Add example for Arduino boards (simple example and complete arduino library)

Add example for Adafruit FT232H breakout board (use python2.7)
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Author: mathieukaelin

Adafruit-FT232H-Breakout/magalpha_ft232h_library.py

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+import Adafruit_GPIO as GPIO
+import Adafruit_GPIO.FT232H as FT232H
+import time
+
+class MagAlpha:
+    """"MagAlpha Communication Library for 3rd generation sensors (MA302, MA800, ...)."""
+
+    def __init__(self):
+        FT232H.use_FT232H()
+        self.ft232h = FT232H.FT232H()
+        self.spiClockFreqInHz = 1000000
+        self.chipSelectPinOnFt232h = 8
+        self.spiMode = 0
+        self.spi = FT232H.SPI(self.ft232h, cs=self.chipSelectPinOnFt232h, max_speed_hz=self.spiClockFreqInHz, mode=self.spiMode, bitorder=FT232H.MSBFIRST)
+        self.__rawToDegreeConvertionRatio = 360.0/65536.0
+
+    def readAngle(self, printEnabled=False):
+        """Return the angle [0-65535] (raw sensor output value)."""
+        response = self.spi.transfer([0x00, 0x00])
+        angularPositionRaw = (response[0]<<8)+response[1]
+        if (printEnabled):
+            print 'Angular Position [raw] : {0}'.format(angularPositionRaw)
+        return angularPositionRaw
+
+    def readAngleInDegree(self, printEnabled=False):
+        """Return the angle in degree [0-360] (raw sensor output converted in degree)."""
+        response = self.spi.transfer([0x00, 0x00])
+        angularPositionRaw = (response[0]<<8)+response[1]
+        angularPositionDegree = float(angularPositionRaw)*self.__rawToDegreeConvertionRatio
+        if (printEnabled):
+            print 'Angular Position [degree] : {0}'.format(angularPositionDegree)
+        return angularPositionDegree
+
+    def readAngleAdvanced(self, printEnabled=False):
+        """Return the angle in raw and degree format."""
+        response = self.spi.transfer([0x00, 0x00])
+        angularPositionRaw = (response[0]<<8)+response[1]
+        angularPositionDegree = float(angularPositionRaw)*self.__rawToDegreeConvertionRatio
+        if (printEnabled):
+            print 'Angular Position [raw] : {0} \t, [degree] : {1}'.format(angularPositionRaw, angularPositionDegree)
+        return angularPositionRaw, angularPositionDegree
+
+    def readRegister(self, address, printEnabled=False):
+        """Return sensor register value."""
+        command = 0b01000000 | (address & 0x1F)
+        self.spi.transfer([command, 0x00])
+        response = self.spi.transfer([0x00, 0x00])
+        registerValue = response[0]
+        if (printEnabled):
+            print 'Read Register [{0}] \t=\t{1}'.format(address, registerValue)
+        return registerValue
+
+    def writeRegister(self, address, value,  printEnabled=False):
+        """Return sensor written register value."""
+        command = 0b10000000 | (address & 0x1F)
+        registerWriteValue = (value & 0xFF)
+        self.spi.transfer([command, registerWriteValue])
+        #wait for 20ms
+        time.sleep(0.02)
+        response = self.spi.transfer([0x00, 0x00])
+        registerReadValue = response[0]
+        if (printEnabled):
+            print 'Write Register [{0}] \t=\t{1}, \tReadback Value = {2}'.format(address, registerWriteValue, registerReadValue)
+        return registerReadValue
+
+if __name__ == "__main__":
+    magAlpha = MagAlpha()
+    for i in range(0, 10):
+        magAlpha.readRegister(i, True)
+    magAlpha.readRegister(0, True)
+    magAlpha.readRegister(1, True)
+    magAlpha.readAngle(True)
+    magAlpha.readAngleInDegree(True)
+    magAlpha.writeRegister(0, 0xFF, True)
+    magAlpha.writeRegister(1, 0x7F, True)
+    rawAngle = magAlpha.readAngle(True)
+    degreeAngle = magAlpha.readAngleInDegree(True)
+    print 'Test handle return value for readAngle and  readAngleInDegree [raw] : {0} \t, [degree] : {1}'.format(rawAngle, degreeAngle)
+    rawAngle, degreeAngle = magAlpha.readAngleAdvanced(True)
+    print 'Test handle return value for readAngleAdvanced [raw] : {0} \t, [degree] : {1}'.format(rawAngle, degreeAngle)
+    for i in range(0, 20):
+        magAlpha.readAngle(True)
+        time.sleep(0.1)

