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        • C
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      • PIC32
        • C
          • NECTO Studio
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        • Basic
          • mikroBasic PRO for PIC32
        • Pascal
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        • Additional Software
          • CODEGRIP WiFi license
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          • Visual TFT
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          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • ARM
        • C
          • NECTO Studio
          • mikroC PRO for ARM
        • Basic
          • mikroBasic PRO for ARM
        • Pascal
          • mikroPascal PRO for ARM
        • Additional Software
          • CODEGRIP WiFi license
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          • Visual TFT
          • Visual TFT AI
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • AVR
        • C
          • NECTO Studio
          • mikroC PRO for AVR
        • Basic
          • mikroBasic PRO for AVR
        • Pascal
          • mikroPascal PRO for AVR
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • FT90x
        • C
          • mikroC PRO for FT90x
        • Basic
          • mikroBasic PRO for FT90x
        • Pascal
          • mikroPascal PRO for FT90x
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • 8051
        • C
          • mikroC PRO for 8051
        • Basic
          • mikroBasic PRO for 8051
        • Pascal
          • mikroPascal PRO for 8051
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
    • Dev Boards
      • PIC (8-bit)
        • 8th Generation
          • Fusion for PIC v8
          • EasyPIC PRO v8
          • EasyPIC PRO v8 over USB-C
          • EasyPIC v8
          • EasyPIC v8 over USB-C
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyPIC PRO v7a
          • PICPLC16 v7a
          • EasyPIC v7a
          • EasyPIC PRO v7
          • EasyPIC v7
        • 6th Generation
          • PICPLC16 v6
      • dsPIC/PIC24 (16-bit)
        • 8th Generation
          • EasyPIC v8 PIC24/dsPIC33
          • EasyPIC v8 for dsPIC30
          • EasyPIC v8 for dsPIC30 over USB-C
          • Fusion for PIC v8
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyPIC Fusion v7
          • EasyPIC v7 for dsPIC30
        • 6th Generation
          • Easy24-33 v6
      • PIC32 (32-bit)
        • 8th Generation
          • Fusion for PIC32
          • Fusion for PIC32 over USB-C
          • Fusion for PIC v8
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyPIC Fusion v7
      • ARM (32-bit)
        • 8th Generation
          • Fusion for ARM v8
          • Fusion for ARM v8 over USB-C
          • Fusion for STM32 v8
          • Fusion for STM32 over USB-C
          • Fusion for KINETIS v8
          • Fusion for Kinetis v8 over USB-C
          • Fusion for TIVA v8
          • Fusion for TIVA v8 over USB-C
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyMx PRO v7a STM32
          • EasyMx PRO v7 STM32
          • EasyMx PRO v7 Tiva
      • AVR (8-bit)
        • 8th Generation
          • EasyAVR v8
          • EasyAVR PRO v8
          • EasyAVR PRO v8 over USB-C
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyAVR v7
        • 6th Generation
          • AVRPLC16 v6
      • 8051 (8-bit)
        • 7th generation
          • BIG8051
        • 6th Generation
          • Easy8051 v6
      • PSoC (8-bit)
        • 6th Generation
          • UNI-DS6 Development System
      • RISC-V (32bit)
        • 8th Generation
          • UNI-DS v8
          • UNI-DS v8 over USB-C
      • Universal Boards
        • 8th Generation
          • UNI-DS v8
          • UNI-DS v8 over USB-C
          • Fusion for PIC v8
          • Fusion for ARM v8
        • 7th Generation
          • EasyPIC Fusion v7
        • 6th Generation
          • UNI-DS6
          • mikroBoard for PIC 80-pin
          • mikroBoard for AVR
          • mikroBoard for dsPIC
          • mikroBoard for PSoC
          • mikroBoard for 8051
          • mikroBoard for PIC 40-pin
