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S-LABc committed Jun 5, 2022
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21 changes: 21 additions & 0 deletions LICENSE
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MIT License

Copyright (c) 2022 Roman Sklyar S-LAB

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
23 changes: 23 additions & 0 deletions README.md
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# MT6701-Arduino-Library
<p align="center"><img src="/images/mt6701_module.jpg"></p>

## Еще магнытные датчики
* [AS5600](https://github.com/S-LABc/AMS-AS5600-Arduino-Library)
* [AS5601](https://github.com/S-LABc/AMS-AS5601-Arduino-Library)

## Предупреждение
* Библиотека не проверялась полностью. Возможны ошибки. Используя бибилиотеку вы берете все риски на себя
* Реализованы не все возможности датчика. Для взаимодействия с регистрами датчика можно использовать эти методы:
```C++
// Чтение содержимого регистра
uint8_t MT_RequestSingleRegister(uint8_t _reg_addr);
// Запись нового содержимого в регистр
void MT_WriteOneByte(uint8_t _reg_addr, uint8_t _payload);
```
* Все доступные методы, константы, типы данных можно посмотреть [тут](https://github.com/S-LABc/MT6701-Arduino-Library/blob/main/src/MT6701_I2C.h)
## Ссылки
* [Даташит MT6701](http://www.magntek.com.cn/upload/MT6701_Rev.1.5.pdf)
* [Страница MT6701](http://www.magntek.com.cn/en/list/177/559.htm)
* [Корпус для тестов](https://github.com/S-LABc/AMS-AS5600-Arduino-Library/tree/main/addons/AS5600-Case-STL)
* [Видео с моим мнением](https://youtu.be/GnFONlue2t0)
139 changes: 139 additions & 0 deletions examples/MT6701_test/MT6701_test.ino
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/*
* MT6701_test
*
* Демонстрация некоторых возможнойстей библиотеки MT6701_I2C.h для датчика MT6701
*
* Документация к датчику:
* http://www.magntek.com.cn/upload/MT6701_Rev.1.5.pdf
*
* Все методы можно посмотреть в файле MT6701_I2C.h или тут
* https://github.com/S-LABc/MT6701-Arduino-Library/blob/main/src/MT6701_I2C.h
*
* Контакты:
** YouTube - https://www.youtube.com/channel/UCbkE52YKRphgkvQtdwzQbZQ
** Telegram - https://www.t.me/slabyt
** GitHub - https://github.com/S-LABc
** Gmail - [email protected]
*
* Copyright (C) 2022. v1.0 / Скляр Роман S-LAB
*/

#include <MT6701_I2C.h>

// раскомментировать для заупска функции сохранения значений
//#define SAVE_VALUES

/*
* STM32_MT6701_MODE_PIN PC13
* ESP32_MT6701_MODE_PIN 2
* ARDUINO_MT6701_MODE_PIN 3
* или любой другой
*
* MT6701I2C_MODE_I2C_SSI - притягивает контакт MODE к VCC
* MT6701I2C_MODE_UVW_ABZ - притягивает контакт MODE к GND
*/
MT6701I2C SensorI2C(&Wire);
//MT6701I2C SensorI2C(&Wire, ARDUINO_MT6701_MODE_PIN, MT6701I2C_MODE_I2C_SSI);

void setup() {
Serial.begin(115200);

SensorI2C.begin();

//SensorI2C.setClock100kHz();
SensorI2C.setClock400kHz();
//SensorI2C.setClock1MHz();
//SensorI2C.setClock(200000); // другое значение частоты

while(!Serial) {}

while(!SensorI2C.isConnected()) {
Serial.println("Датчик не обнаружен");
delay(500);
}
}


void loop() {
#ifdef SAVE_VALUES
saveNewSettings();
#else
readValues();
#endif
}

void readValues() {
Serial.print("Raw: ");
Serial.println(SensorI2C.getRawAngle());

Serial.print("Degrees: ");
Serial.println(SensorI2C.getDegreesAngle());

