NOTES.txt

Sensors
=======
Passive axis: AS5311 ring sensor
* 12 bit serial
* 10 bit quadrature (not used)
* Ring: AS5000-MR10-128 (128 pole ring magnet)
  => 64 pole pairs
  => 16/18 bit per full rev.

Passive axis: light barrier

Active axis: AS5311 ring sensor (see above)

Active axis: AS5045
* 12 bit serial
* No quadrature

Motor axis: AS5040
* 10 bit serial
* 10 bit quadrature

AS5045 non-linearity (see datasheet section 17)
* better than +- 0.5 deg (ideal)
* better than +- 1.4 deg (process tolerances, temperature, 0.25mm misalignment)

Commands
========



Timing
======

PWM timer: TIM1 (clock: 168 MHz (?))
Prescaler: 2
Period: 1 << 11 = 2048
Up/Downcounting mode

One half-period: 24.38 µs (41 kHz)


AS5040 sample rate: 10.42 ksps

Data transfer rate: 2.5 Mbps