Hi everyone, i've tried the AS5600_demo example, added a simple
if(as5600.detectMagnet()) Serial.print("TRUE\t");
else Serial.print("FALSE\t");
In the loop, but it always gives me false.

  int      angle   = readAngle();
  uint32_t deltaT  = now - _lastMeasurement;
  int      deltaA  = angle - _lastAngle;   //  fails mod 360

if lastAngle == 355 and angle == 2 the deltaA should be 7 not -353

Need a construction that takes into account that we do not know if the thing runs CW or CCW.

To be investigated a.s.a.p so it can be part of 0.2.0

The current code misses 2 bits when setting configuration register.

void AS5600::setConfigure(uint16_t value)
{
  writeReg(AS5600_CONF, (value >> 8) & 0x0F);
  writeReg(AS5600_CONF + 1, value & 0xFF);
}

should be

void AS5600::setConfigure(uint16_t value)
{
  writeReg(AS5600_CONF, (value >> 8) & 0x2F);   //  <<<<<<<<<<< 0x2F
  writeReg(AS5600_CONF + 1, value & 0xFF);
}

found while investigating #6

There is one condition missing in the determination of a +1 -1 revolution.
The angle must be smaller than or equal to180°
current edges do not test for that constrain.

I really like the way you added the cumulative position feature, it's really neat and thank you for taking the time to do all of this.

Rather than resetting the position to 0, I'd like to set my own position but am having some trouble implementing the feature and cannot figure out why it won't work as expected.

In the Source file, I added this

int32_t AS5600::setPosition(int32_t pos)
{
  _lastPosition = 0;
  _position  = pos;
  return _position;
}

And in my Arduino sketch, I run this line of code to set the position to begin at "777"

as5600.setPosition(777);

However, when running the AS5600_position example, it will not set to "777" when starting the loop. Here is the full sketch:

#include "AS5600.h"
#include "Wire.h"

AS5600 as5600;   //  use default Wire

void setup()
{
  Serial.begin(115200);
  as5600.begin(10, 9); //ESP32
  as5600.setDirection(AS5600_CLOCK_WISE);  // default, just be explicit.
  delay(1000);
  as5600.setPosition(777); //  NEW CODE to set the initial value to 777
}


void loop()
{
  static uint32_t lastTime = 0;

  //  set initial position
  as5600.getCumulativePosition();

  //  update every 100 ms
  if (millis() - lastTime >= 100)
  {
    lastTime = millis();
    Serial.println(as5600.getCumulativePosition());
  }
}

Any idea what I may be doing wrong? Thanks again

In my particular application the AS5600 board does not sit square to the reference point once mounted, so I needed a way in software to compensate for the difference in angle. I thought this might be a handy feature to include in the library and wanted to share my solution.

`float direction;
float offset = 356.8;

void loop()
{
int16_t angle = as5600.rawAngle() * AS5600_RAW_TO_DEGREES;
direction = angle + (360.0 - offset);
if (direction >= 360) direction -= 360.0;
if (direction < 0) direction += 360.0;
}`

I assume something like this could be easily implemented in the library as something like setOffset(float offset) to modify the return values of readAngle() and rawAngle(), and there are probably better ways to restrain the values between 0-359.999, but this was a quick solution I put together to get the job done.

While analyzing #6

Some getter / setter functions can be optimized by using readReg2() instead of 2x readReg() and do the masking on 2 byte level. This will reduces I2C communication.

low prio, => need a sensor before implementing this to see if it breaks something.

Hello

Great to find a fresh library for this chip. I switched using this library, and ran across a weird thing.

I get a range of 18-4095. Any idea why this is happening?

Im moving a stepper motor slowly, and reading it via serial monitor. It shows all the steps clearly, with 1 increments. Just somehow starts at 18.

Can the filters affect this? These are my settings:

as5600.setPowerMode(AS5600_POWERMODE_NOMINAL);
as5600.setHysteresis(AS5600_HYST_OFF);
as5600.setSlowFilter(AS5600_SLOW_FILT_2X);
as5600.setFastFilter(AS5600_FAST_FILT_LSB10);

I have been working with your library and a handful of AS5600s to try and program them to generate a PWM output signal with permanently burned zero and max angle settings. I can get the PWM to work, and can confirm the settings I write are working, but when I try to burn them (CONF first, and then ZPOS, MPOS). The angles seem to change after burning. I had to uncomment the burn functions, and correct a small typo. Do you have experience burning the angles? What did you do to make it work?

At some point i posted here about the weird hiccups i had with this sensor, i have now noticed that it will always output 3839 on error.

