add encoder calibration demo

examples/i2c/encoder_calibration/encoder_calibration.ino

@@ -0,0 +1,57 @@
+/*
+ *SPDX-FileCopyrightText: 2024 M5Stack Technology CO LTD
+ *
+ *SPDX-License-Identifier: MIT
+ */
+#include "unit_rolleri2c.hpp"
+#include <M5Unified.h>
+
+#define ROLLER_CALIBRATION_DELAY 10000
+
+UnitRollerI2C RollerI2C;  // Create a UNIT_ROLLERI2C object
+
+uint8_t is_roller_valid             = 0;
+uint8_t is_roller_calibrated        = 0;
+uint32_t roller_start_delay_counter = 0;
+
+void setup()
+{
+    M5.begin();
+    if (RollerI2C.begin(&Wire, 0x64, 21, 22, 400000)) {
+        is_roller_valid            = 1;
+        roller_start_delay_counter = millis();
+    }
+}
+
+void loop()
+{
+    if (is_roller_valid) {
+        if (millis() - roller_start_delay_counter < ROLLER_CALIBRATION_DELAY) {
+            printf("Calibration will start after %dS\n",
+                   (roller_start_delay_counter - (millis() - roller_start_delay_counter)) / 1000);
+        } else {
+            if (!is_roller_calibrated) {
+                printf("Start encoder calibration\n");
+                RollerI2C.setOutput(0);
+                delay(100);
+                RollerI2C.startAngleCal();
+                delay(100);
+                printf("Calibrationing...\n");
+                while (RollerI2C.getCalBusyStatus()) {
+                    printf("Calibrationing...\n");
+                }
+                RollerI2C.updateAngleCal();
+                printf("Encoder calibration done\n");
+                delay(500);
+                RollerI2C.setOutput(0);
+                RollerI2C.setMode(ROLLER_MODE_SPEED);
+                RollerI2C.setSpeed(240000);
+                RollerI2C.setSpeedMaxCurrent(100000);
+                RollerI2C.setOutput(1);
+                is_roller_calibrated = 1;
+            }
+        }
+    } else {
+        printf("No roller485 dectected\n");
+    }
+}

src/unit_roller_common.hpp

@@ -259,6 +259,27 @@ typedef enum {
  */
 #define I2C_ADDRESS_REG (0xFF)
 
+/**
+ * @brief Start Angle Calibration Register.
+ *
+ * This is an internal factory register that is used to initiate the calibration process for the magnetic encoder.
+ */
+#define START_ANGLE_CAL_REG (0xF1)
+
+/**
+ * @brief Update Angle Calibration Register.
+ *
+ * This is an internal factory register used to update the calibration value of the magnetic encoder.
+ */
+#define UPDATE_ANGLE_CAL_REG (0xF2)
+
+/**
+ * @brief Get Angle Calibration Status Register.
+ *
+ * This is an internal factory register used to retrieve the calibration status of the magnetic encoder.
+ */
+#define GET_ANGLE_BUSY_REG (0xF3)
+
 extern bool mutexLocked;
 
 void acquireMutex();

src/unit_rolleri2c.cpp

@@ -251,6 +251,29 @@ uint8_t UnitRollerI2C::setI2CAddress(uint8_t addr)
     return _addr;
 }
 
+void UnitRollerI2C::startAngleCal(void)
+{
+    uint8_t temp = 1;
+    uint8_t reg  = START_ANGLE_CAL_REG;
+    writeBytes(_addr, reg, (uint8_t *)&temp, 1);
+}
+
+void UnitRollerI2C::updateAngleCal(void)
+{
+    uint8_t temp = 1;
+    uint8_t reg  = UPDATE_ANGLE_CAL_REG;
+    writeBytes(_addr, reg, (uint8_t *)&temp, 1);
+}
+
+uint8_t UnitRollerI2C::getCalBusyStatus(void)
+{
+    uint8_t temp = 0;
+    uint8_t reg  = GET_ANGLE_BUSY_REG;
+    readBytes(_addr, reg, (uint8_t *)&temp, 1);
+
+    return temp;
+}
+
 void UnitRollerI2C::getSpeedPID(uint32_t *p, uint32_t *i, uint32_t *d)
 {
     uint8_t data[12];

src/unit_rolleri2c.hpp

@@ -450,6 +450,44 @@ class UnitRollerI2C {
      */
     uint8_t setI2CAddress(uint8_t addr);
 
+    /**
+     * @brief Start the encoder calibration process.
+     *
+     * This is an internal factory command that
+     * is used to initiate the calibration process for the magnetic encoder.
+     *
+     *
+     * @note Ensure that I2C communication has been properly initialized
+     *       before calling this function.
+     */
+    void startAngleCal(void);
+
+    /**
+     * @brief Update the encoder calibration value to the UnitRollerI2C device.
+     *
+     * This is an internal factory command
+     * used to update the calibration value of the magnetic encoder.
+     *
+     *
+     * @note Ensure that I2C communication has been properly initialized
+     *       before calling this function.
+     */
+    void updateAngleCal(void);
+
+    /**
+     * @brief Retrieves the status of calibrating the magnetic encoder.
+     *
+     * This is an internal factory command
+     * used to retrieve the calibration status of the magnetic encoder.
+     *
+     * @return uint8_t 1 Calibrating
+     *                 0 Not calibrated
+     *
+     * @note Ensure that I2C communication has been properly initialized
+     *       before calling this function.
+     */
+    uint8_t getCalBusyStatus(void);
+
     /**
      * @brief Retrieves the Speed PID parameters from the UnitRollerI2C device.
      *