From 645aa88983963a14cb87e30dba9cd98658e7f93c Mon Sep 17 00:00:00 2001
From: Tom <145493375+Kletternaut@users.noreply.github.com>
Date: Fri, 4 Apr 2025 22:28:15 +0200
Subject: [PATCH 1/3] Add files via upload

# Extended version of Matthias Wandel AS5600 example code:
# https://github.com/Matthias-Wandel/AS5600-Raspberry-Pi-Python/blob/master/as5600.py
#
# This extended version is for use with TCA9548A multiple(xer) AS5600 encoders
# https://www.ti.com/lit/ds/symlink/tca9548a.pdf
# https://www.mouser.com/pdfdocs/AMS_AS5600_Datasheet_EN.PDF
#
# Usage: python3 as5600_tca9548a.py <channel> or empty
# No given argument will disable TCA9548A switching and read from 0x36 directly
# channel is a number from 0 to 7, which will select the TCA9548A channel
#
# Very simple code to read AS5600 magnetic encoder with Python
# on raspberry pi
#
# Requires Python smbus module.  Get it using:
#     sudo apt-get install python3-smbus
#
# Make sure Pi's I2c is enabled using
#     sudo raspi-config
#
# Connect Pi's ground to GND and DIR pins
# Connect Pi's 3.3 volts to VCC on AS5600
# Connect Pi's I2c SCL (pin 5) to AS5600 SCL pin
# Connect Pi's I2c SDA (pin 5) to AS5600 SDA pin
#
# Watchout: use a level shifter if you are using 5V AS5600
# ======================================================================
# bash commands:
#
# read i2c-bus:                sudo i2cdetect -y 1
# set TCA9548A switching off:  sudo i2cset -y 1 0x70 0x00
#
# set TCA9548A channel-0:      sudo i2cset -y 1 0x70 0x01
# set TCA9548A channel-1:      sudo i2cset -y 1 0x70 0x02
#
# read AS5600 raw angle:       sudo i2cget -y 1 0x36 0x0C
# read AS5600 magnitude:       sudo i2cget -y 1 0x36 0x1B
---
 as5600_raspi_tca9548a.py | 144 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 144 insertions(+)
 create mode 100644 as5600_raspi_tca9548a.py

diff --git a/as5600_raspi_tca9548a.py b/as5600_raspi_tca9548a.py
new file mode 100644
index 0000000..0ef9261
--- /dev/null
+++ b/as5600_raspi_tca9548a.py
@@ -0,0 +1,144 @@
+#!/usr/bin/python3
+# Extended version of Matthias Wandel AS5600 example code:
+# https://github.com/Matthias-Wandel/AS5600-Raspberry-Pi-Python/blob/master/as5600.py
+#
+# This extended version is for use with TCA9548A multiple(xer) AS5600 encoders
+# https://www.ti.com/lit/ds/symlink/tca9548a.pdf
+# https://www.mouser.com/pdfdocs/AMS_AS5600_Datasheet_EN.PDF
+#
+# Usage: python3 as5600_tca9548a.py <channel> or empty
+# No given argument will disable TCA9548A switching and read from 0x36 directly
+# channel is a number from 0 to 7, which will select the TCA9548A channel
+#
+# Very simple code to read AS5600 magnetic encoder with Python
+# on raspberry pi
+#
+# Requires Python smbus module.  Get it using:
+#     sudo apt-get install python3-smbus
+#
+# Make sure Pi's I2c is enabled using
+#     sudo raspi-config
+#
+# Connect Pi's ground to GND and DIR pins
+# Connect Pi's 3.3 volts to VCC on AS5600
+# Connect Pi's I2c SCL (pin 5) to AS5600 SCL pin
+# Connect Pi's I2c SDA (pin 5) to AS5600 SDA pin
+#
+# Watchout: use a level shifter if you are using 5V AS5600
+# ======================================================================
+# bash commands:
+#
+# read i2c-bus:                sudo i2cdetect -y 1
+# set TCA9548A switching off:  sudo i2cset -y 1 0x70 0x00
+#
+# set TCA9548A channel-0:      sudo i2cset -y 1 0x70 0x01
+# set TCA9548A channel-1:      sudo i2cset -y 1 0x70 0x02
+#
+# read AS5600 raw angle:       sudo i2cget -y 1 0x36 0x0C
+# read AS5600 magnitude:       sudo i2cget -y 1 0x36 0x1B
+
+import smbus, time, sys, math
+
+DEVICE_TCA9548A = 0x70  # TCA9548A default address (0x70-0x77)
+DEVICE_AS5600 = 0x36    # AS5600 fixed address, AS5600L version is changeable
+bus = smbus.SMBus(1)
+
+# function TCA9548A channel switching
+def SelectTCAChannel(channel):
+    if channel < 0 or channel > 7:
+        raise ValueError("channel must be between 0 and 7 ")
+    bus.write_byte(DEVICE_TCA9548A, 1 << channel)
+
+#=====================================================================
+# Code to read AS5600.  x lines of python is all it takes.
+def ReadRawAngle(): # Read angle (0-360 represented as 0-4096)
+    read_bytes = bus.read_i2c_block_data(DEVICE_AS5600, 0x0C, 2)
+    return (read_bytes[0] << 8) | read_bytes[1]
+
+def ReadMagnitude(): # Read magnetism magnitude
+    read_bytes = bus.read_i2c_block_data(DEVICE_AS5600, 0x1B, 2)
+    return (read_bytes[0] << 8) | read_bytes[1]
+
+#=====================================================================
+xcenter = 40  # Assume center of text screen is 80 across, 24 down.
+ycenter = 12  # if your screen is 80x50, change to 40 and 25.
+
+def MoveCursor(x, y):
+    print("\033[%d;%dH" % (y, x), end="")
+
+# if there is a command line argument, it is the TCA9548A channel
+# and the TCA9548A switching is activated
+try:
+    if len(sys.argv) != 2:
+        print("no channel given, direct access to AS5600")
+        #DisableTCAChannels()
+        current_channel = None  # no channel
+    else:
+        current_channel = int(sys.argv[1])
+        if current_channel < 0 or current_channel > 7:
+            raise ValueError
+        SelectTCAChannel(current_channel)
+except ValueError:
+    print("error: channel must be between 0 and 7")
+    sys.exit(1)
+
+# Clear screen
+print("\033[2J", end="")
+
+# Draw x and y axis on screen
+for a in range(-ycenter, ycenter):
+    MoveCursor(xcenter, ycenter + a)
+    print("|", end="")
+
+for a in range(-xcenter, xcenter):
+    MoveCursor(xcenter + a, ycenter)
+    print("-")
+
+histlen = 400
+hist_index = 0
+hist = [(0, 0)] * histlen
+
+# TCA9548A-channel switching
+if current_channel is not None:
+    SelectTCAChannel(current_channel)
+
+while True:
+    # read
+    try:
+        raw_angle = ReadRawAngle()
+        magnitude = ReadMagnitude()
+
+        MoveCursor(0, 0)
+        if current_channel is not None:
+            print("Multiplexer Channel: %d | Raw angle: %4d" % (current_channel, raw_angle), "m=%4d" % (magnitude), "%6.2f deg  " % (raw_angle * 360.0 / 4096))
+        else:
+            print("Direct Access. Raw angle: %4d" % (raw_angle), "m=%4d" % (magnitude), "%6.2f deg  " % (raw_angle * 360.0 / 4096))
+
+        # X- und Y-Position berechnen und auf dem Bildschirm darstellen
+        xymag = magnitude / 1024.0
+        cx = int(xcenter + xcenter * xymag * math.cos(raw_angle * math.pi / 2048))
+        cy = int(ycenter + ycenter * xymag * math.sin(raw_angle * math.pi / 2048))
+
+        # Alte Markierung löschen (bis zu 400 auf dem Bildschirm)
+        oldpos = hist[hist_index]
+        MoveCursor(*oldpos)
+        if oldpos[0] == xcenter:
+            print("|", end="")
+        elif oldpos[1] == ycenter:
+            print("-", end="")
+        else:
+            print(" ", end="")
+
+        # Save new mark positon in array
+        hist[hist_index] = (cx, cy)
+        hist_index += 1
+        if hist_index >= histlen:
+            hist_index = 0
+
+        # Draw a '#' at the computed X,Y coordinate
+        MoveCursor(cx, cy)
+        print("#", end="")
+
+    except Exception as e:
+        MoveCursor(0, 0)
+        print(f"error while reading: {e}", end="")

