Question: AS5048A not initializing on RP2040 SPI

[eduardsik]

I try to initialize AS5047A on a RP2040, default SPI port with Cs on 22 pin. No success.

`

include

include

include

include

include <encoders/as5048a/MagneticSensorAS5048A.h>

define SENSOR1_CS 22 // some digital pin that you're using as the nCS pin

MagneticSensorAS5048A sensor1(SENSOR1_CS);

void setup() {

Serial.begin(115200); // initialize magnetic sensor hardware sensor1.init();

Serial.println("sensor ready"); _delay(1000); }

void loop() { // IMPORTANT - call as frequently as possible // update the sensor values sensor1.update();

// get the angle, in radians, including full rotations float a1 = sensor1.getAngle(); Serial.print(a1); Serial.print(" "); // get the velocity, in rad/s - note: you have to call getAngle() on a regular basis for it to work float v1 = sensor1.getVelocity(); Serial.println(v1); }

`

using platformio

Tested the sensor on arduino uno, and it is working fine. What am I not noticing?

Thanks.

[VIPQualityPost]

which core are you using? mbed or hillpower? there are some issues related to this on the forum as well

[runger1101001]

May I ask which RP2040 board it is?

[eduardsik]

Nevermind, I manage it to work.

Here is a working code with open loop velocity control.

`/*

• Velocity motion control example
• Steps:
• 1) Configure the motor and magnetic sensor
• 2) Run the code
• 3) Set the target velocity (in radians per second) from serial terminal
• By using the serial terminal set the velocity value you want to motor to obtain

• */

  include "Arduino.h"

  include "SPI.h"

  include "SimpleFOC.h"

  include "SimpleFOCDrivers.h"

  include "encoders/as5048a/MagneticSensorAS5048A.h"

define SPI_2_MISO 12

define SPI_2_MOSI 15

define SPI_2_SCK 14

define SENSOR_CS 13 // some digital pin that you're using as the nCS pin

MagneticSensorAS5048A sensor(SENSOR_CS, true); MbedSPI spi2(SPI_2_MISO, SPI_2_MOSI, SPI_2_SCK);

// BLDC motor & driver instance BLDCMotor motor = BLDCMotor(11); BLDCDriver3PWM driver = BLDCDriver3PWM(9, 8, 7, 6);

// velocity set point variable float target_velocity = 0; // instantiate the commander Commander command = Commander(Serial); void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }

void setup() { spi2.begin(); // initialise magnetic sensor hardware sensor.init(&spi2); // link the motor to the sensor motor.linkSensor(&sensor); // pwm frequency to be used [Hz] driver.pwm_frequency = 200000; // power supply voltage driver.voltage_power_supply = 12; driver.init(); motor.linkDriver(&driver);

// limiting motor movements motor.phase_resistance = 5.3; // [Ohm] motor.current_limit = 2; // [Amps] - if phase resistance defined motor.voltage_limit = 3; // [V] - if phase resistance not defined motor.velocity_limit = 5; // [rad/s] cca 50rpm

// set motion control loop to be used motor.controller = MotionControlType::velocity;

// contoller configuration // default parameters in defaults.h

// velocity PI controller parameters motor.PID_velocity.P = 0.5f; //0.4 motor.PID_velocity.I = 20; //20 motor.PID_velocity.D = 0; //0 // default voltage_power_supply motor.voltage_limit = 12; // jerk control using voltage voltage ramp // default value is 300 volts per sec ~ 0.3V per millisecond motor.PID_velocity.output_ramp = 1000;

// velocity low pass filtering // default 5ms - try different values to see what is the best. // the lower the less filtered motor.LPF_velocity.Tf = 0.01f;

// use monitoring with serial Serial.begin(115200); // comment out if not needed motor.useMonitoring(Serial);

// initialize motor motor.init(); // align sensor and start FOC motor.initFOC();

// add target command T command.add('T', doTarget, "target velocity");

Serial.println(F("Motor ready.")); Serial.println(F("Set the target velocity using serial terminal:")); _delay(1000); }

void loop() { // main FOC algorithm function // the faster you run this function the better // Arduino UNO loop ~1kHz // Bluepill loop ~10kHz motor.loopFOC();

// Motion control function // velocity, position or voltage (defined in motor.controller) // this function can be run at much lower frequency than loopFOC() function // You can also use motor.move() and set the motor.target in the code motor.move(target_velocity); //motor.move(10);

// function intended to be used with serial plotter to monitor motor variables // significantly slowing the execution down!!!! // motor.monitor();

// user communication command.run(); } `

[runger1101001]

Great!