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Initial commit:
 - Add MagAlpha Class for SPI communication - Add MagAlphaSsi Class for SSI communication (use Arduino SPI interface to emulate the SSI interface) - Add various examples (SPI and SSI, Read angle, read/write registers, check parity bit)
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‎LICENSE

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MIT License
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Copyright (c) 2017 MPS Tech Switzerland LLC
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

‎README.md

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# MagAlpha-Arduino-Library
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# MagAlpha library
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Arduino library for the MPS MagAlpha magnetic angle sensor.
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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.
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For more information on the MagAlpha sensor family:
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* [MagAlpha Product Overview](http://www.monolithicpower.com/Products/Position-Sensors/Products-Overview)
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* [MagAlpha Support Materials](http://www.monolithicpower.com/Design-Support/Position-Sensors-Design-Support)
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Check [Arduino SPI library reference page](https://www.arduino.cc/en/Reference/SPI) for the SPI signal connections.
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| Warning |
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| ------- |
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| 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.|
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Written by Mathieu Kaelin for Monolithic Power Systems.
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MIT license, all text above must be included in any redistribution
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Place the MagAlpha library folder in your arduinosketchfolder/libraries/ folder.
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You may need to create the libraries subfolder if its your first library. Restart the IDE.
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You can also check this tutorial on Arduino library installation:
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* [All About Arduino Libraries](http://learn.adafruit.com/adafruit-all-about-arduino-libraries-install-use)

‎examples/edit-magalpha-config/edit-magalpha-config.ino

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#include <MagAlpha.h>
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//Check https://www.arduino.cc/en/reference/SPI for SPI signals connections
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#define UART_BAUDRATE 115200 //UART data rate in bits per second (baud)
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#define SPI_SCLK_FREQUENCY 10000000 //SPI SCLK Clock frequency in Hz
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#define SPI_CS_PIN 0 //SPI CS pin
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MagAlpha magAlpha;
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void setup() {
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// put your setup code here, to run once:
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//Set the SPI SCLK frequency, SPI Mode and CS pin
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magAlpha.begin(SPI_SCLK_FREQUENCY, MA_SPI_MODE_3, SPI_CS_PIN);
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//Set the Serial Communication used to report the angle
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Serial.begin(UART_BAUDRATE);
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}
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void loop() {
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// put your main code here, to run repeatedly:
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//========================================================================
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//Read the angle using different methods
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//========================================================================
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double angle;
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uint16_t angleRaw16;
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uint8_t angleRaw8;
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Serial.println("Read Angle using differents methods:");
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//Read the angle in degree (Read 16-bit raw angle value and then convert it to the 0-360 degree range)
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angle = magAlpha.readAngle();
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Serial.print(" magAlpha.readAngle() = ");
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Serial.println(angle, 3);
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//Read the angle (16-bit raw angle value)
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angleRaw16 = magAlpha.readAngleRaw();
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Serial.print(" magAlpha.readAngleRaw() = ");
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Serial.println(angleRaw16, DEC);
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//Read the angle (16-bit raw angle value), equivalent to magAlpha.readAngleRaw() function
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angleRaw16 = magAlpha.readAngleRaw16();
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Serial.print(" magAlpha.readAngleRaw16() = ");
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Serial.println(angleRaw16, DEC);
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//Read the angle (8-bit raw angle value)
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angleRaw8 = magAlpha.readAngleRaw8();
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Serial.print(" magAlpha.readAngleRaw8() = ");
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Serial.println(angleRaw8, DEC);
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//Read the angle (16-bit raw angle value) and check the parity bit to detect possible communication error
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bool error;
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angleRaw16 = magAlpha.readAngleRaw16(&error);
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Serial.print(" magAlpha.readAngleRaw16(&error) = ");
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Serial.print(angleRaw16, DEC);
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if (error == true){
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Serial.print("\t => Communication error detected");
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}
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else{
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Serial.print("\t => Operation Succeed");
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}
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Serial.println();
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//========================================================================
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//Read the zero settings in register 0 and 1
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//========================================================================
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uint8_t readbackRegister0Value, readbackRegister1Value;
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//Read MagAlpha Gen3 Zero Settings (Registers 0 and 1
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readbackRegister0Value = magAlpha.readRegister(0);
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readbackRegister1Value = magAlpha.readRegister(1);
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Serial.println("Read Zero Setting:");
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Serial.print(" Read Register[0] = 0x");
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Serial.println(readbackRegister0Value, HEX);
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Serial.print(" Read Register[1] = 0x");
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Serial.println(readbackRegister1Value, HEX);
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//========================================================================
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//Write MagAlpha Gen3 Zero Settings with value 0x7FFF (Registers 0 and 1)
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//========================================================================
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readbackRegister0Value = magAlpha.writeRegister(0, 0xFF);
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readbackRegister1Value = magAlpha.writeRegister(1, 0x7F);
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Serial.println("Write Zero Setting:");
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Serial.print(" Write Register[0] = 0x");
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Serial.println(readbackRegister0Value, HEX);
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Serial.print(" Write Register[1] = 0x");
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Serial.println(readbackRegister1Value, HEX);
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if ((readbackRegister0Value == 0xFF) && (readbackRegister1Value == 0x7F))
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{
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Serial.println(" Write Process Succeed");
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}
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else
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{
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Serial.println(" Write Process Fail");
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}
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//========================================================================
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//Change MagAlpha Gen3 Rotation Direction (Register 9, bit 7)
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//========================================================================
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uint8_t readbackRegister9Value;
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//Read register 9 and toggle RD state
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readbackRegister9Value = magAlpha.readRegister(9);
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if ((readbackRegister9Value & 0x80) == 0){
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//Set RD to 1
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magAlpha.writeRegister(9, 0x80);
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}
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else{
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//Set RD to 0
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magAlpha.writeRegister(9, 0x00);
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}
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Serial.println("Write Rotation Direction Setting:");
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Serial.print(" Write Register[9] = 0x");
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Serial.println(readbackRegister9Value, HEX);
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}

