99 lines
3.2 KiB
C++
99 lines
3.2 KiB
C++
#ifndef HALL_SENSOR_LIB_H
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#define HALL_SENSOR_LIB_H
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#include "Arduino.h"
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#include "../common/base_classes/Sensor.h"
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#include "../common/foc_utils.h"
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#include "../common/time_utils.h"
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// seq 1 > 5 > 4 > 6 > 2 > 3 > 1 000 001 010 011 100 101 110 111
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const int8_t ELECTRIC_SECTORS[8] = { -1, 0, 4, 5, 2, 1, 3 , -1 };
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class HallSensor: public Sensor{
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public:
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/**
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HallSensor class constructor
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@param encA HallSensor A pin
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@param encB HallSensor B pin
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@param encC HallSensor C pin
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@param pp pole pairs (e.g hoverboard motor has 15pp and small gimbals often have 7pp)
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@param index index pin number (optional input)
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*/
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HallSensor(int encA, int encB, int encC, int pp);
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/** HallSensor initialise pins */
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void init();
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/**
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* function enabling hardware interrupts for the HallSensor channels with provided callback functions
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* if callback is not provided then the interrupt is not enabled
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*
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* @param doA pointer to the A channel interrupt handler function
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* @param doB pointer to the B channel interrupt handler function
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* @param doIndex pointer to the Index channel interrupt handler function
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*
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*/
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void enableInterrupts(void (*doA)() = nullptr, void(*doB)() = nullptr, void(*doC)() = nullptr);
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// HallSensor interrupt callback functions
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/** A channel callback function */
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void handleA();
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/** B channel callback function */
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void handleB();
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/** C channel callback function */
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void handleC();
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// pins A and B
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int pinA; //!< HallSensor hardware pin A
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int pinB; //!< HallSensor hardware pin B
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int pinC; //!< HallSensor hardware pin C
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// HallSensor configuration
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Pullup pullup; //!< Configuration parameter internal or external pullups
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int cpr;//!< HallSensor cpr number
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// Abstract functions of the Sensor class implementation
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/** Interrupt-safe update */
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void update() override;
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/** get current angle (rad) */
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float getSensorAngle() override;
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/** get current angular velocity (rad/s) */
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float getVelocity() override;
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// whether last step was CW (+1) or CCW (-1).
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Direction direction;
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void attachSectorCallback(void (*onSectorChange)(int a) = nullptr);
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// the current 3bit state of the hall sensors
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volatile int8_t hall_state;
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// the current sector of the sensor. Each sector is 60deg electrical
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volatile int8_t electric_sector;
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// the number of electric rotations
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volatile long electric_rotations;
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// this is sometimes useful to identify interrupt issues (e.g. weak or no pullup resulting in 1000s of interrupts)
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volatile long total_interrupts;
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// variable used to filter outliers - rad/s
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float velocity_max = 1000.0f;
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private:
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Direction decodeDirection(int oldState, int newState);
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void updateState();
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volatile unsigned long pulse_timestamp;//!< last impulse timestamp in us
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volatile int A_active; //!< current active states of A channel
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volatile int B_active; //!< current active states of B channel
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volatile int C_active; //!< current active states of C channel
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// function pointer for on sector change call back
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void (*onSectorChange)(int sector) = nullptr;
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volatile long pulse_diff;
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};
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#endif
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