This can also be confirmed from other posts, like this:

https://forum.arduino.cc/t/analogwrite-causes-i2c-encoder-lockup/674080/13

"Sadly, after a couple of minutes running, the encoder stops communicating, and returns the value 3839, which is the same as you would see if you unplugged it."

So every time the encoder fails to get a reading, it outputs 3839.

For me, it simply occasionally outputs 3839. And this causes these weird hiccups in the linear reading.

It would be good if there was a possibility to filter for this, mainly in my case this is an issue in the linear output. As on other cases i can filter this out easily.

Even though i expect this is a problem on my wiring/power filtering, as im running two of these and the other has 0 of these hiccups. But still, it might be wort while having a possibility of filtering this one readout out.

I have looked through other issues and while some are similar, none are exactly the same.

I am trying to measure two things on my stationary bike: speed and total distance. I have made an initial setup and while the readouts for angles and rotations seem to work fine, speed gives regular oscillations, like here:

and here:

The difference between the two is in the delay value: 10 ms and no delay.

I am using ESP32 now (Devkit v1), but it was similar with Arduino Pro Micro (which no longer works, unfortunately...).

If you issue as5600.setDirection(AS5600_COUNTERCLOCK_WISE) at setup, as5600.rawAngle() * AS5600_RAW_TO_DEGREES always returns 337 degrees. AS5600_CLOCK_WISE works correctly. I'm just performing a simple measurement for a wind vane so I haven't tried anything more than the basic code.

To work around this for reading CCW, you can find the corrected value with angle = 360 - angle; (adjusting for ints, floats, or whatever variable type you use).

While testing the AS5600 example, I could not get this to work.
Checking the I2C/Wire data with my scope showed that the slave address used was 0x40 - this is due to as5600 object being created from the AS5600L class instead of the AS5600.

I noticed this is also done in the following examples:
AS5600_angular_speed, AS5600_demo_ESP32, AS5600_demo_RP2040, AS5600_demo_status, AS5600_demo_STM32, AS5600_I2C_frequency and AS5600_resetCumulativeCounter examples.

What would be a great feature is: Getting the rotation speed of the magnet.

Let's begin with, congrats for the nice work in the library.

Imagine the following scenario:

I program de AS5600 to give max output value at 10 degrees and min output value at 170 degress. It works fine, however, shouldn't it give me min output at 10 degreens and max output at 170 if I change the value of the direction pin?

What is the expected behaviour in this case? I've been looking for such information in the technical documents of AS5600, however there is little information about how the DIR pin affects the behaviour of an already programmed sensor.

Thanks for any advice.

Hello

I use this library in with a Seeed Xiao ESP32C3. The AS5600 measures the angle of a DC motor (rpm: about 1400 rpm). I'm interested in the absolute position of the motor (i.e. values will continue at 360° and not start again at 1° after each rotation). Therefore im using the if-statement in my loop function to detect a full rotation and calculate the cumulative angle:

void loop() {
  ledcWrite(pwmChannel1, motorSpeed);
  ledcWrite(pwmChannel2, 0);

  raw_ang = ams5600.getRawAngle();
  ang = (raw_ang * 360)/4096; //angle in degrees

  if (old_ang > 340 && ang < 20)
    {
      revs++; // number of rotations/revolutions
    }
   if (old_ang < 20 && ang > 340)
    {
      revs--;
    }

  abs_ang = revs * 360 + ang; //cumulative angle over several revolutions
  Serial.print(ang);
  Serial.print("\t");
  Serial.print(raw_ang);
  Serial.print("\t");
  Serial.print(abs_ang);
  Serial.print("\t");
  Serial.print(revs);
  Serial.println();
  old_ang = ang;
}

In my tests, I use the motor at constant speed and log the values seen in the Serial.print part of the loop via PuTTY. The problem can be seen if the logged data is plotted. At all of the red markers in the plot, the angle value jumps about 45° from on measurment to the next. The normal delta between two back-to-back measurements is 4° to 5°.

Detail view of a jump:

This problem is also seen in the plot of the raw sensor angle and the angle in degrees:

The strange thing is, that the distance in time respectively the number of measuring points between two jumps is always almost identical. (This can be seen by the x values in the first picture. The distance between two red markers is about 2945 points every time).

Has somebody experienced the same problem? Or can somebody give me a hint what the cause for the jumps is?

I also tried different motor speeds but the distance between the jumps in the angle stays at about 2945 measuring points.

