Add support for new sensors without breaking backwards compatibility

.github/workflows/compile-examples.yml

@@ -80,6 +80,10 @@ jobs:
             platforms: |
               - name: rp2040:rp2040
                 source-url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
+          - fqbn: rp2040:rp2040:rpipico2
+            platforms: |
+              - name: rp2040:rp2040
+                source-url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
 
     steps:
       - name: Checkout

README.md

@@ -11,13 +11,13 @@ For more information on the MagAlpha sensor family:
 * [MagAlpha Support Materials](http://www.monolithicpower.com/Design-Support/Position-Sensors-Design-Support)
 
 ## Supported sensors
-Supports all 3rd generation MagAlpha magnetic angle sensors from [Monolithic Power Systems](https://www.monolithicpower.com/).
+Supports all 3rd, 4th, 6th, 7th, 8th generation MagAlpha magnetic angle sensors from [Monolithic Power Systems](https://www.monolithicpower.com/).
 
 | Applications | Part Numbers |
 | ------------| ------------ |
 | Turning knob applications (potentiometer replacement) | MA800, MA820, MA850 |
 | Rotary encoders (optical encoder replacement, Servo motors, ...) | MA702, MA704, MA710, MA730 |
-| Position controlled motor drivers (FOC, ...) | MA302, MA310 |
+| Position controlled motor drivers (FOC, ...) | MA302, MA310, MA600 |
 | Motor commutation (hall switches replacement) | MA102 |
 
 
@@ -39,6 +39,7 @@ MIT license, all text above must be included in any redistribution.
 
 ### Serial communication
 All MagAlpha have a SPI communication interface. Some sensors like the MA702 also have an additional SSI (2-wire) interface.
+MagAlpha gen8 possess an I2C interface.
 
 #### SPI (4-wire interface)
 | Arduino  | MagAlpha |
@@ -54,6 +55,12 @@ All MagAlpha have a SPI communication interface. Some sensors like the MA702 als
 | MISO     | SSD      |
 | SCK      | SSCK     |
 
+### I2C (2-wire interface)
+| Arduino  | MagAlpha |
+| -------- | -------- |
+| SCL      | SCL      |
+| SDA      | SDA      |
+
 #### Arduino SPI pin mapping
 | Arduino / Genuino Board | MOSI | MISO | SCK | CS  | Voltage Level |
 | ----------------------- | ---- | ---- | ---- | :---: | ------------- |

examples/gen3/gen3.ino

@@ -0,0 +1,90 @@
+#include <SPI.h>
+
+#include <MagAlphaGen3.h>
+#include <MagAlphaPartProperties.h>
+
+#define SPI_CS_PIN              (7)
+#define SPI_SCLK_FREQUENCY      (1000000)
+
+MagAlphaGen3 magalpha;
+
+double angle_real;
+uint16_t zero, bct, angle_raw;
+uint8_t register_value[2];
+bool error;
+
+void setup() {
+
+    magalpha.begin(SPI_SCLK_FREQUENCY, MagAlphaSPIMode::MODE_0, SPI_CS_PIN, &SPI);
+    // Other ways of use of begin() that will set default settings to the SPI peripheral
+    // magalpha.begin(SPI_CS_PIN, &SPI);
+
+    //magalpha.setSpiClockFrequency(SPI_SCLK_FREQUENCY);
+    //magalpha.setSpiDataMode(MagAlphaSPIMode::MODE0);
+    //magalpha.setSpiChipSelectPin(SPI_CS_PIN);
+    Serial.begin(115200);
+    while(!Serial);
+}
+
+void loop() {
+
+    // Read & Write registers
+    register_value[0] = magalpha.writeRegister(0, 0xAA);
+    Serial.println(register_value[0], HEX);
+    register_value[0] = magalpha.readRegister(0);
+    Serial.println(register_value[0], HEX);
+    register_value[0] = magalpha.writeRegister(0, 0x00);
+
+    // Read & Write registers in burst mode
+    register_value[0] = 0xAA;
+    register_value[1] = 0x55;
+    magalpha.writeRegisterBurst(0, register_value, 2);
+    magalpha.readRegisterBurst(0, register_value, 2);
+    for(uint8_t i = 0; i < sizeof(register_value); i++) {
+        Serial.print("Register ");
+        Serial.print(i);
+        Serial.print(" = ");
+        Serial.println(register_value[i], HEX);
+    }
+    register_value[0] = 0x00;
+    register_value[1] = 0x00;
+    magalpha.writeRegisterBurst(0, register_value, 2);
+
+    // Set & Get zero setting
+    zero = magalpha.setCurrentAngleAsZero();
+    Serial.print("Zero setting = ");
+    Serial.println(zero, HEX);
+    magalpha.setZero(0x0000);
+    zero = magalpha.getZero();
+    Serial.print("Zero setting = ");
+    Serial.println(zero, HEX);
+
+    // Set & Get BCT setting
+    magalpha.setBct(0xAA55);
+    bct = magalpha.getBct();
+    Serial.print("BCT = ");
+    Serial.println(bct, HEX);
+    magalpha.setBct(0x00);
+
+    // Read angle
+    angle_raw = magalpha.readAngleRaw8();
+    Serial.print("Angle raw (8 bits) = ");
+    Serial.println(angle_raw, HEX);
+    angle_raw = magalpha.readAngleRaw16();
+    Serial.print("Angle raw (16 bits) = ");
+    Serial.println(angle_raw, HEX);
+    angle_raw = magalpha.readAngleRaw(&error);
+    if(error) {
+        Serial.println("An error occured during readAngleRaw");
+    } else {
+        Serial.print("readAngleRaw succeded, Angle raw (16 bits) = ");
+        Serial.println(angle_raw, HEX);
+    }
+
+    angle_real = magalpha.readAngle();
+    Serial.print("Angle in degree = ");
+    Serial.println(angle_real, DEC);
+
+    // This delay has been added only for visual purpose of the terminal
+    delay(25);
+}

examples/gen4/gen4.ino

@@ -0,0 +1,108 @@
+#include <SPI.h>
+
+#include <MagAlphaGen4.h>
+#include <MagAlphaPartProperties.h>
+
+#define SPI_CS_PIN              (7)
+#define SPI_SCLK_FREQUENCY      (1000000)
+
+MagAlphaGen4 magalpha;
+
+double angle_real;
+uint16_t zero, bct, angle_raw;
+uint8_t register_value[2];
+bool error;
+
+void setup() {
+
+    magalpha.begin(SPI_SCLK_FREQUENCY, MagAlphaSPIMode::MODE_0, SPI_CS_PIN, &SPI);
+    // Other ways of use of begin() that will set default settings to the SPI peripheral
+    // magalpha.begin(SPI_CS_PIN, &SPI);
+
+    //magalpha.setSpiClockFrequency(SPI_SCLK_FREQUENCY);
+    //magalpha.setSpiDataMode(MagAlphaSPIMode::MODE0);
+    //magalpha.setSpiChipSelectPin(SPI_CS_PIN);
+    Serial.begin(115200);
+    while(!Serial);
+}
+
+void loop() {
+
+    // Read & Write registers
+    register_value[0] = magalpha.writeRegister(0, 0xAA);
+    Serial.println(register_value[0], HEX);
+    register_value[0] = magalpha.readRegister(0);
+    Serial.println(register_value[0], HEX);
+    register_value[0] = magalpha.writeRegister(0, 0x00);
+
+    // Read & Write registers in burst mode
+    register_value[0] = 0xAA;
+    register_value[1] = 0x55;
+    magalpha.writeRegisterBurst(0, register_value, 2);
+    magalpha.readRegisterBurst(0, register_value, 2);
+    for(uint8_t i = 0; i < sizeof(register_value); i++) {
+        Serial.print("Register ");
+        Serial.print(i);
+        Serial.print(" = ");
+        Serial.println(register_value[i], HEX);
+    }
+    register_value[0] = 0x00;
+    register_value[1] = 0x00;
+    magalpha.writeRegisterBurst(0, register_value, 2);
+
+    // Set & Get zero setting
+    zero = magalpha.setCurrentAngleAsZero();
+    Serial.print("Zero setting = ");
+    Serial.println(zero, HEX);
+    magalpha.setZero(0x0000);
+    zero = magalpha.getZero();
+    Serial.print("Zero setting = ");
+    Serial.println(zero, HEX);
+
+    // Set & Get BCT setting
+    magalpha.setBct(0xAA55);
+    bct = magalpha.getBct();
+    Serial.print("BCT = ");
+    Serial.println(bct, HEX);
+    magalpha.setBct(0x00);
+
+    // Memory management
+    magalpha.writeRegister(0, 0xAA);
+    magalpha.storeRegister(0);
+    magalpha.writeRegister(0, 0x00);
+    magalpha.restoreAllRegisters();
+    if(magalpha.readRegister(0) != 0xAA) {
+        Serial.println("An error occured during restoreAllRegisters");
+    }
+    magalpha.writeRegister(0, 0x00);
+    magalpha.storeAllRegisters();
+    magalpha.restoreAllRegisters();
+    if(magalpha.readRegister(0) != 0x00) {
+        Serial.println("An error occured during storeAllRegisters");
+    }
+
+    // Clear error flags
+    magalpha.clearErrorFlags();
+
+    // Read angle
+    angle_raw = magalpha.readAngleRaw8();
+    Serial.print("Angle raw (8 bits) = ");
+    Serial.println(angle_raw, HEX);
+    angle_raw = magalpha.readAngleRaw16();
+    Serial.print("Angle raw (16 bits) = ");
+    Serial.println(angle_raw, HEX);
+    angle_raw = magalpha.readAngleRaw(&error);
+    if(error) {
+        Serial.println("An error occured during readAngleRaw");
+    } else {
+        Serial.print("readAngleRaw succeded, Angle raw (16 bits) = ");
+        Serial.println(angle_raw, HEX);
+    }
+
+    angle_real = magalpha.readAngle();
+    Serial.print("Angle in degree = ");
+    Serial.println(angle_real, DEC);
+
+    // This delay has been added only for visual purpose of the terminal
+    delay(25);
+}

