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Add bootloader

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Valentin Dabstep 2025-05-22 18:03:43 +03:00
parent 4f42094b0e
commit 6844ca9a8d
35 changed files with 27266 additions and 13 deletions
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44
controller/fw/bootloader/lib/AS5045/AS5045.cpp Normal file
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#include "AS5045.h"
MagneticSensorAS5045::MagneticSensorAS5045(uint16_t as5040_cs, uint16_t as5040_mosi, uint16_t as5040_miso,
uint16_t as5040_sclk): AS5040_CS_(as5040_cs),
AS5040_MOSI_(as5040_mosi),
AS5040_MISO_(as5040_miso),
AS5040_SCLK_(as5040_sclk),
spi(nullptr),
settings(AS5145SSISettings) {
}
MagneticSensorAS5045::~MagneticSensorAS5045() = default;
auto MagneticSensorAS5045::init(SPIClass *_spi) -> void {
this->spi = _spi;
settings = AS5145SSISettings;
pinMode(AS5040_CS_, OUTPUT);
pinMode(AS5040_MISO_, INPUT);
pinMode(AS5040_MOSI_, OUTPUT);
pinMode(AS5040_SCLK_, OUTPUT);
spi->setMISO(AS5040_MISO_);
spi->setMOSI(AS5040_MOSI_);
spi->setSCLK(AS5040_SCLK_);
spi->begin();
this->Sensor::init();
}
float MagneticSensorAS5045::getSensorAngle() {
float angle_data = readRawAngleSSI();
angle_data = (static_cast<float>(angle_data) / AS5045_CPR) * _2PI;
return angle_data;
}
uint16_t MagneticSensorAS5045::readRawAngleSSI() const {
spi->beginTransaction(settings);
digitalWrite(AS5040_CS_, LOW);
uint16_t value = spi->transfer16(0x0000);
digitalWrite(AS5040_CS_, HIGH);
spi->endTransaction();
delayMicroseconds(30);
return (value >> 3) & 0x1FFF; // TODO(vanyabeat): Add error checking MAGNETIC OWERFLOW and etc.
}