Add support for all the existing MagAlpha and MagDiff sensors. MagAlp…

…ha.h now point to sensor Gen3 for the library backward compatibility.

src/MagAlpha.h

@@ -16,47 +16,8 @@
 #else
      #include "WProgram.h"
 #endif
-#include <SPI.h>
+#include "MagAlphaGen3.h"
 
- //SPI Mode: MagAlpha Gen3 support SPI mode 3 and 0 [SPI_MODE3, SPI_MODE0]
-#define MA_SPI_MODE_0       SPI_MODE0
-#define MA_SPI_MODE_3       SPI_MODE3
+class MagAlpha: public MagAlphaGen3 {};
 
-class MagAlpha {
-public:
-    MagAlpha();
-    void  begin(uint8_t spiChipSelectPin);
-    void  begin(int32_t spiSclkFrequency, uint8_t spiMode, uint8_t spiChipSelectPin);
-    void end();
-    double readAngle();
-    uint16_t readAngleRaw();
-    uint16_t readAngleRaw(bool* error);
-    uint16_t readAngleRaw16();
-    uint8_t readAngleRaw8();
-    uint8_t readRegister(uint8_t address);
-    uint8_t writeRegister(uint8_t address, uint8_t value);
-    void setSpiClockFrequency(uint32_t speedMaximum);
-    void setSpiDataMode(uint8_t spiMode);
-    void setSpiChipSelectPin(uint8_t spiChipSelectPin);
-    double convertRawAngleToDegree(uint8_t rawAngleDataBitLength, uint16_t rawAngle);
-private:
-    uint32_t _speedMaximum;
-    uint8_t _spiMode;
-    uint8_t _spiChipSelectPin;
-};
-
-class MagAlphaSSI {
-public:
-    MagAlphaSSI();
-    void  begin();
-    void  begin(int32_t ssiSsckFrequency);
-    void end();
-    double readAngle();
-    uint16_t readAngleRaw();
-    uint16_t readAngleRaw(bool* error);
-    void setSsiClockFrequency(uint32_t speedMaximum);
-    double convertRawAngleToDegree(uint8_t rawAngleDataBitLength, uint16_t rawAngle);
-private:
-    uint32_t _speedMaximum;
-};
 #endif //MAGALPHA_H