‎examples/read-magalpha-angle-and-error/read-magalpha-angle-and-error.ino

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#include <MagAlpha.h>
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//Check https://www.arduino.cc/en/reference/SPI for SPI signals connections
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#define UART_BAUDRATE 115200 //UART data rate in bits per second (baud)
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#define SPI_SCLK_FREQUENCY 10000000 //SPI SCLK Clock frequency in Hz
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#define SPI_CS_PIN 0 //SPI CS pin
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MagAlpha magAlpha;
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void setup() {
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// put your setup code here, to run once:
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//Set the SPI SCLK frequency, SPI Mode and CS pin
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magAlpha.begin(SPI_SCLK_FREQUENCY, MA_SPI_MODE_3, SPI_CS_PIN);
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//Set the Serial Communication used to report the angle
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Serial.begin(UART_BAUDRATE);
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}
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void loop() {
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// put your main code here, to run repeatedly:
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uint16_t angleRaw16;
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bool error;
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//Read the angle
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angleRaw16 = magAlpha.readAngleRaw(&error);
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Serial.print(angleRaw16, DEC);
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if (error){
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Serial.print("\t => Communication Error Detected");
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}
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else{
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Serial.print("\t => Communication Succeeded");
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}
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Serial.println();
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//Wait before the next angle measurement (not needed by the sensor, only targeted to make the output easier to read)
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delay(25);
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}

‎examples/read-magalpha-angle-with-ssi-and-error/read-magalpha-angle-with-ssi-and-error.ino

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#include <MagAlpha.h>
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//Check https://www.arduino.cc/en/reference/SPI for SPI signals connections
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//Connect SSI SSCK to SPI SCLK signal
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//Connect SSI SSD to SPI MISO signal
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#define UART_BAUDRATE 115200 //UART data rate in bits per second (baud)
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#define SSI_SSCK_FREQUENCY 1000000 //SSI SSCK Clock frequency in Hz
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MagAlphaSSI magAlphaSsi;
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void setup() {
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// put your setup code here, to run once:
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//Set the SSI SSCK frequency
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magAlphaSsi.begin(SSI_SSCK_FREQUENCY);
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//Set the Serial Communication used to report the angle
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Serial.begin(UART_BAUDRATE);
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}
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void loop() {
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// put your main code here, to run repeatedly:
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uint16_t angleRaw16;
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bool error;
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//Read the angle
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angleRaw16 = magAlphaSsi.readAngleRaw(&error);
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Serial.print(angleRaw16, DEC);
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if (error){
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Serial.print("\t => Communication Error Detected");
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}
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else{
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Serial.print("\t => Communication Succeeded");
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}
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Serial.println();
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//Wait before the next angle measurement (not needed by the sensor, only targeted to make the output easier to read)
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delay(25);
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}