Serial.print("Radians: ");
Serial.println(SensorI2C.getRadiansAngle());

Serial.print("Resolution UVW: ");
Serial.println(SensorI2C.getOutputResolutionUVW()); // setOutputResolutionUVW()

Serial.print("Resolution ABZ: ");
Serial.println(SensorI2C.getOutputResolutionABZ()); // setOutputResolutionABZ()

Serial.print("Output Type: ");
MT6701I2COutputType output_type = SensorI2C.getOutputType();
if(output_type == MT6701I2_OUTPUT_TYPE_ABZ) { // setOutputTypeABZ()
Serial.println("ABZ");
} else if(output_type == MT6701I2_OUTPUT_TYPE_UVW) { // setOutputTypeUVW()
Serial.println("UVW");
}

Serial.print("Output Mode: ");
MT6701I2COutputMode output_mode = SensorI2C.getOutputMode();
if(output_mode == MT6701I2_OUTPUT_MODE_ANALOG) { // setOutputModeAnalog()
Serial.println("ANALOG");
} else if(output_mode == MT6701I2_OUTPUT_MODE_PWM) { // setOutputModePWM()
Serial.println("PWM");
}

Serial.print("Rotation Direction: ");
MT6701I2CDirection output_dir = SensorI2C.getOutputRotationDirection();
if(output_dir == MT6701I2_DIRECTION_CLOCKWISE) { // setOutputRotationDirectionClockwise()
Serial.println("CLOCKWISE");
} else if(output_dir == MT6701I2_DIRECTION_COUNTERCLOCKWISE) { // setOutputRotationDirectionCounterclockwise()
Serial.println("COUNTERCLOCKWISE");
}

Serial.println();

delay(200);
}

void saveNewSettings() {
Serial.print("Write Resolution ABZ: ");
word new_res_abz = 732;
if(SensorI2C.setOutputResolutionABZVerify(new_res_abz)) {
Serial.println("OK");
} else {
Serial.println("ERROR");
}

Serial.print("Write Output Mode PWM: ");
if(SensorI2C.setOutputModePWMVerify()) {
Serial.println("OK");
} else {
Serial.println("ERROR");
}

Serial.print("Write Rotation Direction Clockwise: ");
if(SensorI2C.setOutputRotationDirectionClockwiseVerify()) {
Serial.println("OK");
} else {
Serial.println("ERROR");
}

Serial.println("Saving New Values...");
SensorI2C.saveNewValues();
delay(700); // >600мс
Serial.println("Saved Successfully. Reconnect Power");

while(1) {}
}
Binary file added images/mt6701_module.jpg
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203 changes: 203 additions & 0 deletions keywords.txt
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#######################################
# Syntax Coloring Map For MT6701_I2C
#######################################

#######################################
# Datatypes (KEYWORD1)
#######################################

MT6701_I2C KEYWORD1
SensorI2C KEYWORD1

#######################################
# Methods and Functions (KEYWORD2)
#######################################

MT6701I2C KEYWORD2

MT_RequestSingleRegister KEYWORD2
MT_WriteOneByte KEYWORD2

begin KEYWORD2
setClock KEYWORD2
setClock100kHz KEYWORD2
setClock400kHz KEYWORD2
setClock1MHz KEYWORD2
end KEYWORD2

saveNewValues KEYWORD2

isConnected KEYWORD2

enableI2CorSSI KEYWORD2
enableUVWorABZ KEYWORD2

getRawAngle KEYWORD2
getDegreesAngle KEYWORD2
getRadiansAngle KEYWORD2

getConfigurationOutputType KEYWORD2
setConfigurationOutputTypeABZ KEYWORD2
setConfigurationOutputTypeABZVerify KEYWORD2
setConfigurationOutputTypeUVW KEYWORD2
setConfigurationOutputTypeUVWVerify KEYWORD2

getOutputType KEYWORD2
setOutputTypeABZ KEYWORD2
setOutputTypeABZVerify KEYWORD2
setOutputTypeUVW KEYWORD2
setOutputTypeUVWVerify KEYWORD2

getOutputRotationDirection KEYWORD2
setOutputRotationDirectionCounterclockwise KEYWORD2
setOutputRotationDirectionCounterclockwiseVerify KEYWORD2
setOutputRotationDirectionClockwise KEYWORD2
setOutputRotationDirectionClockwiseVerify KEYWORD2

getOutputResolutionUVW KEYWORD2
setOutputResolutionUVW KEYWORD2
setOutputResolutionUVWVerify KEYWORD2

getOutputResolutionABZ KEYWORD2
setOutputResolutionABZ KEYWORD2
setOutputResolutionABZVerify KEYWORD2

getZPulseWidth KEYWORD2
setZPulseWidth1LSB KEYWORD2
setZPulseWidth1LSBVerify KEYWORD2
setZPulseWidth2LSB KEYWORD2
setZPulseWidth2LSBVerify KEYWORD2
setZPulseWidth4LSB KEYWORD2
setZPulseWidth4LSBVerify KEYWORD2
setZPulseWidth8LSB KEYWORD2
setZPulseWidth8LSBVerify KEYWORD2
setZPulseWidth12LSB KEYWORD2
setZPulseWidth12LSBVerify KEYWORD2
setZPulseWidth16LSB KEYWORD2
setZPulseWidth16LSBVerify KEYWORD2
setZPulseWidth180DEG KEYWORD2
setZPulseWidth180DEGVerify KEYWORD2

getZeroDegreePositionData KEYWORD2
setZeroDegreePositionData KEYWORD2
setZeroDegreePositionDataVerify KEYWORD2

getFrequencyPWM KEYWORD2
setFrequencyPWM9944 KEYWORD2
setFrequencyPWM9944Verify KEYWORD2
setFrequencyPWM4972 KEYWORD2
setFrequencyPWM4972Verify KEYWORD2

getPolarityPWM KEYWORD2
setPolarityPWMHigh KEYWORD2
setPolarityPWMHighVerify KEYWORD2
setPolarityPWMLow KEYWORD2
setPolarityPWMLowVerify KEYWORD2

getOutputMode KEYWORD2
setOutputModeAnalog KEYWORD2
setOutputModeAnalogVerify KEYWORD2
setOutputModePWM KEYWORD2
setOutputModePWMVerify KEYWORD2

#######################################
# Constants (LITERAL1)
#######################################

MT6701_I2C_CLOCK_100KHZ LITERAL1
MT6701_I2C_CLOCK_400KHZ LITERAL1
MT6701_I2C_CLOCK_1MHZ LITERAL1
MT6701_I2C_ADDRESS LITERAL1

STM32_MT6701_MODE_PIN LITERAL1
ESP32_MT6701_MODE_PIN LITERAL1
ARDUINO_MT6701_MODE_PIN LITERAL1

MT6701_I2C_ANGLE_DATA_REG_H LITERAL1
MT6701_I2C_ANGLE_DATA_REG_L LITERAL1

MT6701_I2C_EEPROM_UVW_MUX_REG LITERAL1
MT6701_I2C_EEPROM_UVW_MUX_BIT LITERAL1

MT6701_I2C_EEPROM_ABZ_MUX_DIR_REG LITERAL1
MT6701_I2C_EEPROM_ABZ_MUX_BIT LITERAL1

MT6701_I2C_EEPROM_DIR_REG LITERAL1
MT6701_I2C_EEPROM_DIR_BIT LITERAL1

MT6701_I2C_EEPROM_UVW_RES_REG LITERAL1
MT6701_I2C_EEPROM_UVW_MUX_BIT_S LITERAL1

MT6701_I2C_EEPROM_ABZ_RES_REG_H LITERAL1
MT6701_I2C_EEPROM_ABZ_RES_REG_L LITERAL1
MT6701_I2C_EEPROM_ABZ_MUX_BIT_S LITERAL1