Thanks for making this great library. I have a hardwired pullup on the direction pin on my AS5600 circuit board and I am setting the direction in the code to "AS5600_COUNTERCLOCK_WISE" to let the AS5600 code know. There is no direction output from the Arduino to the AS5600 circuit board though. There does not appear to be a way not to assign a direction output pin in the code, it looks like you have to use a direction pin. Is there anyway around this?

I'm using this library with teensy 4.1,
I have found some issue on the library version 0.5.1
and the latest version work with my board is version 0.4.1
The issue is I cannot get any data via I2C connection.

After investigation I found something in the PR no. #47
in AS5600.cpp file

bool AS5600::begin(uint8_t directionPin)
{
  _directionPin = directionPin;
  if (_directionPin != AS5600_SW_DIRECTION_PIN)
  {
    pinMode(_directionPin, OUTPUT).
  }
  setDirection(AS5600_CLOCK_WISE);

  if (! isConnected()) return false;
  return true;
}

So I try restore some code from version 0.4.1 and it's work for my teensy 4.1

bool AS5600::begin(uint8_t directionPin)
{
  _directionPin = directionPin;
  if (_directionPin != AS5600_SW_DIRECTION_PIN)
  {
    pinMode(_directionPin, OUTPUT).
  }
  setDirection(AS5600_CLOCK_WISE);

  _wire->begin();   // I restore this line..
  if (! isConnected()) return false;
  return true;
}

Sqk~
Thanks

Hi,
not sure if this is a bug or a feature. I am reading getCumulativePosition from 8 sensors every 100 ms.
After some time, I upload the data using http.POST (ESP Async Web Server). If sensor moved during the upload, getCumulativePosition skips (didn't notice the movement).
Best,
I

• will check if parameters are in range.
• more explicit that function call was successful
• less need to verify setXX() with a getXX()
• capture register write error too?

From #6

• default pin for begin should be 255/-1
• used as indicator for software 'clockwise'
• extra variable to hold cw or ccw mode
• at lowest level invert 1-4095 to 4095-1
  Note 0 should be 0

Solves a shortage of pins.

DIR pin should be connected to GND so it is CW mode

• PWM
• analogue
• how to interpret these OUT signals
• add/improve examples

When using the as5600::rawAngle method, I sometimes receive a zero value intermittently, although the magnet position is not at zero.
This happens every 30 or so reads, when probing around 2 times a second.

I'm using a teensy 4.1 and the as5600 board is connected via i2c. The cable length is about 1 foot, the supply voltage is a steady 3.3V and the dir pin is connected to GND.

I've read i2c on teensy 4.1 need external pull-ups, but I have been successful without using them before.

Anyone has thoughts on this ?

Thanks,

0x2FFF => 0x3FFF

I'd like to use 2 AS5600's on seperate I2C interfaces. All of the examples call AS5600 with the "default Wire".
I tried: AS5600 as5600(&Wire1) with no luck.

Hello,

I was able to successfully test the position sketch, but offset deviation is occurring with each course reversal.

I'm trying to read the motor shaft position from a motorized potentiometer. Ref.: https://a.aliexpress.com/_mrwDFDs

When manually rotating the axis slowly, the position offset does not deviate. But if it's too fast, a detour occurs.

Being the 12-bit AS5600, and the 150us sampling. How many rpm is the rev limit?

If each lap has 4096 positions. Does each position need at least 150us to be read?

          Rob, it is Mitch again, (Laptophead)

Having 2 sensors on one bus works. But there is still the issue of not getting good initial readings.

Despite the
as5600_R.resetPosition();
as5600_L.resetPosition();

when there are 2 sensors I get erroneous readings such as
REV R: -1
REV L: 0
DEG R= 377487200°
DEG L= 132°

Rolling the motors forward increases the angles as expected, but rolling them back past 0 deg. is
resulting in those huge numbers . Ideally it would go to 359 , 358 etc degrees ,

Would you know what to do about that?
Thanks
mitch

Originally posted by @laptophead in #45 (comment)

In some projects dir pin is permanently connected to GND or 5V. Method begin need to set dir pin. How use lib in this case?

Hi,
I have uploaded the "AS5600_demo.ino" file:
Note that I dont have the dir pin hooked up so cant test it.