src/MagAlphaBase.cpp

@@ -0,0 +1,259 @@
+/***************************************************
+  Arduino library for the MPS MagAlpha magnetic angle sensor
+  ----> http://www.monolithicpower.com/Products/Position-Sensors/Products-Overview
+  Written by Mathieu Kaelin for Monolithic Power Systems.
+  MIT license, all text above must be included in any redistribution
+ ****************************************************/
+
+#include "MagAlphaBase.h"
+
+MagAlphaBase::MagAlphaBase(){
+}
+
+double MagAlphaBase::readAngle(){
+  return readAngleRaw16()*(360.0/65536.0);
+}
+
+uint16_t MagAlphaBase::readAngleRaw(){
+    return readAngleRaw16();
+}
+
+void MagAlphaBase::getPartNumber(char *partNumber){
+    sprintf(partNumber, "Unknown Part Number");
+}
+
+double MagAlphaBase::convertRawAngleToDegree(uint8_t rawAngleDataBitLength, uint16_t rawAngle){
+    double angleInDegree;
+    angleInDegree = (rawAngle*360.0)/((double)pow(2, rawAngleDataBitLength));
+    return angleInDegree;
+}
+
+int16_t MagAlphaBase::twosComplement(uint16_t value, uint8_t numberOfBits){
+    int16_t signedValue = static_cast<int16_t>(value);
+    if ((value & (1 << (numberOfBits - 1))) != 0){
+        signedValue = value - (1 << numberOfBits);
+    }
+    return signedValue;
+}
+
+uint16_t MagAlphaBase::twosComplementInverse(int16_t value, uint8_t numberOfBits){
+    uint16_t unsignedValue = static_cast<uint16_t>(value);
+    if (value < 0){
+        unsignedValue = value + (1 << numberOfBits);
+    }
+    return unsignedValue;
+}
+
+/*====================================================================================*/
+/*============================== MagAlphaSPI =========================================*/
+/*====================================================================================*/
+MagAlphaSPI::MagAlphaSPI(){
+}
+
+void MagAlphaSPI::begin(int spiChipSelectPin, SPIClass *spi){
+    begin(10000000, (MagAlphaSPIMode)SPI_MODE3, spiChipSelectPin, spi);
+}
+
+void MagAlphaSPI::begin(int32_t spiSclkFrequency, MagAlphaSPIMode spiMode, uint8_t spiChipSelectPin, SPIClass *spi){
+    _spi = spi;
+    _clockFrequency = spiSclkFrequency;
+    _spiMode = (uint8_t)spiMode;
+    setSpiChipSelectPin(spiChipSelectPin);
+    _spi->begin();
+    _spi->beginTransaction(SPISettings(_clockFrequency, MSBFIRST, _spiMode));
+}
+
+void MagAlphaSPI::end(){
+    _spi->endTransaction();
+    _spi->end();
+}
+
+void MagAlphaSPI::setSpiClockFrequency(uint32_t clockFrequency){
+    _clockFrequency = clockFrequency;
+    _spi->endTransaction();
+    _spi->beginTransaction(SPISettings(_clockFrequency, MSBFIRST, _spiMode));
+}
+
+void MagAlphaSPI::setSpiDataMode(MagAlphaSPIMode spiMode){
+    _spiMode = (uint8_t)spiMode;
+    _spi->endTransaction();
+    _spi->beginTransaction(SPISettings(_clockFrequency, MSBFIRST, _spiMode));
+}
+
+void MagAlphaSPI::setSpiChipSelectPin(uint8_t spiChipSelectPin){
+    _spiChipSelectPin = spiChipSelectPin;
+    pinMode(_spiChipSelectPin, OUTPUT);
+    digitalWrite(_spiChipSelectPin, HIGH);
+}
+
+uint16_t MagAlphaSPI::readAngleRaw16Quick(){
+    uint16_t angle;
+    digitalWrite(_spiChipSelectPin, LOW);
+    // angle = _spi->transfer16(0x0000); //Read 16-bit angle
+    spi0_hw->dr = 0x0000;
+    angle = spi0_hw->dr;
+    digitalWrite(_spiChipSelectPin, HIGH);
+    return angle;
+}
+
+/*====================================================================================*/
+/*============================== MagAlphaSSI =========================================*/
+/*====================================================================================*/
+MagAlphaSSI::MagAlphaSSI(){
+}
+
+void MagAlphaSSI::begin(SPIClass *ssi){
+    begin(1000000, MagAlphaSSIMode::MODE_A, ssi);
+}
+
+void MagAlphaSSI::begin(int32_t ssiSsckFrequency, SPIClass *ssi){
+    begin(ssiSsckFrequency, MagAlphaSSIMode::MODE_A, ssi);
+}
+
+void MagAlphaSSI::begin(int32_t ssiSsckFrequency, MagAlphaSSIMode ssiMode, SPIClass *ssi){
+    _ssi = ssi;
+    _clockFrequency = ssiSsckFrequency;