          • mikroBoard for ARM
          • mikroBoard for ARM 144-pin
      • IoT - Wearable
        • Hexiwear
          • Hexiwear
          • Hexiwear Power User Pack
          • Hexiwear Docking Station
          • Hexiwear Battery Pack
          • Hexiwear Color Pack
          • Hexiwear Workstation
      • Analog Boards
        • 7th Generation
          • Analog System Lab Kit PRO
    • Starter Boards
      • PIC (8-bit)
        • Clicker
          • PIC clicker
        • Clicker 2
          • Clicker 2 for PIC18FJ
          • Clicker 2 for PIC18FK
        • Clicker 4
          • Clicker 4 for PIC18F
          • UNI Clicker
        • Ready
          • Ready for PIC Board
          • Ready for PIC (DIP28)
          • PIC-Ready2 Board
          • MMC Ready Board
        • StartUSB
          • StartUSB for PIC
      • dsPIC/PIC24 (16-bit)
        • Clicker 2
          • Clicker 2 for PIC24
          • Clicker 2 for dsPIC33
        • Clicker 4
          • UNI Clicker
        • Ready
          • dsPIC-Ready1 Board
          • dsPIC-Ready2 Board
          • DsPIC-Ready3 Board
          • dsPIC-Ready4 Board
      • PIC32 (32-bit)
        • Clicker
          • PIC32MX clicker
          • 6LoWPAN Clicker
          • PIC32MZ clicker
        • Clicker 2
          • Clicker 2 for PIC32MX
          • Clicker 2 for PIC32MZ
        • Clicker 4
          • UNI Clicker
        • MINI
          • MINI-32 Board
          • MINI-32 for PIC32MZ
        • Flip&Click
          • Flip&Click PIC32MZ
      • ARM (32-bit)
        • Clicker
          • RA4M1 Clicker
          • Kinetis Clicker
          • MSP432 Clicker
          • CEC1702 clicker
          • CEC1302 Clicker
          • STM32 M4 clicker
        • Clicker 2
          • Clicker 2 for STM32
          • Clicker 2 for Kinetis
          • Clicker 2 for CEC1702
          • Clicker 2 for MSP432
          • Clicker 2 for CEC1302
          • Clicker 2 for PSoC 6
        • Clicker 4
          • Clicker 4 for STM32F745VG
          • Clicker 4 for STM32F4
          • Clicker 4 for TMPM3H
          • Clicker 4 for TMPM4K
          • Clicker 4 for STM32
          • UNI Clicker
        • MINI
          • MINI-M4 for STM32
          • MINI-M4 For Kinetis
          • MINI-M4 for Tiva
          • MINI-M4 for Stellaris
          • MINI-M4 for MSP432
          • MINI-M0 for STM32
        • Flip&Click
          • Flip&Click SAM3X
      • AVR (8-bit)
        • Clicker 4
          • UNI Clicker
        • MINI
          • MINI-AT Board - 3.3V
          • MINI-AT Board - 5V
        • Ready
          • Ready for AVR Board
          • Ready For XMEGA
          • mikroXMEGA Board
          • AVR-Ready2 Board
        • StartUSB
          • StartUSB for AVR
      • 8051 (8-bit)
        • Ready
          • 8051-Ready Board
      • FT90x (32-bit)
        • Clicker 2
          • Clicker 2 for FT90x
      • Miscellaneous
        • USB
          • USB Wizard
          • Quail
          • FlowPaw Kit
      • Universal Boards
        • Clicker 4
          • UNI Clicker
    • Prog-Debug
      • PIC (8-bit)
        • CODEGRIP
          • UNI CODEGRIP
          • UNI CODEGRIP - USB-C
          • CODEGRIP for PIC
          • CODEGRIP for PIC USB-C
        • mikroProg
          • mikroProg for PIC
      • dsPIC/PIC24 (16-bit)
        • CODEGRIP
          • UNI CODEGRIP
          • UNI CODEGRIP - USB-C
          • CODEGRIP for PIC
        • mikroProg
          • mikroProg for dsPIC
      • PIC32 (32-bit)
        • CODEGRIP
          • UNI CODEGRIP
          • UNI CODEGRIP - USB-C
          • CODEGRIP for PIC
          • CODEGRIP for PIC USB-C
        • mikroProg
          • mikroProg for PIC32
      • ARM (32-bit)
        • CODEGRIP
          • UNI CODEGRIP
          • UNI CODEGRIP USB-C
          • CODEGRIP for ARM
          • CODEGRIP for ARM USB-C
          • CODEGRIP for STM32
          • CODEGRIP for KINETIS
          • CODEGRIP for Tiva
          • CODEGRIP for Tiva USB-C
        • mikroProg
          • mikroProg for STM32
          • mikroProg for Tiva
          • mikroProg for Kinetis
          • mikroProg for CEC
