STM32 SPI Library for AS5048 Magnetic Rotary Encoder

STM32 SPI Library for AS5048 Magnetic Rotary Encoder 

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Before going further, please read AS5048 datasheet.

AS5048.h

#ifndef __AS5048_H
#define __AS5048_H

#ifdef __cplusplus
extern "C" {
#endif
#include "spi.h"
//Control and Error Registers
//#define SPI_CMD_READ        0x4000 // flag indicating read attempt
#define SPI_CMD_WRITE        0x8000 // flag indicating write attempt
#define SPI_NOP                0x0000//B0000000000000000 No operation dummy information
#define SPI_REG_AGC            0x7ffd // agc register when using SPI 
#define SPI_REG_MAG            0x7ffe // magnitude register when using SPI
#define SPI_REG_DATA        0xffff // data register when using SPI
#define SPI_REG_CLRERR        0x4001 // clear error register when using SPI
#define SPI_REG_ZEROPOS_HI    0x0016 // zero position register high byte
#define SPI_REG_ ZEROPOS_LO    0x0017 // zero position register low byte
#define AS5048_Max            16383
#define AS5048_Magic        (16384 - 31 - 1)    
#define DPU                    0.02197265625//Deg per 14bit unit
#define AS_Count            3//4 sensors attached to SPI2 
    
typedef struct {
    uint8_t Id;    
    uint16_t CrtValue;
    uint16_t PrevValue;
    uint8_t Fault; //handle by interrupt

} myAS5048;
    uint16_t AS5048_getRelativeValue(uint8_t sensor);
    uint16_t AS5048_getValue(uint8_t sensor);
    uint16_t AS5048_getMagnitude(uint8_t sen);
    uint16_t AS5048_getDiagnostics(uint8_t sen);
    uint16_t AS5048_getError(uint8_t sen);
    uint8_t AS5048_getErrFlag(uint8_t sen);
    
#ifdef __cplusplus
}
#endif

#endif /* __AS5048_H */

AS5048.c

Check below example for Chip Select pin toogle

#define ResistorOn HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_SET);
#define ResistorOff HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);

In spi.h file i have defined the following maros to change the SPI settings

#define SPI_Default hspi2.Instance->CR1 = 0x0000031F
#define SPI_AS5048  hspi2.Instance->CR1 = 0x0000031C
#define SPI_SPEED_H hspi2.Instance->CR1 = 0x0000030F

#include "AS5048.h"
#include "spi.h"
#include "gpio.h"

static uint8_t AS5048_Error[4] = {0, 0, 0, 0};
static uint16_t AS5048_CrtVal[4] = {0, 0, 0, 0};
static uint16_t AS5048_OldVal[4] = {0, 0, 0, 0};

static void set_CS(uint8_t senPin, uint8_t state){
    if(state)    {
        switch(senPin){
            case 0:
                H_S1CS_Release;
            break;
            case 1:
                H_S2CS_Release;
            break;
            case 2:
                V_S1CS_Release;
            break;
            case 3:
                V_S2CS_Release;
            break;
        }
    }
    else {
        switch(senPin) {
            case 0:
                H_S1CS_Select;
            break;
            case 1:
                H_S2CS_Select;
            break;
            case 2:
                V_S1CS_Select;
            break;
            case 3:
                V_S2CS_Select;
            break;
        }
    }
    for(uint8_t i = 0;i < 200; i++);//short delay for CS toogle
}

static uint16_t read(uint8_t sen, uint16_t registerAddress){
    SPI_AS5048;//Set SPI2->CR1-->CPOL Low
    uint8_t data[2] = {0, 0};
    uint8_t cmd[2] = {0, 0};
    //Split the command into two uint8_t
    cmd[1] = registerAddress & 0xFF;
    cmd[0] = ( registerAddress >> 8 ) & 0xFF;
    //printf("data[0] = %d data[1] = %d \n", data[0], data[1]);
    //Send the command
    set_CS(sen, 0);
    HAL_SPI_Transmit(&hspi2, cmd, 2, 1000);
    set_CS(sen, 1);
    //Now read the response
    set_CS(sen, 0);
    HAL_SPI_TransmitReceive(&hspi2, cmd, data, 4, 1000);
    set_CS(sen, 1);
    //printf("data[0] = %d data[1] = %d \n", data[0], data[1]);
    //Check if the error bit is set
    if (data[0] & 0x40) {
        //printf("I have error \n");
        AS5048_Error[sen] = 1;
    }
    else {
        AS5048_Error[sen] = 0;
    }
    SPI_Default;//Set SPI2->CR1-->CPHA High
    //Return the data, stripping the parity and error bits
    return ((( data[0] & 0xFF) << 8) | (data[1] & 0xFF)) & ~0xC000;
}

uint16_t AS5048_getRelativeValue(uint8_t sensor){
    int16_t tmpVal = 0;
    AS5048_OldVal[sensor] = AS5048_CrtVal[sensor];
    AS5048_CrtVal[sensor] = read(sensor,SPI_REG_DATA);
    tmpVal = AS5048_CrtVal[sensor] - AS5048_OldVal[sensor];
    if(tmpVal < 0){
        return AS5048_CrtVal[sensor] + (AS5048_Max - AS5048_OldVal[sensor]);
    } else {
        return tmpVal;
    }
}

uint16_t AS5048_getValue(uint8_t sensor){
    return read(sensor,SPI_REG_DATA);
}

uint16_t AS5048_getMagnitude(uint8_t sen){
    return read(sen, SPI_REG_MAG);//Received data is thrown away: this data comes from the precedent command (unknown)
}
uint16_t AS5048_getDiagnostics(uint8_t sen){
    return read(sen, SPI_REG_AGC);//Received data is thrown away: this data comes from the precedent command (unknown)
}

uint16_t AS5048_getError(uint8_t sen){
    return read(sen, SPI_REG_CLRERR);//Received data is thrown away: this data comes from the precedent command (unknown)
}

uint8_t AS5048_getErrFlag(uint8_t sen){
    return AS5048_Error[sen];
}