got angle sensor reading

Examples/Arduino/a1335_example/a1335_example.ino

@@ -0,0 +1,144 @@
+#include <Arduino.h>
+#include <SPI.h>
+#include "A1335.h"
+
+#define kNOERROR 0
+#define kPRIMARYREADERROR 1
+#define kEXTENDEDREADTIMEOUTERROR 2
+#define kPRIMARYWRITEERROR 3
+#define kEXTENDEDWRITETIMEOUTERROR 4
+#define kCRCERROR 5
+
+#define kUNABLETOCHANGEPROCESSORSTATE 6
+
+const uint16_t ChipSelectPin = 5;
+const uint16_t LEDPin = 13;
+
+const uint32_t WRITE = 0x40;
+const uint32_t READ = 0x00;
+const uint32_t COMMAND_MASK = 0xC0;
+const uint32_t ADDRESS_MASK = 0x3F;
+
+unsigned long nextTime;
+bool ledOn = false;
+
+bool includeCRC = false;
+void setup() {
+
+  uint16_t unused;
+   uint32_t flags;
+  uint16_t angle;
+  uint32_t flagsAndZeroOffset;
+
+  SPI.begin();
+  // put your setup code here, to run once:
+  Serial.begin(19200);
+
+   while (!Serial);
+
+
+  pinMode(SS, OUTPUT);
+  digitalWrite(SS, HIGH);
+
+  // Make sure all of the SPI pins are
+  // ready by doing a read
+  //PrimaryRead(ChipSelectPin, 0x0, unused);
+
+  // Unlock the device
+  ExtendedWrite(ChipSelectPin, 0xFFFE, 0x27811F77);
+
+  // Make sure the device is unlocked
+  ExtendedRead(ChipSelectPin, 0x22, flags);
+  if (!((flags & 0x0022) == 0x0020))
+  {
+      Serial.println("Device is not Unlocked");
+  }
+
+  // Zero the angle
+  // Extended location 0x06 contains flags in the MSW and the Zero Angle values in the LSW
+  // so get both and zero out ZeroAngle
+  ExtendedRead(ChipSelectPin, 0x06, flagsAndZeroOffset);
+  flagsAndZeroOffset = (flagsAndZeroOffset & 0xFFFF0000);
+  ExtendedWrite(ChipSelectPin, 0x06, flagsAndZeroOffset);
+
+  // Get the current angle. It is now without the ZeroAngle correction
+  PrimaryRead(ChipSelectPin, 0x20, angle);
+
+  // Copy the read angle into location 0x5C preserving the flags
+  flagsAndZeroOffset = (flagsAndZeroOffset & 0xFFFF0000) | ((angle << 4) & 0x0000FFFF);
+  ExtendedWrite(ChipSelectPin, 0x06, flagsAndZeroOffset);
+  
+  /* uint16_t angle_read;
+  Serial.println("Init Complete");
+  PrimaryRead(ChipSelectPin, 0x20, angle_read);
+  Serial.print("Angle= ");
+  Serial.println(angle_read); */
+
+
+}
+
+void loop() {
+  uint16_t angle;
+    uint16_t temperature;
+    uint16_t fieldStrength;
+
+  // Every second, read the angle, temperature and field strength
+    if (nextTime < millis())
+    {
+        if (PrimaryRead(ChipSelectPin, 0x20, angle) == kNOERROR)
+    {
+            if (CalculateParity(angle))
+            {
+                Serial.print("Angle = ");
+                Serial.print((float)(angle & 0x0FFF) * 360.0 / 4096.0);
+                Serial.println(" Degrees");
+            }
+            else
+            {
+                Serial.println("Parity error on Angle read");
+            }
+    }
+    else
+    {
+      Serial.println("Unable to read Angle");
+    }
+
+        if (PrimaryRead(ChipSelectPin, 0x28, temperature) == kNOERROR)
+    {
+      Serial.print("Temperature = ");
+      Serial.print(((float)(temperature & 0x0FFF) / 8.0) - 273.15);
+      Serial.println(" C");
+    }
+    else
+    {
+      Serial.println("Unable to read Temperature");
+    }
+
+        if (PrimaryRead(ChipSelectPin, 0x2A, fieldStrength) == kNOERROR)
+    {
+      Serial.print("Field Strength = ");
+      Serial.print(fieldStrength & 0x0FFF);
+      Serial.println(" Gauss");
+    }
+    else
+    {
+      Serial.println("Unable to read Field Strength");
+    }
+
+        nextTime = millis() + 500L;
+
+    // Blink the LED every half second
+        if (ledOn)
+        {
+            digitalWrite(LEDPin, LOW);
+            ledOn = false;
+        }
+        else
+        {
+            digitalWrite(LEDPin, HIGH);
+            ledOn = true;
+        }
+    }
+}
+
+}