          • mikroProg for MSP432
          • mikroProg for PSoC 5LP
      • AVR (8-bit)
        • CODEGRIP
          • CODEGRIP for AVR
          • CODEGRIP for AVR - USB-C
          • UNI CODEGRIP
          • UNI CODEGRIP - USB-C
        • mikroProg
          • mikroProg for AVR
      • 8051 (8-bit)
        • mikroProg
          • mikroProg for 8051
      • FT90x (32-bit)
        • mikroProg
          • mikroProg for FT90x
    • Smart Displays
      • 2.8"
        • ARM (32-bit)
        • AVR (8-bit)
        • dsPIC/PIC24 (16-bit)
        • PIC (8-bit)
        • PIC32 (32-bit)
      • 3.5"
        • ARM (32-bit)
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        • PIC (8-bit)
        • PIC32 (32-bit)
      • 4.3"
        • ARM (32-bit)
        • FT90x (32-bit)
        • PIC (8-bit)
        • PIC32 (32-bit)
      • 5"
        • ARM (32-bit)
        • FT90x (32-bit)
        • PIC32 (32-bit)
      • 7"
        • ARM (32-bit)
        • FT90x (32-bit)
    • MCU Cards
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        • 8th Generation
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      • PIC32 (32-bit)
        • 8th Generation
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      • ARM (32-bit)
        • 8th Generation
        • 7th Generation
      • AVR (8-bit)
        • 8th Generation
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        • 8th Generation
    • Accessories
      • TFT Displays
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MikroElektronika white logo
  • Products
    • click boards icon Click Boards
      • Wireless Connectivity
        • GPS/GNSS
        • GSM/LTE
        • LTE IoT
        • BT/BLE
        • WiFi
        • RFID/NFC
        • GSM+GPS
        • 6LoWPAN
        • ZigBee
        • UWB
        • SigFox
        • Sub-1 GHz Transceievers
        • 2.4 GHz Trancevers
        • LoRa
        • WiFi+BLE
      • Sensors
        • Biometrics
        • Gas
        • Magnetic
        • Motion
        • Optical
        • Pressure
        • Proximity
        • Temperature & humidity
        • Current sensor
        • Miscellaneous
        • Environmental
        • Force
        • Inductance
        • RF meter
        • Click Shields
        • Click Bundles
      • Interface
        • Adapter
        • CAN
        • Port expander
        • RS485
        • USB
        • 1-Wire
        • RS232
        • Ethernet
        • LIN
        • PWM
        • Current
        • DALI
        • I2C
        • Fiber optics
        • SPI
        • DMX
        • CXPI
        • Click Shields
        • Click Bundles
      • Display & LED
        • LED Drivers
        • LED Matrix
        • LED Segment
        • OLED
        • LCD
        • TFT
        • Click Shields
        • Click Bundles
      • Miscellaneous
        • Relay
        • Optocoupler
        • ID
        • Proto
        • Encryption
        • Click Shields
        • Click Bundles
      • Mixed Signal
        • ADC
        • Measurements
        • DAC
        • Digital potentiometer
        • ADC-DAC
        • Click Shields
        • Click Bundles
      • Storage
        • EEPROM
        • FLASH
        • FRAM
        • microSD
        • MRAM
        • SRAM
        • EERAM
        • ReRAM
        • DRAM
        • Click Shields
        • Click Bundles
      • Motor Control
        • Brushed
        • Brushless
        • Servo
        • Stepper
        • Click Shields
        • Click Bundles
      • Audio & Voice
        • Amplifier
        • Microphone
        • Speakers
        • Signal Processing
        • Speech recognition
        • FM
        • MP3
        • Click Shields
        • Click Bundles
      • HMI
        • Capacitive
        • Pushbutton/Switches
        • Potentiometers
        • Rotary encoder
        • Haptic
        • Fingerprint
        • Click Shields
        • Click Bundles
      • Clock & Timing
        • RTC
        • Clock generator
        • Click Shields
        • Click Bundles
      • Power Management
        • Battery charger
        • Boost
        • Buck
        • Linear
        • Buck-Boost
        • Wireless Charging
        • Power Switch