Adafruit-FT232H-Breakout/magalpha_ft232h_simple_example.py

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+from magalpha_ft232h_library import MagAlpha
+import time
+
+# Create an instance of the MagAlpha Class
+magAlpha = MagAlpha()
+
+#Example of register settings (some settings may not be available on every sensor model)
+#Set zero setting to 0 (Reg 0 and 1)
+magAlpha.writeRegister(0, 0)
+magAlpha.writeRegister(1, 0)
+#Set Rotation Direction to Clockwise by writting 0 to register 9
+magAlpha.writeRegister(9, 0)
+
+#Read raw angle value until the user press on Ctr+C (Keyboard interrupt) to exit the program
+while True:
+    angle = magAlpha.readAngle(True)
+    time.sleep(0.1)

Arduino/MagAlpha-Library/README.md

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+# MagAlpha library
+Arduino library for the MPS MagAlpha magnetic angle sensor.
+
+Supports MagAlpha 3rd generation Sensors. MagAlpha sensor detects the absolute angular position of a permanent magnet, typically a diametrically magnetized cylinder on the rotating shaft.
+
+For more information on the MagAlpha sensor family:
+* [MagAlpha Product Overview](http://www.monolithicpower.com/Products/Position-Sensors/Products-Overview)
+* [MagAlpha Support Materials](http://www.monolithicpower.com/Design-Support/Position-Sensors-Design-Support)
+
+Check [Arduino SPI library reference page](https://www.arduino.cc/en/Reference/SPI) for the SPI signal connections.
+
+| Warning |
+| ------- |
+| Unlike most Arduino & Genuino boards, the MagAlpha runs at 3.3V. Even if the I/O can tolerate 5V, check that the voltage applied to VDD is at 3.3V. Applying a voltages higher than 3.3V to the VDD pin could damage the sensor.|
+
+Written by Mathieu Kaelin for Monolithic Power Systems.
+MIT license, all text above must be included in any redistribution
+
+Place the MagAlpha library folder in your arduinosketchfolder/libraries/ folder.
+You may need to create the libraries subfolder if its your first library. Restart the IDE.
+
+You can also check this tutorial on Arduino library installation:
+* [All About Arduino Libraries](http://learn.adafruit.com/adafruit-all-about-arduino-libraries-install-use)

Arduino/MagAlpha-Library/examples/edit-magalpha-config/edit-magalpha-config.ino

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+#include <MagAlpha.h>
+
+//Check https://www.arduino.cc/en/reference/SPI for SPI signals connections
+
+#define UART_BAUDRATE       115200        //UART data rate in bits per second (baud)
+#define SPI_SCLK_FREQUENCY  10000000      //SPI SCLK Clock freqency in Hz
+#define SPI_CS_PIN          0             //SPI CS pin
+
+MagAlpha magAlpha;
+
+void setup() {
+  // put your setup code here, to run once:
+  //Set the SPI SCLK frequency, SPI Mode and CS pin
+  magAlpha.begin(SPI_SCLK_FREQUENCY, MA_SPI_MODE_3, SPI_CS_PIN);
+  //Set the Serial Communication used to report the angle
+  Serial.begin(UART_BAUDRATE);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  //========================================================================
+  //Read the angle using different methods
+  //========================================================================
+  uint16_t angle;
+  uint8_t angle8bit;
+  double angleInDegree;
+
+  Serial.println("Read Angle using differents methods:");
+  
+  //Read the angle (16-bit raw angle value)
+  angle = magAlpha.readAngle();
+  Serial.print("    magAlpha.readAngle() = ");
+  Serial.println(angle, DEC);
+  
+  //Read the angle (16-bit raw angle value), equivalent to magAlpha.readAngle() function
+  angle = magAlpha.readAngle16();
+  Serial.print("    magAlpha.readAngle16() = ");
+  Serial.println(angle, DEC);
+
+  //Read the angle (8-bit raw angle value)
+  angle8bit = magAlpha.readAngle8();
+  Serial.print("    magAlpha.readAngle8() = ");
+  Serial.println(angle, DEC);
+  
+  //Read the angle in degree (Read 16-bit raw angle value and then convert it to the 0-360 degree range)
+  angleInDegree = magAlpha.readAngleInDegree();
+  Serial.print("    magAlpha.readAngleInDegree() = ");
+  Serial.println(angleInDegree, 3);
+
+  //========================================================================
+  //Read the zero settings in register 0 and 1
+  //========================================================================
+  uint8_t readbackRegister0Value, readbackRegister1Value;
+  //Read MagAlpha Gen3 Zero Settings (Registers 0 and 1
+  readbackRegister0Value = magAlpha.readRegister(0);
+  readbackRegister1Value = magAlpha.readRegister(1);
+  Serial.println("Read Zero Setting:");
+  Serial.print("    Read Register[0] = 0x");
+  Serial.println(readbackRegister0Value, HEX);
+  Serial.print("    Read Register[1] = 0x");
+  Serial.println(readbackRegister1Value, HEX);
+
+  //========================================================================
+  //Write MagAlpha Gen3 Zero Settings with value 0x7FFF (Registers 0 and 1)
+  //========================================================================
+  readbackRegister0Value = magAlpha.writeRegister(0, 0xFF);
+  readbackRegister1Value = magAlpha.writeRegister(1, 0x7F);
+  Serial.println("Write Zero Setting:");
+  Serial.print("    Write Register[0] = 0x");
+  Serial.println(readbackRegister0Value, HEX);
+  Serial.print("    Write Register[1] = 0x");
+  Serial.println(readbackRegister1Value, HEX);
+  if ((readbackRegister0Value == 0xFF) && (readbackRegister1Value == 0x7F))
+  {
+    Serial.println("    Write Process Succeed");
+  }
+  else
+  {
+    Serial.println("    Write Process Fail");
+  }
+
+  //========================================================================
+  //Change MagAlpha Gen3 Rotation Direction (Register 9, bit 7)
+  //========================================================================
+  uint8_t readbackRegister9Value;
+  //Read register 9 and toggle RD state
+  readbackRegister9Value = magAlpha.readRegister(9);
+  if ((readbackRegister9Value & 0x80) == 0){
+    //Set RD to 1
+    magAlpha.writeRegister(9, 0x80);
+  }
+  else{
+    //Set RD to 0
+    magAlpha.writeRegister(9, 0x00);
+  }
+  Serial.println("Write Rotation Direction Setting:");
+  Serial.print("    Write Register[9] = 0x");
+  Serial.println(readbackRegister9Value, HEX);
+}

