roboforum.ru

#define enablePin 3
#define MicroStep1Pin 4
#define MicroStep2Pin 5
#define MicroStep3Pin 6

#define setupTimeInMicroSec 1
int dirPin = 8;
int stepperPin = 7;

void setFullStep() {
digitalWrite(MicroStep1Pin, LOW);
digitalWrite(MicroStep2Pin, LOW);
digitalWrite(MicroStep3Pin, LOW);
delayMicroseconds(setupTimeInMicroSec);
}

void step(boolean dir,int steps) {
digitalWrite(dirPin,dir);
delay(500);
for(int i=0;i<steps;i++) {
digitalWrite(stepperPin, HIGH);
delayMicroseconds(1000);
digitalWrite(stepperPin, LOW);
delayMicroseconds(1000);
}
}

//###########################

const int ledPin = 13; // LED connected to digital pin 13, used as a heartbeat
const int clockPin = 9; // output to clock
const int CSnPin = 10; // output to chip select
const int inputPin = 11; // read AS5045

int inputstream = 0; // one bit read from pin
long packeddata = 0; // two bytes concatenated from inputstream
long angle = 0; // holds processed angle value
long anglemask = 262080; // 0x111111111111000000: mask to obtain first 12 digits with position info
long statusmask = 63; // 0x000000000000111111; mask to obtain last 6 digits containing status info
long statusbits; // holds status/error information
int DECn; // bit holding decreasing magnet field error data
int INCn; // bit holding increasing magnet field error data
int OCF; // bit holding startup-valid bit
int COF; // bit holding cordic DSP processing error data
int LIN; // bit holding magnet field displacement error data
int debug = 1; // SET THIS TO 0 TO DISABLE PRINTING OF ERROR CODES

void setup() {

pinMode(dirPin, OUTPUT);
pinMode(stepperPin, OUTPUT);
setFullStep();

//#########################

Serial.begin(9600);
pinMode(ledPin, OUTPUT); // visual signal of I/O to chip: heartbeat
pinMode(clockPin, OUTPUT); // SCK
pinMode(CSnPin, OUTPUT); // CSn -- has to toggle high and low to signal chip to start data transfer
pinMode(inputPin, INPUT); // SDA
}

void loop() {

step(true,1);
delay(1000);
//##########################

// CSn needs to cycle from high to low to initiate transfer. Then clock cycles. As it goes high
// again, data will appear on sda
digitalWrite(CSnPin, HIGH); // CSn high
digitalWrite(clockPin, HIGH); // CLK high
delay(1000); // wait for 1 second for no particular reason
digitalWrite(ledPin, HIGH); // signal start of transfer with LED
digitalWrite(CSnPin, LOW); // CSn low: start of transfer
delay(100); // delay for chip -- 1000x as long as it needs to be
digitalWrite(clockPin, LOW); // CLK goes low: start clocking
delay(10); // hold low for 10 ms
for (int x=0; x < 18; x++) // clock signal, 18 transitions, output to clock pin
{
digitalWrite(clockPin, HIGH); // clock goes high
delay(10); // wait 10ms
inputstream = digitalRead(inputPin); // read one bit of data from pin
//Serial.print(inputstream, DEC); // useful if you want to see the actual bits
packeddata = ((packeddata << 1) + inputstream); // left-shift summing variable, add pin value
digitalWrite(clockPin, LOW);
delay(10); // end of one clock cycle
} // end of entire clock cycle
//Serial.println(" ");
digitalWrite(ledPin, LOW); // signal end of transmission
// lots of diagnostics for verifying bitwise operations
//Serial.print("packed:");
//Serial.println(packeddata,DEC);
//Serial.print("pack bin: ");
// Serial.println(packeddata,BIN);
angle = packeddata & anglemask; // mask rightmost 6 digits of packeddata to zero, into angle.
//Serial.print("mask: ");
//Serial.println(anglemask, BIN);
//Serial.print("bin angle:");
//Serial.println(angle, BIN);
//Serial.print("angle: ");
//Serial.println(angle, DEC);
angle = (angle >> 6); // shift 18-digit angle right 6 digits to form 12-digit value
//Serial.print("angleshft:");
//Serial.println(angle, BIN);
//Serial.print("angledec: ");
//Serial.println(angle, DEC);
angle = angle * 0.08789; // angle * (360/4096) == actual degrees
Serial.print("angle: "); // and, finally, print it.
Serial.println(angle, DEC);
//Serial.println("--------------------");
//Serial.print("raw: "); // this was the prefix for the bit-by-bit diag output inside the loop.
if (debug)
{
statusbits = packeddata & statusmask;
DECn = statusbits & 2; // goes high if magnet moved away from IC
INCn = statusbits & 4; // goes high if magnet moved towards IC
LIN = statusbits & 8; // goes high for linearity alarm
COF = statusbits & 16; // goes high for cordic overflow: data invalid
OCF = statusbits & 32; // this is 1 when the chip startup is finished.
if (DECn && INCn) { Serial.println("magnet moved out of range"); }
else
{
if (DECn) { Serial.println("magnet moved away from chip"); }
if (INCn) { Serial.println("magnet moved towards chip"); }
}
if (LIN) { Serial.println("linearity alarm: magnet misaligned? Data questionable."); }
if (COF) { Serial.println("cordic overflow: magnet misaligned? Data invalid."); }
}

packeddata = 0; // reset both variables to zero so they don't just accumulate
angle = 0;
}

d00m писал(а):то есть не должно быть таких "шумов" и если вал не крутится, то значение не должно меняться ?

а как быть насчет сброса значения ? я чтото читал об установке zero position.. может стоит туда копнуть ?

upd:
они не горят. я так пониммаю это значит, что магнит установлен правильно.

про служебные биты не вкурсе, как их читать смотреть ?

осцила нету. я и не умею им пользоваться..

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