        • USB-C PD
        • Click Shields
        • Click Bundles
      • Click Bundles
      • Click Shields
    • necto icon NECTO
      • NECTO Studio
    • compilers icon Compilers
      • PIC
        • C
          • NECTO Studio
          • mikroC PRO for PIC
        • Basic
          • mikroBasic PRO for PIC
        • Pascal
          • mikroPascal PRO for PIC
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual TFT AI
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • dsPIC/PIC24
        • C
          • NECTO Studio
          • mikroC PRO for dsPIC
        • Basic
          • mikroBasic PRO for dsPIC
        • Pascal
          • mikroPascal PRO for dsPIC
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • PIC32
        • C
          • NECTO Studio
          • mikroC PRO for PIC32
        • Basic
          • mikroBasic PRO for PIC32
        • Pascal
          • mikroPascal PRO for PIC32
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • ARM
        • C
          • NECTO Studio
          • mikroC PRO for ARM
        • Basic
          • mikroBasic PRO for ARM
        • Pascal
          • mikroPascal PRO for ARM
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual TFT AI
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • AVR
        • C
          • NECTO Studio
          • mikroC PRO for AVR
        • Basic
          • mikroBasic PRO for AVR
        • Pascal
          • mikroPascal PRO for AVR
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • FT90x
        • C
          • mikroC PRO for FT90x
        • Basic
          • mikroBasic PRO for FT90x
        • Pascal
          • mikroPascal PRO for FT90x
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • 8051
        • C
          • mikroC PRO for 8051
        • Basic
          • mikroBasic PRO for 8051
        • Pascal
          • mikroPascal PRO for 8051
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
    • dev boards icon Dev Boards
      • PIC (8-bit)
        • 8th Generation
          • Fusion for PIC v8
          • EasyPIC PRO v8
          • EasyPIC PRO v8 over USB-C
          • EasyPIC v8
          • EasyPIC v8 over USB-C
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyPIC PRO v7a
          • PICPLC16 v7a
          • EasyPIC v7a
          • EasyPIC PRO v7
          • EasyPIC v7
        • 6th Generation
          • PICPLC16 v6
      • dsPIC/PIC24 (16-bit)
        • 8th Generation
          • EasyPIC v8 PIC24/dsPIC33
          • EasyPIC v8 for dsPIC30
          • EasyPIC v8 for dsPIC30 over USB-C
          • Fusion for PIC v8
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyPIC Fusion v7
          • EasyPIC v7 for dsPIC30
        • 6th Generation
          • Easy24-33 v6
      • PIC32 (32-bit)
        • 8th Generation
          • Fusion for PIC32
          • Fusion for PIC32 over USB-C
          • Fusion for PIC v8
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyPIC Fusion v7
      • ARM (32-bit)
        • 8th Generation
          • Fusion for ARM v8
          • Fusion for ARM v8 over USB-C
          • Fusion for STM32 v8
          • Fusion for STM32 over USB-C
          • Fusion for KINETIS v8
          • Fusion for Kinetis v8 over USB-C
          • Fusion for TIVA v8
          • Fusion for TIVA v8 over USB-C
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyMx PRO v7a STM32
          • EasyMx PRO v7 STM32
          • EasyMx PRO v7 Tiva
      • AVR (8-bit)
        • 8th Generation
          • EasyAVR v8
          • EasyAVR PRO v8
          • EasyAVR PRO v8 over USB-C
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyAVR v7
        • 6th Generation
          • AVRPLC16 v6
      • 8051 (8-bit)
        • 7th generation
          • BIG8051
        • 6th Generation
          • Easy8051 v6
      • PSoC (8-bit)
        • 6th Generation
          • UNI-DS6 Development System
      • RISC-V (32bit)
        • 8th Generation
          • UNI-DS v8
          • UNI-DS v8 over USB-C
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  1. Home
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  3. Angular Measurement the Digital Way - AS5048A