‎examples/read-magalpha-angle-with-ssi/read-magalpha-angle-with-ssi.ino

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#include <MagAlpha.h>
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//Check https://www.arduino.cc/en/reference/SPI for SPI signals connections
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//Connect SSI SSCK to SPI SCLK signal
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//Connect SSI SSD to SPI MISO signal
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#define UART_BAUDRATE 115200 //UART data rate in bits per second (baud)
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#define SSI_SSCK_FREQUENCY 1000000 //SSI SSCK Clock frequency in Hz
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MagAlphaSSI magAlphaSsi;
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void setup() {
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// put your setup code here, to run once:
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//Set the SSI SSCK frequency
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magAlphaSsi.begin(SSI_SSCK_FREQUENCY);
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//Set the Serial Communication used to report the angle
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Serial.begin(UART_BAUDRATE);
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}
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void loop() {
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// put your main code here, to run repeatedly:
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double angle;
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//Read the angle
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angle = magAlphaSsi.readAngle();
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Serial.println(angle, 3);
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//Wait before the next angle measurement (not needed by the sensor, only targeted to make the output easier to read)
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delay(25);
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}

‎examples/read-magalpha-angle/read-magalpha-angle.ino

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#include <MagAlpha.h>
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//Check https://www.arduino.cc/en/reference/SPI for SPI signals connections
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#define UART_BAUDRATE 115200 //UART data rate in bits per second (baud)
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#define SPI_SCLK_FREQUENCY 10000000 //SPI SCLK Clock frequency in Hz
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#define SPI_CS_PIN 0 //SPI CS pin
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MagAlpha magAlpha;
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void setup() {
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// put your setup code here, to run once:
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//Set the SPI SCLK frequency, SPI Mode and CS pin
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magAlpha.begin(SPI_SCLK_FREQUENCY, MA_SPI_MODE_3, SPI_CS_PIN);
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//Set the Serial Communication used to report the angle
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Serial.begin(UART_BAUDRATE);
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}
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void loop() {
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// put your main code here, to run repeatedly:
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double angle;
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//Read the angle
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angle = magAlpha.readAngle();
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Serial.println(angle, 3);
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//Wait before the next angle measurement (not needed by the sensor, only targeted to make the output easier to read)
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delay(25);
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}

‎keywords.txt

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#######################################
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# Syntax Coloring Map For MagAlpha-Library
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#######################################
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#######################################
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# Datatypes (KEYWORD1)
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#######################################
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MagAlpha KEYWORD1
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MagAlphaSSI KEYWORD1
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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begin KEYWORD2
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end KEYWORD2
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readAngle KEYWORD2
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readAngleRaw KEYWORD2
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readAngleRaw16 KEYWORD2
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readAngleRaw8 KEYWORD2
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readRegister KEYWORD2
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writeRegister KEYWORD2
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setSpiClockFrequency KEYWORD2
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setSpiDataMode KEYWORD2
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setSpiChipSelectPin KEYWORD2
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convertRawAngleToDegree KEYWORD2
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setSsiClockFrequency KEYWORD2
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#######################################
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# Instances (KEYWORD2)
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#######################################
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magAlpha KEYWORD2
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magAlphaSsi KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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MA_SPI_MODE_0 LITERAL1
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MA_SPI_MODE_3 LITERAL1

‎library.properties

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name=MagAlpha Angle Sensor Library
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version=1.0.0
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author=Mathieu Kaelin, Monolithic Power Systems <sensors@monolithicpower.com>
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maintainer=Mathieu Kaelin <sensors@monolithicpower.com>
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sentence=Arduino library for the MPS MagAlpha magnetic angle sensor.
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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.
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category=Sensors
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url=https://github.com/monolithicpower/MagAlpha-Arduino-Library
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architectures=*
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includes=SPI.h

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