From 9cab5221f52369b06b1cbf01bcf0fcb6d45cd3f0 Mon Sep 17 00:00:00 2001
From: Tom <145493375+Kletternaut@users.noreply.github.com>
Date: Fri, 4 Apr 2025 22:35:19 +0200
Subject: [PATCH 2/3] Delete as5600_raspi_tca9548a.py

---
 as5600_raspi_tca9548a.py | 144 ---------------------------------------
 1 file changed, 144 deletions(-)
 delete mode 100644 as5600_raspi_tca9548a.py

diff --git a/as5600_raspi_tca9548a.py b/as5600_raspi_tca9548a.py
deleted file mode 100644
index 0ef9261..0000000
--- a/as5600_raspi_tca9548a.py
+++ /dev/null
@@ -1,144 +0,0 @@
-#!/usr/bin/python3
-# Extended version of Matthias Wandel AS5600 example code:
-# https://github.com/Matthias-Wandel/AS5600-Raspberry-Pi-Python/blob/master/as5600.py
-#
-# This extended version is for use with TCA9548A multiple(xer) AS5600 encoders
-# https://www.ti.com/lit/ds/symlink/tca9548a.pdf
-# https://www.mouser.com/pdfdocs/AMS_AS5600_Datasheet_EN.PDF
-#
-# Usage: python3 as5600_tca9548a.py <channel> or empty
-# No given argument will disable TCA9548A switching and read from 0x36 directly
-# channel is a number from 0 to 7, which will select the TCA9548A channel
-#
-# Very simple code to read AS5600 magnetic encoder with Python
-# on raspberry pi
-#
-# Requires Python smbus module.  Get it using:
-#     sudo apt-get install python3-smbus
-#
-# Make sure Pi's I2c is enabled using
-#     sudo raspi-config
-#
-# Connect Pi's ground to GND and DIR pins
-# Connect Pi's 3.3 volts to VCC on AS5600
-# Connect Pi's I2c SCL (pin 5) to AS5600 SCL pin
-# Connect Pi's I2c SDA (pin 5) to AS5600 SDA pin
-#
-# Watchout: use a level shifter if you are using 5V AS5600
-# ======================================================================
-# bash commands:
-#
-# read i2c-bus:                sudo i2cdetect -y 1
-# set TCA9548A switching off:  sudo i2cset -y 1 0x70 0x00
-#
-# set TCA9548A channel-0:      sudo i2cset -y 1 0x70 0x01
-# set TCA9548A channel-1:      sudo i2cset -y 1 0x70 0x02
-#
-# read AS5600 raw angle:       sudo i2cget -y 1 0x36 0x0C
-# read AS5600 magnitude:       sudo i2cget -y 1 0x36 0x1B
-
-import smbus, time, sys, math
-
-DEVICE_TCA9548A = 0x70  # TCA9548A default address (0x70-0x77)
-DEVICE_AS5600 = 0x36    # AS5600 fixed address, AS5600L version is changeable
-bus = smbus.SMBus(1)
-
-# function TCA9548A channel switching
-def SelectTCAChannel(channel):
-    if channel < 0 or channel > 7:
-        raise ValueError("channel must be between 0 and 7 ")
-    bus.write_byte(DEVICE_TCA9548A, 1 << channel)
-
-#=====================================================================
-# Code to read AS5600.  x lines of python is all it takes.
-def ReadRawAngle(): # Read angle (0-360 represented as 0-4096)
-    read_bytes = bus.read_i2c_block_data(DEVICE_AS5600, 0x0C, 2)
-    return (read_bytes[0] << 8) | read_bytes[1]
-
-def ReadMagnitude(): # Read magnetism magnitude
-    read_bytes = bus.read_i2c_block_data(DEVICE_AS5600, 0x1B, 2)
-    return (read_bytes[0] << 8) | read_bytes[1]
-
-#=====================================================================