Angular Measurement the Digital Way - AS5048A

Published: 13/01/2016 | Post categories: Click boards, Learn

| Views:10710

Angular Measurement the Digital Way - AS5048A

In the world of robotics and automation movement is always been a component. In the past there are really two forms of motion control, open loop systems and closed loop systems. In an open loop system you would use some type of a stepper motor and digitally count the number of pulses and that number would be multiplied by some ratio that would give you some type of length. On the other side of the spectrum there are closed loop systems, which attach an encoder to the driving mechanism.

This encoder constantly provides feedback to the application on the distance traveled. Open loop systems had the advantage of expense, fewer components, mean fewer costs.  The disadvantage in a open loop system is that you are always using a "best guess" scenario on how far the unit traveled. Closed loop systems are by far the best way of ensuring accuracy and repeat-ability, but has the disadvantage of cost and complexity.

Traditional encoders use various methods including light interrupters and hall effect sensors to describe positioning information. While these systems can be very accurate, particulate matter can interfere with a light interrupter and hall effect tended to not have as high resolution.  What we have here today is something far more convenient, accurate, and economic.  MikroElektronika has introduced the Magneto click as of this January and carried on the compact board is an Austria Micro Systems AS5048A rotary position sensor.

What sets the Magneto apart is the contact-less magnetic technology.  Not only does this sensor work with no contact with the magnet, but it also can reside above or below the chip.  What makes this even more incredible is the fact that it has 14bit resolution.  That means that you have 16384 positions every 360 degrees of angular movement.

https://github.com/MikroElektronika/Click_Magneto_AS4058A

Setup

MikroE. has always gone the extra distance in bringing the barrier to entry into high tech a short journey.  Our IDE makes added libraries just as easy as checking your email.  With this in mind, we are going to be installing the Magneto click library and examine the code that makes it work.

  1. Get package or source code from GitHub.com Magneto Library Source Code or Libstock
  2. Unzip your platform ( ARM, PIC, FT90x, AVR, PIC32, DSPIC )
  3. Install libary using the Package Manager
  4. Open the IDE and start a new project
  5. Verify Click_Magneto is now visible in the Library manager, include it in your project by checking it

The first thing we want to do is include the magneto library into our search path.  This can be easily done by selecting Project / Edit.

... add search path.

Include the magneto.h header file into our project by:

#include "magneto.h"

void main()
{
    while( 1 )
    {
        //TODO: The real magic goes here
    }
}

Our sensor works with the SPI bus, therefore we need to initialize the bus that our Magneto is attached to in order for communication to work.  The SPI library should be selected in the Library manager when you selected the Magneto.

Initialization is best when moved away from the main function by placing all the initialization routines into a separate function.

#include "magneto.h"

void system_init( void );


void system_init()
{

}

void main()
{
    system_init();

    while( 1 )
    {
        //TODO: The real magic goes here
    }

}

You might be asking why there is a function prototype at the top.  Every function in C needs to have a prototype.  While it does work by leaving the main function at the bottom, if the prototype was missing and somehow the function was beneath the calling function, the compiler wouldn't be able to find it and errors would occur.  Best practice is to always have a prototype for each function.  The only exception to this rule is the main function and any ISR routines.

Let's initialize the bus.  The AMS sensor is quite sensitive to speed.  A maximum 5 Mhz is tolerated and what is a common mistake is that the sensor itself is slightly out of phase from the system clock.  By this omission we need to take care that we sample the data coming from the slave on the falling edge.  To do this, our initialization looks something like this:

void system_init()
{
    /* SPI Init - NOTE* Magneto samples bits on the second clock transition */
    SPI3_Init_Advanced( _SPI_FPCLK_DIV16, _SPI_MASTER | _SPI_8_BIT | 
                        _SPI_CLK_IDLE_LOW | 
                        _SPI_SECOND_CLK_EDGE_TRANSITION | _SPI_MSB_FIRST | _SPI_SS_DISABLE | 
                        _SPI_SSM_ENABLE | _SPI_SSI_1,
                        &_GPIO_MODULE_SPI3_PC10_11_12 );

}

Once our bus is running, the only thing needed by the MikroE library is to initialize the Magneto click with some default settings.  Since the library supports I2C and SPI modes, we need to specify the bus type, the address of the device if we were using I2C and how many devices are on the bus.  As a side note, the AMS sensor allows for a unique form of chaining.  We can chain a number of devices together without taking any additional pins. Chaining

The last argument is how many devices will be on the bus.  For this demo we have only the 1 device on a SPI bus.

void system_init()
{
    /* SPI Init - NOTE* Magneto samples bits on the second clock transition */
    SPI3_Init_Advanced( _SPI_FPCLK_DIV16, _SPI_MASTER | _SPI_8_BIT | 
                        _SPI_CLK_IDLE_LOW | 
                        _SPI_SECOND_CLK_EDGE_TRANSITION | _SPI_MSB_FIRST | _SPI_SS_DISABLE | 
                        _SPI_SSM_ENABLE | _SPI_SSI_1,
                        &_GPIO_MODULE_SPI3_PC10_11_12 );

    magneto_init( MAGNETO_SPI, 0, 1 );
}

This is really all we need to get started except for one thing.  When you press the build button you are going to be presented with an error.

