS_DEBUG_PRINTLN(F("NaN (invalid cycle position)"));
+        return false;
+      }
+      result = true;
+      _lastRead = millis();
+      // Reset new data flag after reading
+      if (!_mlx90632->resetNewData()) {
+        WS_DEBUG_PRINTLN(F("Failed to reset new data flag"));
+      }
+    } else {
+      WS_DEBUG_PRINTLN(F("No new data available, skipping read"));
+    }
+
+    return result;
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Gets the MLX90632's current temperature.
+      @param    tempEvent
+                Pointer to an Adafruit_Sensor event.
+      @returns  True if the temperature was obtained successfully, False
+                otherwise.
+  */
+  /*******************************************************************************/
+  bool getEventAmbientTemp(sensors_event_t *tempEvent) {
+    if (ReadSensorData() && _deviceTemp != NAN) {
+      tempEvent->temperature = _deviceTemp;
+      return true;
+    }
+    return false; // sensor not read recently, return false
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Gets the MLX90632's object temperature.
+      @param    tempEvent
+                Pointer to an Adafruit_Sensor event.
+      @returns  True if the temperature was obtained successfully, False
+                otherwise.
+  */
+  /*******************************************************************************/
+  bool getEventObjectTemp(sensors_event_t *tempEvent) {
+    if (ReadSensorData() && _objectTemp != NAN) {
+      tempEvent->temperature = _objectTemp;
+      return true;
+    }
+    return false; // sensor not read recently, return false
+  }
+
+protected:
+  double _deviceTemp; ///< Device temperature in Celsius
+  double _objectTemp; ///< Object temperature in Celsius
+  uint32_t _lastRead; ///< Last time the sensor was read in milliseconds
+  Adafruit_MLX90632 *_mlx90632 = nullptr; ///< MLX90632 object
+};
+
+#endif // WipperSnapper_I2C_Driver_MLX90632D_H