-xcenter = 40  # Assume center of text screen is 80 across, 24 down.
-ycenter = 12  # if your screen is 80x50, change to 40 and 25.
-
-def MoveCursor(x, y):
-    print("\033[%d;%dH" % (y, x), end="")
-
-# if there is a command line argument, it is the TCA9548A channel
-# and the TCA9548A switching is activated
-try:
-    if len(sys.argv) != 2:
-        print("no channel given, direct access to AS5600")
-        #DisableTCAChannels()
-        current_channel = None  # no channel
-    else:
-        current_channel = int(sys.argv[1])
-        if current_channel < 0 or current_channel > 7:
-            raise ValueError
-        SelectTCAChannel(current_channel)
-except ValueError:
-    print("error: channel must be between 0 and 7")
-    sys.exit(1)
-
-# Clear screen
-print("\033[2J", end="")
-
-# Draw x and y axis on screen
-for a in range(-ycenter, ycenter):
-    MoveCursor(xcenter, ycenter + a)
-    print("|", end="")
-
-for a in range(-xcenter, xcenter):
-    MoveCursor(xcenter + a, ycenter)
-    print("-")
-
-histlen = 400
-hist_index = 0
-hist = [(0, 0)] * histlen
-
-# TCA9548A-channel switching
-if current_channel is not None:
-    SelectTCAChannel(current_channel)
-
-while True:
-    # read
-    try:
-        raw_angle = ReadRawAngle()
-        magnitude = ReadMagnitude()
-
-        MoveCursor(0, 0)
-        if current_channel is not None:
-            print("Multiplexer Channel: %d | Raw angle: %4d" % (current_channel, raw_angle), "m=%4d" % (magnitude), "%6.2f deg  " % (raw_angle * 360.0 / 4096))
-        else:
-            print("Direct Access. Raw angle: %4d" % (raw_angle), "m=%4d" % (magnitude), "%6.2f deg  " % (raw_angle * 360.0 / 4096))
-
-        # X- und Y-Position berechnen und auf dem Bildschirm darstellen
-        xymag = magnitude / 1024.0
-        cx = int(xcenter + xcenter * xymag * math.cos(raw_angle * math.pi / 2048))
-        cy = int(ycenter + ycenter * xymag * math.sin(raw_angle * math.pi / 2048))
-
-        # Alte Markierung löschen (bis zu 400 auf dem Bildschirm)
-        oldpos = hist[hist_index]
-        MoveCursor(*oldpos)
-        if oldpos[0] == xcenter:
-            print("|", end="")
-        elif oldpos[1] == ycenter:
-            print("-", end="")
-        else:
-            print(" ", end="")
-
-        # Save new mark positon in array
-        hist[hist_index] = (cx, cy)
-        hist_index += 1
-        if hist_index >= histlen:
-            hist_index = 0
-
-        # Draw a '#' at the computed X,Y coordinate
-        MoveCursor(cx, cy)
-        print("#", end="")
-
-    except Exception as e:
-        MoveCursor(0, 0)
-        print(f"error while reading: {e}", end="")

From 145c7e553addf5c33fcde550175b18eb7938f2b4 Mon Sep 17 00:00:00 2001
From: Tom <145493375+Kletternaut@users.noreply.github.com>
Date: Fri, 4 Apr 2025 22:40:58 +0200
Subject: [PATCH 3/3] Add files via upload

 Extended version of Matthias Wandel AS5600 example code:
 https://github.com/Matthias-Wandel/AS5600-Raspberry-Pi-Python/blob/master/as5600.py

