Create as5600_esp32s3_micropy_tested.py

library/as5600_esp32s3_micropy_tested.py

@@ -0,0 +1,162 @@
+"""
+# Based on the original file, I tested some functions, and this is a version that can be used directly.
+# Example, hope it helps😀
+from machine import SoftI2C, Pin
+i2c = SoftI2C(scl=Pin(5), sda=Pin(4), freq=600000)
+class MyAS5600():
+
+    def __init__(self, i2c):
+        import as5600
+        self.i2c = i2c
+        self.device = as5600.AS5600(i2c_device=i2c, hyst=1)
+
+    def get_angle(self, fast=False):
+        if fast:
+            return self.device.getAngleDegreesFast()
+        else:
+            return self.device.getAngleDegrees()
+"""
+
+
+class AS5600:
+    """
+    A class for the AS5600 Magnetic Rotary Position Sensor
+    """
+
+    ADDRESS     = 0x36  # as5600 is 0x36, as5600l is 0x40
+
+    CONF_REG    = 0x07
+    STATUS_REG  = 0x0B
+    ANGLE_REG   = 0x0E
+    AGC_REG     = 0x1A
+
+    def __init__(self, i2c_device, hyst = 0, powerMode = 0, watchdog = 0,
+                 fastFilterThreshold = 0, slowFilter = 0, pwmFreq = 0, outputStage = 0) -> None:
+        """Init
+
+        Args:
+            hyst (int, optional): Hysteresis: 0->3. Defaults to 0.
+            powerMode (int, optional): Power Mode: 0->3. Defaults to 0.
+            watchdog (int, optional): Enable the watchdog. Defaults to 0.
+            fastFilterThreshold (int, optional): Threshold value for the fast filter: 0->7. Defaults to 0.
+            slowFilter (int, optional): Slow filter mode: 0->3. Defaults to 0.
+            pwmFreq (int, optional): Output PWM frequency: 0->3. Defaults to 0.
+            outputStage (int, optional): Output mode (see datasheet): 0->2. Defaults to 0.
+        """
+        self.i2c = i2c_device
+        c1 = 0x00
+        c2 = 0x00
+
+        # set watchdog 0,1
+        if watchdog in range(0,2):
+            c1 = c1 | (watchdog << 5)
+
+        # set fast filter threshold 0->7
+        if fastFilterThreshold in range(0,8):
+            c1 = c1 | (fastFilterThreshold << 2)
+
+        # set the slow filter 0->3
+        if slowFilter in range(0,4):
+            c1 = c1 | slowFilter
+
+        # set PWM frequency 0->3
+        if pwmFreq in range(0,4):
+            c2 = c2 | (pwmFreq << 6)
+
+        # set output stage 0->2
+        if outputStage in range(0,2):
+            c2 = c2 | (outputStage << 4)
+
+        # set PowerMode 0->3
+        if powerMode in range(0, 4):
+            c2 = c2 | powerMode
+
+        # set Hysteresis 0->3
+        if hyst in range(0, 4):
+            c2 = c2 | (hyst << 2)
+
+        self.i2c.writeto(self.ADDRESS, bytes([self.CONF_REG, c1, c2]))
+
+
+    def getStatus(self):
+        """Get the status of the AS5600
+
+        Returns:
+            Dict: Dictionary of the different statuses
+        """
+        self.i2c.writeto(self.ADDRESS, bytes([self.STATUS_REG]))
+        status = int.from_bytes(self.i2c.readfrom(self.ADDRESS, 1), 'big')
+        mh = bool(status & 0b00001000)
+        ml = bool(status & 0b00010000)
+        md = bool(status & 0b00100000)
+
+        self.i2c.writeto(self.ADDRESS, bytes([self.AGC_REG]))
+        agc = int.from_bytes(self.i2c.readfrom(self.ADDRESS, 1), 'big')
+
+        return {
+                 "magnetDetected": md, 
+                 "magnetTooWeak": ml, 
+                 "magnetTooStrong": mh,
+                 "agc": agc
+                 }
+
+    def isOk(self) -> bool:
+        """Reads the status values to determine if the magnet is able to be read.
+
+        Returns:
+            bool: True if the magnet can be detercted accurately
+        """
+        self.i2c.writeto(self.ADDRESS, bytes([self.STATUS_REG]))
+        status = int.from_bytes(self.i2c.readfrom(self.ADDRESS, 1), 'big')
+
+        mh = bool(status & 0b00001000)
+        ml = bool(status & 0b00010000)
+        md = bool(status & 0b00100000)
+
+        if md and not mh and not ml:
+            return True
+        else:
+            return False
+
+
+    def getAngle(self) -> int:
+        """Get the raw 12bit angle value
+
+        Returns:
+            int: 0->4095
+        """
+        self.i2c.writeto(self.ADDRESS, bytes([self.ANGLE_REG]))
+        return int.from_bytes(self.i2c.readfrom(self.ADDRESS, 2), 'big')
+
+
+
+    def getAngleDegrees(self):
+        """Get the angle in degrees, IF the magnet can be read
+
+        Returns:
+            float: Degrees (0->359) if magnet can be read otherwise None.
+        """
+        if self.isOk():
+            return (float(self.getAngle()) / 4096) * 360
+        else:
+            # if the magnet cannot be read then the angle is unreliable, so return None.
+            return None
+
+    def getAngleDegreesFast(self):
+        """Get the angle in degrees
+
+        Returns:
+            float: Degrees (0->359) if magnet can be read otherwise None.
+        """
+        self.i2c.writeto(self.ADDRESS, b'\x0e')
+        return (float(int.from_bytes(self.i2c.readfrom(self.ADDRESS, 2), 'big')) / 4096) * 360
+
+
+    def getConf(self):
+        """Internal healper function to read the raw config value
+
+        Returns:
+            int: raw value
+        """
+        self.i2c.writeto(self.ADDRESS, bytes([self.CONF_REG]))
+        return int.from_bytes(self.i2c.readfrom(self.ADDRESS, 2), 'big')