examples/gen6/gen6.ino

@@ -0,0 +1,113 @@
+#include <SPI.h>
+
+#include <MagAlphaGen6.h>
+#include <MagAlphaPartProperties.h>
+
+#define SPI_CS_PIN              (7)
+#define SPI_SCLK_FREQUENCY      (1000000)
+
+MagAlphaGen6 magalpha;
+
+double angle_real, speed;
+uint16_t zero, bct, angle_raw, turn;
+uint8_t register_value[2];
+bool error;
+
+void setup() {
+
+    magalpha.begin(SPI_SCLK_FREQUENCY, MagAlphaSPIMode::MODE_0, SPI_CS_PIN, &SPI);
+    // Other ways of use of begin() that will set default settings to the SPI peripheral
+    // magalpha.begin(SPI_CS_PIN, &SPI);
+
+    //magalpha.setSpiClockFrequency(SPI_SCLK_FREQUENCY);
+    //magalpha.setSpiDataMode(MagAlphaSPIMode::MODE0);
+    //magalpha.setSpiChipSelectPin(SPI_CS_PIN);
+    Serial.begin(115200);
+    while(!Serial);
+}
+
+void loop() {
+
+    // Read & Write registers
+    register_value[0] = magalpha.writeRegister(0, 0xAA);
+    Serial.println(register_value[0], HEX);
+    register_value[0] = magalpha.readRegister(0);
+    Serial.println(register_value[0], HEX);
+    register_value[0] = magalpha.writeRegister(0, 0x00);
+
+    // Read & Write registers in burst mode
+    register_value[0] = 0xAA;
+    register_value[1] = 0x55;
+    magalpha.writeRegisterBurst(0, register_value, 2);
+    magalpha.readRegisterBurst(0, register_value, 2);
+    for(uint8_t i = 0; i < sizeof(register_value); i++) {
+        Serial.print("Register ");
+        Serial.print(i);
+        Serial.print(" = ");
+        Serial.println(register_value[i], HEX);
+    }
+    register_value[0] = 0x00;
+    register_value[1] = 0x00;
+    magalpha.writeRegisterBurst(0, register_value, 2);
+
+    // Set & Get zero setting
+    zero = magalpha.setCurrentAngleAsZero();
+    Serial.print("Zero setting = ");
+    Serial.println(zero, HEX);
+    magalpha.setZero(0x0000);
+    zero = magalpha.getZero();
+    Serial.print("Zero setting = ");
+    Serial.println(zero, HEX);
+
+    // Set & Get BCT setting
+    magalpha.setBct(0xAA55);
+    bct = magalpha.getBct();
+    Serial.print("BCT = ");
+    Serial.println(bct, HEX);
+    magalpha.setBct(0x00);
+
+    // Memory management
+    magalpha.writeRegister(0, 0xAA);
+    magalpha.storeRegisterBlock(0);
+    magalpha.writeRegister(0, 0x00);
+    magalpha.restoreAllRegisters();
+    if(magalpha.readRegister(0) != 0xAA) {
+        Serial.println("An error occured during restoreAllRegisters");
+    }
+    magalpha.writeRegister(0, 0x00);
+    magalpha.storeAllRegisters();
+    magalpha.restoreAllRegisters();
+    if(magalpha.readRegister(0) != 0x00) {
+        Serial.println("An error occured during storeAllRegisters");
+    }
+
+    // Clear error flags
+    magalpha.clearErrorFlags();
+
+    speed = magalpha.readSpeed();
+    Serial.println(speed);
+    turn = magalpha.readTurn();
+    Serial.println(turn);
+
+    // Read angle
+    angle_raw = magalpha.readAngleRaw8();
+    Serial.print("Angle raw (8 bits) = ");
+    Serial.println(angle_raw, HEX);
+    angle_raw = magalpha.readAngleRaw16();
+    Serial.print("Angle raw (16 bits) = ");
+    Serial.println(angle_raw, HEX);
+    angle_raw = magalpha.readAngleRaw(&error);
+    if(error) {
+        Serial.println("An error occured during readAngleRaw");
+    } else {
+        Serial.print("readAngleRaw succeded, Angle raw (16 bits) = ");
+        Serial.println(angle_raw, HEX);
+    }
+
+    angle_real = magalpha.readAngle();
+    Serial.print("Angle in degree = ");
+    Serial.println(angle_real, DEC);
+
+    // This delay has been added only for visual purpose of the terminal
+    delay(25);
+}