 This extended version is for use with TCA9548A multiple(xer) AS5600 encoders
 https://www.ti.com/lit/ds/symlink/tca9548a.pdf
 https://www.mouser.com/pdfdocs/AMS_AS5600_Datasheet_EN.PDF

 Usage: python3 as5600_tca9548a.py <channel> or empty
 No given argument will disable TCA9548A switching and read from 0x36 directly
 channel is a number from 0 to 7, which will select the TCA9548A channel

 Very simple code to read AS5600 magnetic encoder with Python
 on raspberry pi

 Requires Python smbus module.  Get it using:
     sudo apt-get install python3-smbus

 Make sure Pi's I2c is enabled using
     sudo raspi-config

 Connect Pi's ground to GND and DIR pins
 Connect Pi's 3.3 volts to VCC on AS5600
 Connect Pi's I2c SCL (pin 5) to AS5600 SCL pin
 Connect Pi's I2c SDA (pin 5) to AS5600 SDA pin

 Watchout: use a level shifter if you are using 5V AS5600
 ======================================================================
 bash commands:

 read i2c-bus:                sudo i2cdetect -y 1
 set TCA9548A switching off:  sudo i2cset -y 1 0x70 0x00

 set TCA9548A channel-0:      sudo i2cset -y 1 0x70 0x01
 set TCA9548A channel-1:      sudo i2cset -y 1 0x70 0x02

 read AS5600 raw angle:       sudo i2cget -y 1 0x36 0x0C
 read AS5600 magnitude:       sudo i2cget -y 1 0x36 0x1B
---
 as5600_tca9548a.py | 144 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 144 insertions(+)
 create mode 100644 as5600_tca9548a.py