Arduino/MagAlpha-Library/examples/read-magalpha-angle/read-magalpha-angle.ino

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+#include <MagAlpha.h>
+
+//Check https://www.arduino.cc/en/reference/SPI for SPI signals connections
+
+#define UART_BAUDRATE       115200        //UART data rate in bits per second (baud)
+#define SPI_SCLK_FREQUENCY  10000000      //SPI SCLK Clock freqency in Hz
+#define SPI_CS_PIN          0             //SPI CS pin
+
+MagAlpha magAlpha;
+
+void setup() {
+  // put your setup code here, to run once:
+  //Set the SPI SCLK frequency, SPI Mode and CS pin
+  magAlpha.begin(SPI_SCLK_FREQUENCY, MA_SPI_MODE_3, SPI_CS_PIN);
+  //Set the Serial Communication used to report the angle
+  Serial.begin(UART_BAUDRATE);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  uint16_t angle;
+  //Read the angle (16-bit raw angle value)
+  angle = magAlpha.readAngle();
+  Serial.println(angle, DEC);
+  //Wait before the next angle measurement (not needed by the sensor, only targeted to make the output easier to read)
+  delay(25);
+}

Arduino/MagAlpha-Library/keywords.txt

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+#######################################
+# Syntax Coloring Map For MagAlpha-Library
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+MagAlpha	KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+begin	KEYWORD2
+end	KEYWORD2
+readAngle	KEYWORD2
+readAngle16	KEYWORD2
+readAngle8	KEYWORD2
+readAngleInDegree	KEYWORD2
+readRegister	KEYWORD2
+writeRegister	KEYWORD2
+setSpiClockFrequency	KEYWORD2
+setSpiDataMode	KEYWORD2
+setSpiChipSelectPin	KEYWORD2
+convertRawAngleToDegree	KEYWORD2
+
+#######################################
+# Instances (KEYWORD2)
+#######################################
+magAlpha	KEYWORD2
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+MA_SPI_MODE_0	LITERAL1
+MA_SPI_MODE_3	LITERAL1

Arduino/MagAlpha-Library/library.properties

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+name=MagAlpha library
+version=1.0.0
+author=Mathieu Kaelin, Monolithic Power Systems <sensors@monolithicpower.com>
+maintainer=Mathieu Kaelin <sensors@monolithicpower.com>
+sentence=Arduino library for the MPS MagAlpha magnetic angle sensor.
+paragraph=Supports MagAlpha 3rd generation Sensors. MagAlpha sensor detects the absolute angular position of a permanent magnet, typically a diametrically magnetized cylinder on the rotating shaft.
+category=Sensors
+url=https://github.com/monolithicpower/MagAlpha-Code-Samples
+architectures=*
+includes=SPI.h