AS5600编码器的使用

AS5600为绝对编码器，即根据安装的磁铁角度不同，初始位置的读数不同，读出来的数是当前初始位置在0~360°的一个值。（复现记录自用）
流程图：
初始化：
校准标定磁块【checkMagnetPresence（）函数，通过返回值确定磁块位置是否准确距离】→读取初始角度值【ReadRawAngle（）读取当前的绝对位置角度值信息】→
进入循环（每次循环都是有耗时，故转速不能超过某特定的值）：
读取更新当前的角度值【ReadRawAngle（）函数】→计算转过的角度数值【correctAngle（）函数，可以计算角度值】→计算、累计转过的圈数【checkQuadrant（）函数，通每次读取的象限，来确定是否转过一周】→更新显示屏的数值信息【refreshDisplay（）函数】
1、该工程使用的是IIC总线通信，显示屏和编码器连接同一接口。
2、代码一

// 编码器测量出旋转角度值，并在显示屏中显示出来
// AS5600编码器
#include <Wire.h> //This is for i2C
#include <SSD1306Ascii.h> //i2C OLED库
#include <SSD1306AsciiWire.h> //i2C OLED库，GitHub开源可下载

// i2C OLED
#define I2C_ADDRESS 0x3C
#define RST_PIN -1
SSD1306AsciiWire oled;
float OLEDTimer = 0; //屏幕刷新时间
//I2C pins:
//STM32: SDA: PB7 SCL: PB6
//Arduino: SDA: A4 SCL: A5

//---------------------------------------------------------------------------
//Magnetic sensor things
int magnetStatus = 0; //磁块3种状态 (MD, ML, MH)

int lowbyte; //raw angle 7:0
word highbyte; //raw angle 7:0 and 11:8
int rawAngle; //final raw angle 
float degAngle; //raw angle in degrees (360/4096 * [value between 0-4095])

int quadrantNumber, previousquadrantNumber; //quadrant IDs
float numberofTurns = 0; //number of turns
float correctedAngle = 0; //tared angle - based on the startup value
float startAngle = 0; //starting angle
float totalAngle = 0; //total absolute angular displacement
float previoustotalAngle = 0; //for the display printing

void setup()
{
   
  Serial.begin(115200); //start serial - tip: don't use serial if you don't need it (speed considerations)
  Wire.begin(); //start i2C  
	Wire.setClock(800000L); //fast clock

  checkMagnetPresence(); //check the magnet (blocks until magnet is found)校准磁极

  ReadRawAngle(); //make a reading so the degAngle gets updated
  startAngle = degAngle; //update startAngle with degAngle - for taring

  //------------------------------------------------------------------------------
  //OLED 部分
  #if RST_PIN >= 0
  	oled.begin(&Adafruit128x32, I2C_ADDRESS, RST_PIN);
  #else // RST_PIN >= 0
  	oled.begin(&Adafruit128x32, I2C_ADDRESS);
  #endif // RST_PIN >= 0

	oled.setFont(Adafruit5x7);
	oled.clear(); //clear display
	oled.set2X(); //double-line font size - better to read it
  oled.println("Welcome!"); //print a welcome message  
  oled.println("AS5600"); //print a welcome message
  delay(3000);
	OLEDTimer = millis(); //start the timer
  
}

void loop()
{
       
    ReadRawAngle(); //ask the value from the sensor
    correctAngle(); //tare the value
    checkQuadrant(); //check quadrant, check rotations, check absolute angular position
    refreshDisplay();
    //delay(100); //wait a little - adjust it for "better resolution"

}

// 读取编码器的绝对位置的数值
void ReadRawAngle()
{
    
  //7:0 - bits
  Wire.beginTransmission(0x36); //connect to the sensor
  Wire.write(0x0D); //figure 21 - register map: Raw angle (7:0)
  Wire.endTransmission(); //end transmission
  Wire.requestFrom(0x36, 1); //request from the sensor
  
  while(Wire.available() == 0); //wait until it becomes available 
  lowbyte = Wire.read(); //Reading the data after the request
 
  //11:8 - 4 bits
  Wire.beginTransmission(0x36);
  Wire.write(0x0C); //figure 21 - register map: Raw angle (11:8)
  Wire.endTransmission();
  Wire.requestFrom(0x36, 1);
  
  while(Wire.available() == 0);  
  highbyte = Wire.read();
  
  //4 bits have to be shifted to its proper place as we want to build a 12-bit number
  highbyte = highbyte << 8; //shifting to left