MagneticSensorPWM Class Reference

#include <MagneticSensorPWM.h>

Inheritance diagram for MagneticSensorPWM:

Collaboration diagram for MagneticSensorPWM:

Public Member Functions
	MagneticSensorPWM (uint8_t _pinPWM, int _min=0, int _max=0)
	MagneticSensorPWM (uint8_t _pinPWM, int freqHz, int _total_pwm_clocks, int _min_pwm_clocks, int _max_pwm_clocks)
void	init ()
void	update () override
float	getSensorAngle () override
void	handlePWM ()
void	enableInterrupt (void(*doPWM)())
Public Member Functions inherited from Sensor
virtual float	getMechanicalAngle ()
virtual float	getAngle ()
virtual double	getPreciseAngle ()
virtual float	getVelocity ()
virtual int32_t	getFullRotations ()
virtual int	needsSearch ()

Public Attributes
int	pinPWM
unsigned long	pulse_length_us
unsigned int	timeout_us = 1200
Public Attributes inherited from Sensor
float	min_elapsed_time = 0.000100

Additional Inherited Members
Protected Attributes inherited from Sensor
float	velocity =0.0f
float	angle_prev =0.0f
long	angle_prev_ts =0
float	vel_angle_prev =0.0f
long	vel_angle_prev_ts =0
int32_t	full_rotations =0
int32_t	vel_full_rotations =0

Detailed Description

Definition at line 11 of file MagneticSensorPWM.h.

Constructor & Destructor Documentation

MagneticSensorPWM() [1/2]

MagneticSensorPWM::MagneticSensorPWM	(	uint8_t	_pinPWM,
		int	_min_raw_count = 0,
		int	_max_raw_count = 0
	)

MagneticSensorPWM(uint8_t _pinPWM, int _min, int _max)

Parameters

_pinPWM	the pin that is reading the pwm from magnetic sensor
_min_raw_count	the smallest expected reading
_max_raw_count	the largest expected reading

Definition at line 9 of file MagneticSensorPWM.cpp.

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MagneticSensorPWM() [2/2]

MagneticSensorPWM::MagneticSensorPWM	(	uint8_t	_pinPWM,
		int	freqHz,
		int	_total_pwm_clocks,
		int	_min_pwm_clocks,
		int	_max_pwm_clocks
	)

MagneticSensorPWM(uint8_t _pinPWM, int freqHz, int _total_pwm_clocks, int _min_pwm_clocks, int _max_pwm_clocks)

Constructor that computes the min and max raw counts based on the PWM frequency and the number of PWM clocks in one period

Parameters

_pinPWM	the pin that is reading the pwm from magnetic sensor
freqHz	the frequency of the PWM signal, in Hz, e.g. 115, 230, 460 or 920 for the AS5600, depending on the PWM frequency setting
_total_pwm_clocks	the total number of PWM clocks in one period, e.g. 4351 for the AS5600
_min_pwm_clocks	the 0 value returned by the sensor, in PWM clocks, e.g. 128 for the AS5600
_max_pwm_clocks	the largest value returned by the sensor, in PWM clocks, e.g. 4223 for the AS5600

Definition at line 35 of file MagneticSensorPWM.cpp.

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Member Function Documentation

enableInterrupt()

void MagneticSensorPWM::enableInterrupt

(

void(*)()

doPWM

)

Definition at line 111 of file MagneticSensorPWM.cpp.

getSensorAngle()

float MagneticSensorPWM::getSensorAngle ( )

overridevirtual

Get current shaft angle from the sensor hardware, and return it as a float in radians, in the range 0 to 2PI.

This method is pure virtual and must be implemented in subclasses. Calling this method directly does not update the base-class internal fields. Use update() when calling from outside code.

Implements Sensor.

Definition at line 75 of file MagneticSensorPWM.cpp.

handlePWM()

void MagneticSensorPWM::handlePWM

(

)

Definition at line 94 of file MagneticSensorPWM.cpp.

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init()

void MagneticSensorPWM::init ( )

virtual

Call Sensor::init() from your sensor subclass's init method if you want smoother startup The base class init() method calls getSensorAngle() several times to initialize the internal fields to current values, ensuring there is no discontinuity ("jump from zero") during the first calls to sensor.getAngle() and sensor.getVelocity()

Reimplemented from Sensor.

Definition at line 54 of file MagneticSensorPWM.cpp.

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update()

void MagneticSensorPWM::update ( )

overridevirtual

Updates the sensor values by reading the hardware sensor. Some implementations may work with interrupts, and not need this. The base implementation calls getSensorAngle(), and updates internal fields for angle, timestamp and full rotations. This method must be called frequently enough to guarantee that full rotations are not "missed" due to infrequent polling. Override in subclasses if alternative behaviours are required for your sensor hardware.

Reimplemented from Sensor.

Definition at line 65 of file MagneticSensorPWM.cpp.

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Member Data Documentation

pinPWM

int MagneticSensorPWM::pinPWM

Definition at line 34 of file MagneticSensorPWM.h.

pulse_length_us

unsigned long MagneticSensorPWM::pulse_length_us

Definition at line 45 of file MagneticSensorPWM.h.

timeout_us

unsigned int MagneticSensorPWM::timeout_us = 1200

Definition at line 47 of file MagneticSensorPWM.h.

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

• MagneticSensorPWM.h
• MagneticSensorPWM.cpp