It seems to work but not sure about "as5600.readAngle()"

`18:35:42.815 -> 32336 4095 24.53
18:35:43.832 -> 33338 4095 24.53
18:35:44.846 -> 34340 4095 25.05
18:35:45.831 -> 35342 4095 359.38
18:35:46.846 -> 36344 0 96.88
18:35:47.831 -> 37346 0 151.03
18:35:48.848 -> 38348 0 145.41
18:35:49.831 -> 39349 4095 56.00
18:35:50.847 -> 40351 4095 12.48
18:35:51.829 -> 41353 4095 358.15
18:35:52.845 -> 42355 4095 343.91
18:35:53.862 -> 43357 4095 7.12
18:35:54.844 -> 44359 4095 54.95
18:35:55.861 -> 45361 0 94.15
18:35:56.843 -> 46363 0 102.59
18:35:57.860 -> 47364 0 103.56
18:35:58.843 -> 48366 0 103.65
18:35:59.861 -> 49368 0 105.05
18:36:00.844 -> 50370 4095 55.91
18:36:01.863 -> 51372 4095 2.11
18:36:02.880 -> 52374 4095 5.63
18:36:03.863 -> 53376 4095 6.07
18:36:04.880 -> 54377 4095 24.79
18:36:05.863 -> 55379 0 87.65
18:36:06.878 -> 56381 0 101.98
18:36:07.860 -> 57383 0 101.71
18:36:08.877 -> 58385 0 101.89
18:36:09.893 -> 59387 0 98.55
18:36:10.877 -> 60389 4095 54.77
18:36:11.894 -> 61390 4095 15.38
18:36:12.875 -> 62392 4095 15.65
18:36:13.891 -> 63394 4095 64.70
18:36:14.875 -> 64396 0 109.45
18:36:15.892 -> 65398 0 107.43
18:36:16.875 -> 66400 0 105.93
18:36:17.892 -> 67402 0 113.05
18:36:18.907 -> 68403 0 200.53
18:36:19.890 -> 69405 0 202.20
18:36:20.906 -> 70407 0 223.30
18:36:21.886 -> 71409 2722 251.52
18:36:22.896 -> 72411 4095 272.09
18:36:23.912 -> 73413 1763 244.31
18:36:24.895 -> 74414 1148 239.74
18:36:25.910 -> 75416 71 231.74
18:36:26.894 -> 76418 0 228.57
18:36:27.909 -> 77420 0 223.47
18:36:28.926 -> 78422 0 214.24
18:36:29.907 -> 79424 0 205.27
18:36:30.926 -> 80426 0 120.62
18:36:31.908 -> 81428 0 115.08
18:36:32.925 -> 82430 0 100.66
18:36:33.909 -> 83431 0 88.00
18:36:34.925 -> 84433 4095 59.25
18:36:35.942 -> 85435 4095 55.12
18:36:36.922 -> 86437 0 142.15
18:36:37.940 -> 87439 0 196.22
18:36:38.921 -> 88441 0 205.54
18:36:39.939 -> 89443 0 206.68
18:36:40.920 -> 90445 0 206.59
18:36:41.937 -> 91446 0 206.15
18:36:42.953 -> 92448 0 172.92
18:36:43.936 -> 93450 0 126.59
18:36:44.954 -> 94452 0 105.41
18:36:45.935 -> 95454 0 101.54
18:36:46.950 -> 96456 0 82.29
18:36:47.964 -> 97458 4095 57.41
18:36:48.947 -> 98459 4095 34.73
18:36:49.964 -> 99461 4095 8.79
18:36:50.945 -> 100463 4095 350.07
18:36:51.963 -> 101465 4095 336.35
18:36:52.945 -> 102467 4095 336.79
18:36:53.962 -> 103469 4095 334.07
18:36:54.946 -> 104471 4095 334.07
18:36:55.963 -> 105472 4095 334.86
18:36:56.981 -> 106474 4095 332.40
18:36:57.964 -> 107476 4095 332.48
18:36:58.979 -> 108478 4095 30.86
18:36:59.961 -> 109480 0 78.68
18:37:00.979 -> 110482 0 111.56
18:37:01.960 -> 111484 0 137.41
18:37:02.974 -> 112486 0 106.02
18:37:03.987 -> 113487 0 84.31
18:37:04.972 -> 114489 0 85.80
18:37:05.985 -> 115491 0 85.89
18:37:07.001 -> 116493 0 90.46
18:37:07.981 -> 117495 0 90.46
18:37:08.997 -> 118497 0 90.46
18:37:09.980 -> 119499 0 90.46
18:37:11.001 -> 120500 0 90.46
18:37:11.983 -> 121502 0 90.46
18:37:13.000 -> 122504 0 90.46
18:37:14.017 -> 123506 0 90.46

`

The setOffset() function does not work as expected when called more than once after the program starts. This makes it difficult to zero again when the program is running.

The current workaround is to use setOffset() in conjunction with getOffset() but the user has to implement the math for it.