+    _ssiMode = (uint8_t)ssiMode;
+    _ssi->begin();
+    _ssi->beginTransaction(SPISettings(_clockFrequency, MSBFIRST, _ssiMode));
+}
+
+void MagAlphaSSI::end(){
+    _ssi->endTransaction();
+    _ssi->end();
+}
+
+void MagAlphaSSI::setSsiClockFrequency(uint32_t clockFrequency){
+    _clockFrequency = clockFrequency;
+    _ssi->endTransaction();
+    _ssi->beginTransaction(SPISettings(_clockFrequency, MSBFIRST, _ssiMode));
+}
+
+void MagAlphaSSI::setSSiMode(MagAlphaSSIMode ssiMode){
+    _ssiMode = (uint8_t)ssiMode;
+    _ssi->endTransaction();
+    _ssi->beginTransaction(SPISettings(_clockFrequency, MSBFIRST, _ssiMode));
+}
+
+double MagAlphaSSI::readAngle(){
+    uint16_t angle;
+    double angleInDegree;
+    angle = readAngleRaw16();
+    angleInDegree = (angle*360.0)/65536.0;
+    return angleInDegree;
+}
+
+uint16_t MagAlphaSSI::readAngleRaw(){
+    return readAngleRaw16();
+}
+
+uint16_t MagAlphaSSI::readAngleRaw(bool* error){
+    uint16_t data1;
+    uint8_t data2;
+    uint8_t highStateCount = 0;
+    data1 = _ssi->transfer16(0);
+    data2 = _ssi->transfer(0);
+    data1 = (data1 << 1);
+    data1 = data1 + (data2 >> 7);
+    data2 = ((data2 & 0x40) >> 6);
+    //Count the number of 1 in the angle binary value
+    for (int i=0;i<16;++i){
+        if (data1 & (1 << i)){
+            highStateCount++;
+        }
+    }
+    //check if parity bit is correct
+    if ((highStateCount % 2) == 0){
+        if (data2 == 0){
+            *error = false;
+        }
+        else{
+            *error = true;
+        }
+    }
+    else{
+        if (data2 == 1){
+            *error = false;
+        }
+        else{
+            *error = true;
+        }
+    }
+    return data1;
+}
+
+uint16_t MagAlphaSSI::readAngleRaw16(){
+    uint16_t data1;
+    uint8_t data2;
+    data1 = _ssi->transfer16(0);
+    data2 = _ssi->transfer(0);
+    data1 = (data1 << 1);
+    return data1 + (data2 >> 7);
+}
+
+uint8_t MagAlphaSSI::readAngleRaw8(){
+    uint16_t data;
+    data = _ssi->transfer16(0);
+    return (data & 0x7F80) >> 7;
+}
+
+
+/*====================================================================================*/
+/*============================== MagAlphaI2C =========================================*/
+/*====================================================================================*/
+MagAlphaI2C::MagAlphaI2C(){
+}
+
+void MagAlphaI2C::begin(uint8_t deviceAddress, uint32_t clockFrequency, TwoWire *i2c){
+    _i2c = i2c;
+    _deviceAddress = deviceAddress;
+    _i2c->begin();
+    setClockFrequency(clockFrequency);
+}
+
+void MagAlphaI2C::end(){
+    _i2c->end();
+}
+
+void MagAlphaI2C::setClockFrequency(uint32_t clockFrequency){
+    _clockFrequency=clockFrequency;
+    _i2c->setClock(_clockFrequency);
+    //100000 = Standard-mode (Sm)
+    //400000 = Fast-mode (Fm)
+    //1000000 = Fast-mode Plus (Fm)
+    //3400000 = High-Speed mode (Hs-mode)
+    //5000000 = Ulta Fast-mode (UFm) !!! Unidirectional Bus ONLY
+    //10000 = low speed mode => not supported by the MKRZERO apparently
+}
+
+void MagAlphaI2C::setDeviceAddress(uint8_t deviceAddress){
+    _deviceAddress = deviceAddress;
+}
+
+uint8_t MagAlphaI2C::findDeviceAddress(){
+    for(int i=0; i<128; i++){
+        _i2c->beginTransmission(i);
+        if (_i2c->endTransmission() == 0){
+            setDeviceAddress(i);
+            return i;
+        }
+    }
+    return 255;
+}
+
+uint8_t MagAlphaI2C::findAllDeviceAddresses(uint8_t detectedDeviceAddresses[], uint8_t arraySize){
+    uint8_t numberOfDeviceDetected = 0;
+    for(int i=0; i<128; i++){
+        _i2c->beginTransmission(i);
+        if (_i2c->endTransmission() == 0){
+            if (numberOfDeviceDetected < arraySize){
+                detectedDeviceAddresses[numberOfDeviceDetected] = i;
+            }
+            numberOfDeviceDetected++;
+        }
+    }
+    if (numberOfDeviceDetected == 1){
+        setDeviceAddress(detectedDeviceAddresses[0]);
+    }
+    return numberOfDeviceDetected;
+}