HallSensor Class Reference

#include <HallSensor.h>

Inheritance diagram for HallSensor:

Collaboration 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 ()
void	update () override
float	getSensorAngle () override
float	getVelocity () override
void	attachSectorCallback (void(*onSectorChange)(int a)=nullptr)
Public Member Functions inherited from Sensor
virtual float	getMechanicalAngle ()
virtual float	getAngle ()
virtual double	getPreciseAngle ()
virtual int32_t	getFullRotations ()
virtual int	needsSearch ()

Public Attributes
int	pinA
	HallSensor hardware pin A.
int	pinB
	HallSensor hardware pin B.
int	pinC
	HallSensor hardware pin C.
int	use_interrupt
	True if interrupts have been attached.
Pullup	pullup
	Configuration parameter internal or external pullups.
int	cpr
	HallSensor cpr number.
Direction	direction
Direction	old_direction
volatile int8_t	hall_state
volatile int8_t	electric_sector
volatile long	electric_rotations
volatile long	total_interrupts
float	velocity_max = 1000.0f
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 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 89 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 172 of file HallSensor.cpp.

getSensorAngle()

float HallSensor::getSensorAngle ( )

overridevirtual

get current angle (rad)

Implements Sensor.

Definition at line 121 of file HallSensor.cpp.

getVelocity()

float HallSensor::getVelocity ( )

overridevirtual

get current angular velocity (rad/s)

Reimplemented from Sensor.

Definition at line 129 of file HallSensor.cpp.

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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 ( )

virtual

HallSensor initialise pins

Reimplemented from Sensor.

Definition at line 144 of file HallSensor.cpp.

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update()

void HallSensor::update ( )

overridevirtual

Interrupt-safe update

Reimplemented from Sensor.

Definition at line 96 of file HallSensor.cpp.

Member Data Documentation

cpr

int HallSensor::cpr

HallSensor cpr number.

Definition at line 54 of file HallSensor.h.

direction

Direction HallSensor::direction

Definition at line 65 of file HallSensor.h.

electric_rotations

volatile long HallSensor::electric_rotations

Definition at line 75 of file HallSensor.h.

electric_sector

volatile int8_t HallSensor::electric_sector

Definition at line 73 of file HallSensor.h.

hall_state

volatile int8_t HallSensor::hall_state

Definition at line 71 of file HallSensor.h.

old_direction

Direction HallSensor::old_direction

Definition at line 66 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 53 of file HallSensor.h.

total_interrupts

volatile long HallSensor::total_interrupts

Definition at line 77 of file HallSensor.h.

use_interrupt

int HallSensor::use_interrupt

True if interrupts have been attached.

Definition at line 50 of file HallSensor.h.

velocity_max

float HallSensor::velocity_max = 1000.0f

Definition at line 80 of file HallSensor.h.

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

• HallSensor.h
• HallSensor.cpp