Unresolved extern 'MAGNETO_CS' 

The library requires that you declare what pin the chip select is on.  I'm using the EasyMx PRO version 7 and placing the Magneto in the mikroBUS slot 1.  The chip select for that port is PD13.

Add in your project the following:

#include "magneto.h"

sbit MAGNETO_CS at GPIOD_ODR.B13;

void system_init( void );


void system_init()

Build again add it should compile: Finished successfully: 19 Jan 2016, 09:01:15 Magneto_Demo.mcpar

Now you are ready to measure angular movement with 14bit precision.

Testing

According to the documentation, there are 3 ways to extract measurements from the sensor: Angles, Degrees, or Radians.  Each is used is various purposes.  Angles returns numbers between 0 - 16384, Degrees returns degrees in fractional increments from 0 - 359.9, and Radians are the converted degrees into radians.  Each of the functions returns a pointer to either a int16_t or float. What you do with the information is up to you and your intended application.

What you may notice is that the functions that return measurements all look something like this:

MagnetoHelp

Because the Magneto can be daisy chained together, you have multiple results when fetching a measurement.   To make things easy you can create a pointer, and have the pointer be assigned to the return of a call to any of the measurement functions.  For instance:

uint16_t *angles;

angles = magneto_get_angles( 1 ); // Request measurement from device 1

That statement says get the angle from device 1.  To use the angle you would dereference the pointer *angles.

In the case you have multiple sensors and you wanted to access all of them, then the following would retrieve all values:

uint16_t *angles;

angles = magneto_get_angles( 0 ); // Request measurement from all devices

if( angles[0] != angles[1] )
{
    move_arm( 1, angles[0] - angles[1] );
}

Now you can access all the values like you would an array.

Notes

Errors can happen depending on the setup and situation.   Four errors are defined, framing errors, wrong command, wrong parity, and num of clocks.  For the first 3 you should never see.  These are errors related to the driver itself.  The last error, however, will only happen if your clock speed is too fast for the sensor.  If you think you are having errors, the library has a short function to check.  After every operation you can call magneto_error() and it will return with a true or false if an error occurred.  If an error does occur, you can retrieve the error by using the magneto_get_errors( device_num );

int16_t *angles;

angles = magneto_get_angles( 1 );

if( magneto_error() )
{
    magneto_error_t *errors = magneto_get_errors( 1 );
    if( *errors == MAGNETO_WRONG_NUM_OF_CLOCKS )
        printf( "TOO FAST!" );
}

Example

/*****************************************************************************
* Title                 :   Magneto click Example
* Filename              :   Magneto_clickARM.c
* Author                :   RBL
* Origin Date           :   29/12/2015
* Notes                 :   None
*****************************************************************************/
/*************** MODULE REVISION LOG *****************************************
*
*    Date    Software Version    Initials   Description
*  29/12/15           .1         RBL        Module Created.
*
*****************************************************************************/
/**
 * @file Magneto_clickARM.c
 *
 * @brief This module contains the example for the Magneto click and various
 * functions contained in the Magneto library.
 */
/*****************************************************************************
 * Includes
 *******************************************************************************/
#include "magneto.h"
#include "built_in.h"
#include "resources.h"
#include 

/******************************************************************************
* Module Preprocessor Constants
*******************************************************************************/
#define INNER_RADIUS 20.0f
#define OUTER_RADIUS 60.0f
#define X_CENTER     160.0f
#define Y_CENTER     110.0f
#define PI           3.14159265f

/******************************************************************************
* Module Preprocessor Macros
*******************************************************************************/