MT6701_I2C_EEPROM_HYST_REG_H LITERAL1
MT6701_I2C_EEPROM_HYST_REG_L LITERAL1

MT6701_I2C_EEPROM_Z_PULSE_WIDTH_REG LITERAL1
MT6701_I2C_EEPROM_Z_PULSE_WIDTH_BIT_S LITERAL1

MT6701_I2C_EEPROM_ZERO_REG_H LITERAL1
MT6701_I2C_EEPROM_ZERO_REG_L LITERAL1

MT6701_I2C_EEPROM_PWM_FREQ_REG LITERAL1
MT6701_I2C_EEPROM_PWM_FREQ_BIT LITERAL1

MT6701_I2C_EEPROM_PWM_POL_REG LITERAL1
MT6701_I2C_EEPROM_PWM_POL_BIT LITERAL1

MT6701_I2C_EEPROM_OUT_MODE_REG LITERAL1
MT6701_I2C_EEPROM_OUT_MODE_BIT LITERAL1

MT6701_I2C_EEPROM_A_START_REG_H LITERAL1
MT6701_I2C_EEPROM_A_START_REG_L LITERAL1

MT6701_I2C_EEPROM_A_STOP_REG_H LITERAL1
MT6701_I2C_EEPROM_A_STOP_REG_L LITERAL1
MT6701_I2C_EEPROM_A_STOP_BIT_S LITERAL1

MT6701_I2C_EEPROM_PROG_KEY_REG LITERAL1
MT6701_I2C_EEPROM_PROG_KEY_VALUE LITERAL1
MT6701_I2C_EEPROM_PROG_CMD_REG LITERAL1
MT6701_I2C_EEPROM_PROG_CMD_VALUE LITERAL1

MT6701I2CConfigurationOutputType LITERAL1
MT6701I2_CONFIG_OUTPUT_TYPE_UVW LITERAL1
MT6701I2_CONFIG_OUTPUT_TYPE_A_B_Z LITERAL1

MT6701I2COutputType LITERAL1
MT6701I2_OUTPUT_TYPE_ABZ LITERAL1
MT6701I2_OUTPUT_TYPE_UVW LITERAL1

MT6701I2CDirection LITERAL1
MT6701I2_DIRECTION_COUNTERCLOCKWISE LITERAL1
MT6701I2_DIRECTION_CLOCKWISE LITERAL1

MT6701I2CZPulseWidth LITERAL1
MT6701I2_Z_PULSE_WIDTH_1LSB LITERAL1
MT6701I2_Z_PULSE_WIDTH_2LSB LITERAL1
MT6701I2_Z_PULSE_WIDTH_4LSB LITERAL1
MT6701I2_Z_PULSE_WIDTH_8LSB LITERAL1
MT6701I2_Z_PULSE_WIDTH_12LSB LITERAL1
MT6701I2_Z_PULSE_WIDTH_16LSB LITERAL1
MT6701I2_Z_PULSE_WIDTH_180DEG LITERAL1
MT6701I2_Z_PULSE_WIDTH_1LSB_2 LITERAL1

MT6701I2CFrequencyPWM LITERAL1
MT6701I2_PWM_FREQUENCY_9944 LITERAL1
MT6701I2_PWM_FREQUENCY_4972 LITERAL1

MT6701I2CPolarityPWM LITERAL1
MT6701I2_PWM_POLARITY_HIGH LITERAL1
MT6701I2_PWM_POLARITY_LOW LITERAL1

MT6701I2COutputMode LITERAL1
MT6701I2_OUTPUT_MODE_ANALOG LITERAL1
MT6701I2_OUTPUT_MODE_PWM LITERAL1

MT6701I2C_DEFAULT_REPORT_ERROR LITERAL1
MT6701I2C_DEFAULT_REPORT_OK LITERAL1

MT6701I2C_MODE_I2C_SSI LITERAL1
MT6701I2C_MODE_UVW_ABZ LITERAL1
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