I'm working on my robotics project and I'm using a library to check the position of stepper motors. Can you help me and tell me how to connect two or more encoders to a single arduino board?

I have this weird noise on the cumulative position output:

The output is :

readAngle() / rawAngle()
getCumulativePosition()

Also, it seems you are using rawAngle output for the cumulativeposition, wouldn't it be better to use the filtered readAngle output? So i could choose the filter settings? Now my filter settings have no effect on the cumulative output.

EDIT:
I think the problem was starting a task pinned to core on ESP32, when i started the task without pinning it to a core.. the noise is gone. Ill investigate more and close this issue later if this was the actual cause.

Though i still recommend using readAngle, instead of rawAngle on the cumulative output. Especially the hysteris might be good, as without it there is the possibility of bouncing between 0 and 4095 and that could F up the revolutions counter.

The AS5600L is a newer variant of the AS5600, it supports burning a custom I2C address to each individual chip, and it also has a different default I2C address (0x40 instead of 0x36). Would it be possible to add a feature that allows you to pass a I2C address other than 0x36, so that multiple sensors can be used without multiplexing?

Hi, thanks so much for this library!

As you mentioned "Please share your experiences.", I figured I post here about an issue I'm having.

Every now and then (about once every half minute on average) the reading code blocks and stops for 1002ms.
I put this in my loop:

long readAngleTime = millis();

  rEncoderRaw = rAs5600.readAngle();

  if (millis() - readAngleTime > 1){
    Serial.print("angle time: ");
    Serial.println(millis() - readAngleTime);
  }

And it outputs 1002 every now and then.

This is especially problematic as my sensor is on a shaft that spins up to about 3800rpm, and multiple revolutions may pass in this 1 second so I have lost track of the amount of full revolutions it has made.

I am using the sensor on a wiper motor, from this tutorial: https://hackaday.io/project/187675-strong-servo-motor-with-a-wiper-motor
And the code runs on an ESP32.

I am clueless why readAngle() times out, nor do I have any idea on how to reduce the timeout time.

I will attempt to solve this issue by switching to pwm output, as suggested to me on the Arduino discord, but perhaps someone can look into this to help others in the future!

Thanks

I have been trying to implement two AS5600's on the same ESP32 using its two I2C bus interfaces. However, after running this code here:

#include "AS5600.h"
#include "Wire.h"

const int SCL_1 = 23; 
const int SDA_1 = 22;
const int SCL_2 = 19;
const int SDA_2 = 18; 

AS5600 as5600_0(&Wire);
AS5600 as5600_1(&Wire1);


void setup()
{
  // Initialise Serial Connection
  Serial.begin(115200); 

  // Initialise as5600_0 Connection
  as5600_0.begin(SDA_1, SCL_1); 
  Serial.print("Connect device 0: ");
  Serial.println(as5600_0.isConnected() ? "true" : "false");
  
  // Initialise as5600_1 Connection
  as5600_1.begin(SDA_2, SCL_2); 
  Serial.print("Connect device 1: ");
  Serial.println(as5600_1.isConnected() ? "true" : "false");
}


void loop()
{
  Serial.print(millis());
  Serial.print("\t");
  Serial.println(as5600_0.rawAngle() * AS5600_RAW_TO_DEGREES);
  Serial.print("\t");
  Serial.println(as5600_1.rawAngle() * AS5600_RAW_TO_DEGREES);
  Serial.print("\n");
  delay(100);
}

It caused the 2nd AS5600 is to copy the readings of the 1st AS5600. I found that temporary fix is to comment out line 68 of AS5600.cpp:

// _wire = &Wire;

I am trying to implement 2 sensors on the same IC2 bus. I bought the one called AS5600L that has an address of 0x40. Tried to implement it using setAddress, but the library won't execute it.
Says there is no member. Please help.
Mitch

AS5600_position_M_01_TwoSensors:27:11: error: 'class AS5600' has no member named 'setAddress'; did you mean 'getAddress'?
as5600L.setAddress(0x40); // AS5600L only

I spent several hours trying to change the output mode to PWM. Both with the library and bare I2C. Actually, the output wasn't working at all. I discovered that the module has a resistor between PGO and GND, and that it was causing the AS5600 to disable the output (to use it for programming, check datasheet). This resistor needs to be removed to use the out pin.

This obviously has nothing to do with the library, but I think it could save some people a lot of trouble if you would add a disclaimer/warning somewhere in the README (under the OUT pin section) for people to check whether this is the case, and to remove the resistor if they intend to use the out pin.