/******************************************************************************
* Module Typedefs
*******************************************************************************/
/**
 * @struct Line beginning and end points in X and Y
 */
typedef struct
{
    int x1;
    int y1;
    int x2;
    int y2;
} line_t;

/*****************************************************************************
 * Module Variable Definitions
 ****************************************************************************/
sbit MAGNETO_CS at GPIOD_ODR.B13;

// TFT module connections
unsigned int TFT_DataPort at GPIOE_ODR;
sbit TFT_RST at GPIOE_ODR.B8;
sbit TFT_RS at GPIOE_ODR.B12;
sbit TFT_CS at GPIOE_ODR.B15;
sbit TFT_RD at GPIOE_ODR.B10;
sbit TFT_WR at GPIOE_ODR.B11;
sbit TFT_BLED at GPIOE_ODR.B9;
// End TFT module connections

static bool volatile update_flag;

/*****************************************************************************
 * Function Prototypes
 ****************************************************************************/
static void init_timer2( void );
static void tft_initialize( void );
static void tft_update( void );
static void system_init( void );

/*****************************************************************************
 * Function Implementations
 ****************************************************************************/

static void init_timer2()
{
    RCC_APB1ENR.TIM2EN = 1;
    TIM2_CR1.CEN = 0;
    TIM2_PSC = 239;  // 100ms
    TIM2_ARR = 62499;
    NVIC_IntEnable( IVT_INT_TIM2 );
    TIM2_DIER.UIE = 1;
    TIM2_CR1.CEN = 1;
}

static void tft_initialize()
{
    TFT_Init_ILI9341_8bit( 320, 280 );
    TFT_BLED = 1;
    TFT_Set_Default_Mode();
    TFT_Set_Pen( CL_WHITE, 1 );
    TFT_Set_Brush( 1, CL_WHITE, 0, 0, 0, 0 );
    TFT_Set_Font( TFT_defaultFont, CL_BLACK, FO_HORIZONTAL );

    TFT_Fill_Screen( CL_WHITE );
    TFT_Set_Pen( CL_BLACK, 1 );
    TFT_Line( 20, 222, 300, 222 );
    TFT_Set_Font( &Verdana12x13_Regular, CL_BLACK, FO_HORIZONTAL );
    TFT_Write_Text( "EasyMx PRO v7 for STM32", 19, 223 );
    TFT_Set_Font( &Verdana12x13_Regular, CL_RED, FO_HORIZONTAL );
    TFT_Write_Text( "www.mikroe.com", 200, 223 );
    TFT_Image( ( 320 - 220 ) / 2, 0, rudderangle_bmp, 1 );
    TFT_Set_Font( TFT_defaultFont, CL_BLACK, FO_HORIZONTAL );
}

static void tft_update()
{
    static float last_angle;
    static line_t last_line;
    float *read_angle;
    line_t current_line;
    float total = 0;
    char tmp_txt[20];
    int i;

    for( i = 0; i < 10; i++ )
    {
        read_angle = magneto_get_degrees( 1 );

        if( magneto_error() )
        {
            magneto_error_t *error = magneto_get_errors( 1 );
            TFT_Set_Font( TFT_defaultFont, CL_RED, FO_HORIZONTAL );
            TFT_Write_Text( "ERROR", 138, 25 );
        }
        total += *read_angle;
    }

    total /= 10.0f;

    TFT_Set_Font( TFT_defaultFont, CL_WHITE, FO_HORIZONTAL );
    TFT_Write_Text( "ERROR", 138, 25 );
    sprintf( tmp_txt, "%3.1f", last_angle );
    TFT_Write_Text( tmp_txt, 10, 25 );
    TFT_Set_Font( TFT_defaultFont, CL_BLACK, FO_HORIZONTAL );
    sprintf( tmp_txt, "%3.1f", total );
    TFT_Write_Text( tmp_txt, 10, 25 );

    last_angle = total;

