HallSensor.h

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#ifndef HALL_SENSOR_LIB_H
#define HALL_SENSOR_LIB_H
 
#include "Arduino.h"
#include "../common/base_classes/Sensor.h"
#include "../common/foc_utils.h"
#include "../common/time_utils.h"
 
// seq 1 > 5 > 4 > 6 > 2 > 3 > 1     000 001 010 011 100 101 110 111
const int8_t ELECTRIC_SECTORS[8] = { -1,  0,  4,  5,  2,  1,  3 , -1 };
 
class HallSensor: public Sensor{
 public:
    HallSensor(int encA, int encB, int encC, int pp);
 
    void init();
    void enableInterrupts(void (*doA)() = nullptr, void(*doB)() = nullptr, void(*doC)() = nullptr);
    
    //  HallSensor interrupt callback functions
    void handleA();
    void handleB();
    void handleC();
    
    
    // pins A and B
    int pinA; 
    int pinB; 
    int pinC; 
 
    // HallSensor configuration
    Pullup pullup; 
    float cpr;
 
    // Abstract functions of the Sensor class implementation
    float getAngle() override;
    float getVelocity() override;
 
    // whether last step was CW (+1) or CCW (-1).  
    Direction direction;
 
    void attachSectorCallback(void (*onSectorChange)(int a) = nullptr);
 
    // the current 3bit state of the hall sensors
    volatile int8_t hall_state;
    // the current sector of the sensor. Each sector is 60deg electrical
    volatile int8_t electric_sector;
    // the number of electric rotations
    volatile long electric_rotations;
    // this is sometimes useful to identify interrupt issues (e.g. weak or no pullup resulting in 1000s of interrupts)
    volatile long total_interrupts; 
 
  private:
    
    Direction decodeDirection(int oldState, int newState);
    void updateState();
 
    volatile long pulse_timestamp;
    volatile int A_active; 
    volatile int B_active; 
    volatile int C_active; 
 
    // function pointer for on sector change call back
    void (*onSectorChange)(int sector) = nullptr;
 
    volatile long pulse_diff;
    
};
 
 
#endif