InlineCurrentSense.h

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#ifndef INLINE_CS_LIB_H
#define INLINE_CS_LIB_H
 
#include "Arduino.h"
#include "../common/foc_utils.h"
#include "../common/time_utils.h"
#include "../common/base_classes/CurrentSense.h"
#include "hardware_api.h"
 
 
class InlineCurrentSense: public CurrentSense{
  public:
    InlineCurrentSense(float shunt_resistor, float gain, int pinA, int pinB, int pinC = NOT_SET);
 
    // CurrentSense interface implementing functions 
    void init() override;
    PhaseCurrent_s getPhaseCurrents() override;
    int driverSync(BLDCDriver *driver) override;
    int driverAlign(BLDCDriver *driver, float voltage) override;
 
    // ADC measuremnet gain for each phase
    // support for different gains for different phases of more commonly - inverted phase currents
    // this should be automated later
   int gain_a; 
   int gain_b; 
   int gain_c; 
 
  private:
 
    // hardware variables
   int pinA; 
   int pinB; 
   int pinC; 
 
    // gain variables
    double shunt_resistor; 
    double amp_gain; 
    double volts_to_amps_ratio; 
    
    void calibrateOffsets();
    double offset_ia; 
    double offset_ib; 
    double offset_ic; 
 
};
 
#endif