diff --git a/as5600_tca9548a.py b/as5600_tca9548a.py
new file mode 100644
index 0000000..0ef9261
--- /dev/null
+++ b/as5600_tca9548a.py
@@ -0,0 +1,144 @@
+#!/usr/bin/python3
+# Extended version of Matthias Wandel AS5600 example code:
+# https://github.com/Matthias-Wandel/AS5600-Raspberry-Pi-Python/blob/master/as5600.py
+#
+# This extended version is for use with TCA9548A multiple(xer) AS5600 encoders
+# https://www.ti.com/lit/ds/symlink/tca9548a.pdf
+# https://www.mouser.com/pdfdocs/AMS_AS5600_Datasheet_EN.PDF
+#
+# Usage: python3 as5600_tca9548a.py <channel> or empty
+# No given argument will disable TCA9548A switching and read from 0x36 directly
+# channel is a number from 0 to 7, which will select the TCA9548A channel
+#
+# Very simple code to read AS5600 magnetic encoder with Python
+# on raspberry pi
+#
+# Requires Python smbus module.  Get it using:
+#     sudo apt-get install python3-smbus
+#
+# Make sure Pi's I2c is enabled using
+#     sudo raspi-config
+#
+# Connect Pi's ground to GND and DIR pins
+# Connect Pi's 3.3 volts to VCC on AS5600
+# Connect Pi's I2c SCL (pin 5) to AS5600 SCL pin
+# Connect Pi's I2c SDA (pin 5) to AS5600 SDA pin
+#
+# Watchout: use a level shifter if you are using 5V AS5600
+# ======================================================================
+# bash commands:
+#
+# read i2c-bus:                sudo i2cdetect -y 1
+# set TCA9548A switching off:  sudo i2cset -y 1 0x70 0x00
+#
+# set TCA9548A channel-0:      sudo i2cset -y 1 0x70 0x01
+# set TCA9548A channel-1:      sudo i2cset -y 1 0x70 0x02
+#
+# read AS5600 raw angle:       sudo i2cget -y 1 0x36 0x0C
+# read AS5600 magnitude:       sudo i2cget -y 1 0x36 0x1B
+
+import smbus, time, sys, math
+
+DEVICE_TCA9548A = 0x70  # TCA9548A default address (0x70-0x77)
+DEVICE_AS5600 = 0x36    # AS5600 fixed address, AS5600L version is changeable
+bus = smbus.SMBus(1)
+
+# function TCA9548A channel switching
+def SelectTCAChannel(channel):
+    if channel < 0 or channel > 7:
+        raise ValueError("channel must be between 0 and 7 ")
+    bus.write_byte(DEVICE_TCA9548A, 1 << channel)
+
+#=====================================================================
+# Code to read AS5600.  x lines of python is all it takes.
+def ReadRawAngle(): # Read angle (0-360 represented as 0-4096)
+    read_bytes = bus.read_i2c_block_data(DEVICE_AS5600, 0x0C, 2)
+    return (read_bytes[0] << 8) | read_bytes[1]
+
+def ReadMagnitude(): # Read magnetism magnitude
+    read_bytes = bus.read_i2c_block_data(DEVICE_AS5600, 0x1B, 2)
+    return (read_bytes[0] << 8) | read_bytes[1]
+
+#=====================================================================
+xcenter = 40  # Assume center of text screen is 80 across, 24 down.
+ycenter = 12  # if your screen is 80x50, change to 40 and 25.
+
+def MoveCursor(x, y):
+    print("\033[%d;%dH" % (y, x), end="")
+
+# if there is a command line argument, it is the TCA9548A channel
+# and the TCA9548A switching is activated
+try:
+    if len(sys.argv) != 2:
+        print("no channel given, direct access to AS5600")
+        #DisableTCAChannels()
+        current_channel = None  # no channel
+    else:
+        current_channel = int(sys.argv[1])
+        if current_channel < 0 or current_channel > 7:
+            raise ValueError
+        SelectTCAChannel(current_channel)
+except ValueError:
+    print("error: channel must be between 0 and 7")
+    sys.exit(1)
+
+# Clear screen
+print("\033[2J", end="")
+
+# Draw x and y axis on screen
+for a in range(-ycenter, ycenter):
+    MoveCursor(xcenter, ycenter + a)
+    print("|", end="")
+
+for a in range(-xcenter, xcenter):
+    MoveCursor(xcenter + a, ycenter)
+    print("-")
+
+histlen = 400
+hist_index = 0
+hist = [(0, 0)] * histlen
+
+# TCA9548A-channel switching
+if current_channel is not None:
+    SelectTCAChannel(current_channel)
+
+while True:
+    # read
+    try:
+        raw_angle = ReadRawAngle()
+        magnitude = ReadMagnitude()
+
+        MoveCursor(0, 0)
+        if current_channel is not None:
+            print("Multiplexer Channel: %d | Raw angle: %4d" % (current_channel, raw_angle), "m=%4d" % (magnitude), "%6.2f deg  " % (raw_angle * 360.0 / 4096))
+        else:
+            print("Direct Access. Raw angle: %4d" % (raw_angle), "m=%4d" % (magnitude), "%6.2f deg  " % (raw_angle * 360.0 / 4096))
+
+        # X- und Y-Position berechnen und auf dem Bildschirm darstellen
+        xymag = magnitude / 1024.0
+        cx = int(xcenter + xcenter * xymag * math.cos(raw_angle * math.pi / 2048))
+        cy = int(ycenter + ycenter * xymag * math.sin(raw_angle * math.pi / 2048))
+
+        # Alte Markierung löschen (bis zu 400 auf dem Bildschirm)
+        oldpos = hist[hist_index]
+        MoveCursor(*oldpos)
+        if oldpos[0] == xcenter:
+            print("|", end="")
+        elif oldpos[1] == ycenter:
+            print("-", end="")
+        else:
+            print(" ", end="")
+
+        # Save new mark positon in array
+        hist[hist_index] = (cx, cy)
+        hist_index += 1
+        if hist_index >= histlen:
+            hist_index = 0
+
+        # Draw a '#' at the computed X,Y coordinate
+        MoveCursor(cx, cy)
+        print("#", end="")
+
+    except Exception as e:
+        MoveCursor(0, 0)
+        print(f"error while reading: {e}", end="")