    TFT_Set_Pen( CL_WHITE, 4 );
    TFT_Line( last_line.x1, last_line.y1, last_line.x2, last_line.y2 );
    TFT_Set_Pen( CL_RED, 4 );

    if( total <= 90.0f )
    {
        current_line.x1 = ( int )( X_CENTER + ( INNER_RADIUS * sin( 90.0f *
                                                ( PI / 180.0f ) ) ) );
        current_line.y1 = ( int )( Y_CENTER + ( INNER_RADIUS * -cos( 90.0f *
                                                ( PI  / 180.0f ) ) ) );
        current_line.x2 = ( int )( X_CENTER + ( OUTER_RADIUS * sin( 90.0f *
                                                ( PI / 180.0f ) ) ) );
        current_line.y2 = ( int )( Y_CENTER + ( OUTER_RADIUS * -cos( 90.0f *
                                                ( PI  / 180.0f ) ) ) );
    }
    else if( total >= 270.0f )
    {
        current_line.x1 = ( int )( X_CENTER + ( INNER_RADIUS * sin( 270.0f *
                                                ( PI / 180.0f ) ) ) );
        current_line.y1 = ( int )( Y_CENTER + ( INNER_RADIUS * -cos( 270.0f *
                                                ( PI  / 180.0f ) ) ) );
        current_line.x2 = ( int )( X_CENTER + ( OUTER_RADIUS * sin( 270.0f *
                                                ( PI / 180.0f ) ) ) );
        current_line.y2 = ( int )( Y_CENTER + ( OUTER_RADIUS * -cos( 270.0f *
                                                ( PI  / 180.0f ) ) ) );
    }
    else
    {
        current_line.x1 = ( int )( X_CENTER + ( INNER_RADIUS * sin( total *
                                                ( PI / 180.0f ) ) ) );
        current_line.y1 = ( int )( Y_CENTER + ( INNER_RADIUS * -cos( total *
                                                ( PI  / 180.0f ) ) ) );
        current_line.x2 = ( int )( X_CENTER + ( OUTER_RADIUS * sin( total *
                                                ( PI / 180.0f ) ) ) );
        current_line.y2 = ( int )( Y_CENTER + ( OUTER_RADIUS * -cos( total *
                                                ( PI  / 180.0f ) ) ) );
    }

    TFT_Line( current_line.x1, current_line.y1, current_line.x2,
              current_line.y2 );
    memcpy( &last_line, ¤t_line, sizeof( line_t ) );

    update_flag = false;
}

// Initialize all system peripherals
static void system_init()
{
    DisableInterrupts();

    GPIO_Digital_Output( &GPIOD_BASE, _GPIO_PINMASK_13 );
    /* SPI Init - NOTE* Magneto samples bits on the second clock transition */
    SPI3_Init_Advanced( _SPI_FPCLK_DIV16,
                        _SPI_MASTER | _SPI_8_BIT | _SPI_CLK_IDLE_LOW |
                        _SPI_SECOND_CLK_EDGE_TRANSITION | _SPI_MSB_FIRST |
                        _SPI_SS_DISABLE | _SPI_SSM_ENABLE | _SPI_SSI_1,
                        &_GPIO_MODULE_SPI3_PC10_11_12 );
    // Initialize display
    tft_initialize();
    // Start timer
    init_timer2();
    // Initialize magneto and check for success or failure
    if( magneto_init( MAGNETO_SPI, 0, 1 ) )
        return;
}

void main()
{
    system_init();
    EnableInterrupts();

    while( 1 )
    {
        if( update_flag )
            tft_update();
    }
}

// ISR timer for signaling
void timer2_interrupt() iv IVT_INT_TIM2
{
    TIM2_SR.UIF = 0;
    update_flag = true;
}

/*************** END OF FUNCTIONS ***************************************/

Summary

While the idea isn't new, the technology and method of angular measurement is revolutionary.  Try submerging your optical encoder in a bath of toxic chemicals and then get back with me on how well that worked for you.  On the other hand, magnetic flux doesn't care about what medium it lives in.  In fact, magnetism works at any depth in the sea, how about a casing housing an optical encoder?  The possibilities are tremendous and once the automation world grabs hold of this technology, I predict this will be the new standard in angular measurement.

References

wikipedia.org "Closed Loop Control" wikipedia 2015

wikipedia.org "Open Loop Control" wikipedia 2015

Products mentioned in this post

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    Magneto Click is a compact add-on board containing an accurate and reliable magnetic sensing device. This board features ams AG’s AS5048A, a 360° angle position sensor with a 14-bit high-resolution output. The AS5048A measures the absolute position of the magnet’s rotation angle, consisting of Hall sensors, analog-digital converter, and digital signal...

    PID: MIKROE-1886
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