#include <HallSensor.h>

Inheritance diagram for HallSensor:

Public Member Functions
	HallSensor (int encA, int encB, int encC, int pp)

void	init ()

void	enableInterrupts (void(doA)()=nullptr, void(doB)()=nullptr, void(*doC)()=nullptr)

void	handleA ()

void	handleB ()

void	handleC ()

float	getAngle () override

float	getVelocity () override

void	attachSectorCallback (void(*onSectorChange)(int a)=nullptr)

Public Member Functions inherited from Sensor
virtual int	needsSearch ()

Public Attributes
int	pinA
	HallSensor hardware pin A. More...

int	pinB
	HallSensor hardware pin B. More...

int	pinC
	HallSensor hardware pin C. More...

Pullup	pullup
	Configuration parameter internal or external pullups. More...

float	cpr
	HallSensor cpr number. More...

Direction	direction

volatile int8_t	hall_state

volatile int8_t	electric_sector

volatile long	electric_rotations

volatile long	total_interrupts

Detailed Description

Definition at line 12 of file HallSensor.h.

Constructor & Destructor Documentation

◆ HallSensor()

HallSensor::HallSensor	(	int	encA,
		int	encB,
		int	encC,
		int	pp
	)

HallSensor class constructor

Parameters

encA	HallSensor A pin
encB	HallSensor B pin
encC	HallSensor C pin
pp	pole pairs (e.g hoverboard motor has 15pp and small gimbals often have 7pp)
index	index pin number (optional input)

Definition at line 9 of file HallSensor.cpp.

Member Function Documentation

◆ attachSectorCallback()

void HallSensor::attachSectorCallback ( void(*)(int a) onSectorChange = nullptr )

Optionally set a function callback to be fired when sector changes void onSectorChange(int sector) { ... // for debug or call driver directly? } sensor.attachSectorCallback(onSectorChange);

Definition at line 91 of file HallSensor.cpp.

◆ enableInterrupts()

void HallSensor::enableInterrupts	(	void(*)()	doA = `nullptr`,
		void(*)()	doB = `nullptr`,
		void(*)()	doC = `nullptr`
	)

function enabling hardware interrupts for the HallSensor channels with provided callback functions if callback is not provided then the interrupt is not enabled

Parameters

doA	pointer to the A channel interrupt handler function
doB	pointer to the B channel interrupt handler function
doIndex	pointer to the Index channel interrupt handler function

Definition at line 144 of file HallSensor.cpp.

◆ getAngle()

float HallSensor::getAngle ( )

overridevirtual

get current angle (rad)

Implements Sensor.

Definition at line 98 of file HallSensor.cpp.

◆ getVelocity()

float HallSensor::getVelocity ( )

overridevirtual

get current angular velocity (rad/s)

Reimplemented from Sensor.

Definition at line 106 of file HallSensor.cpp.

◆ handleA()

void HallSensor::handleA ( )

A channel callback function

Definition at line 25 of file HallSensor.cpp.

◆ handleB()

void HallSensor::handleB ( )

B channel callback function

Definition at line 30 of file HallSensor.cpp.

◆ handleC()

void HallSensor::handleC ( )

C channel callback function

Definition at line 36 of file HallSensor.cpp.

◆ init()

void HallSensor::init ( )

HallSensor initialise pins

Definition at line 117 of file HallSensor.cpp.

Member Data Documentation

◆ cpr

float HallSensor::cpr

HallSensor cpr number.

Definition at line 53 of file HallSensor.h.

◆ direction

Direction HallSensor::direction

Definition at line 62 of file HallSensor.h.

◆ electric_rotations

volatile long HallSensor::electric_rotations

Definition at line 71 of file HallSensor.h.

◆ electric_sector

volatile int8_t HallSensor::electric_sector

Definition at line 69 of file HallSensor.h.

◆ hall_state

volatile int8_t HallSensor::hall_state

Definition at line 67 of file HallSensor.h.

◆ pinA

int HallSensor::pinA

HallSensor hardware pin A.

Definition at line 47 of file HallSensor.h.

◆ pinB

int HallSensor::pinB

HallSensor hardware pin B.

Definition at line 48 of file HallSensor.h.

◆ pinC

int HallSensor::pinC

HallSensor hardware pin C.

Definition at line 49 of file HallSensor.h.

◆ pullup

Pullup HallSensor::pullup

Configuration parameter internal or external pullups.

Definition at line 52 of file HallSensor.h.

◆ total_interrupts

volatile long HallSensor::total_interrupts

Definition at line 73 of file HallSensor.h.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes