Merge pull request #258 from runger1101001/dev

MagneticSensorPWM: fix cpr calculation, add constructor using clocks
Also prevent negative angles, and set the min_elapsed_time on the sensor, since we have the frequency in this constructor

Author: runger1101001

src/sensors/MagneticSensorPWM.cpp

@@ -10,7 +10,7 @@ MagneticSensorPWM::MagneticSensorPWM(uint8_t _pinPWM, int _min_raw_count, int _m
 
     pinPWM = _pinPWM;
 
-    cpr = _max_raw_count - _min_raw_count;
+    cpr = _max_raw_count - _min_raw_count + 1;
     min_raw_count = _min_raw_count;
     max_raw_count = _max_raw_count;
 
@@ -22,6 +22,35 @@ MagneticSensorPWM::MagneticSensorPWM(uint8_t _pinPWM, int _min_raw_count, int _m
 }
 
 
+/** 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
+ * 
+ * @param _pinPWM  the pin that is reading the pwm from magnetic sensor
+ * @param 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
+ * @param _total_pwm_clocks  the total number of PWM clocks in one period, e.g. 4351 for the AS5600
+ * @param _min_pwm_clocks  the 0 value returned by the sensor, in PWM clocks, e.g. 128 for the AS5600
+ * @param _max_pwm_clocks  the largest value returned by the sensor, in PWM clocks, e.g. 4223 for the AS5600
+ */
+MagneticSensorPWM::MagneticSensorPWM(uint8_t _pinPWM, int freqHz, int _total_pwm_clocks, int _min_pwm_clocks, int _max_pwm_clocks){
+
+    pinPWM = _pinPWM;
+
+    min_raw_count = lroundf(1000000.0f/freqHz/_total_pwm_clocks*_min_pwm_clocks);
+    max_raw_count = lroundf(1000000.0f/freqHz/_total_pwm_clocks*_max_pwm_clocks);
+    cpr = max_raw_count - min_raw_count + 1;
+
+    // define if the sensor uses interrupts
+    is_interrupt_based = false;
+
+    min_elapsed_time = 1.0f/freqHz; // set the minimum time between two readings
+
+    // define as not set
+    last_call_us = _micros();
+}
+
+
+
 void MagneticSensorPWM::init(){
 
     // initial hardware
@@ -36,6 +65,7 @@ float MagneticSensorPWM::getSensorAngle(){
     // raw data from sensor
     raw_count = getRawCount();
     if (raw_count > max_raw_count) raw_count = max_raw_count;
+    if (raw_count < min_raw_count) raw_count = min_raw_count;
     return( (float) (raw_count - min_raw_count) / (float)cpr) * _2PI;
 }
 

src/sensors/MagneticSensorPWM.h

@@ -10,12 +10,23 @@
 
 class MagneticSensorPWM: public Sensor{
  public:
-  /**
-    * MagneticSensorPWM class constructor
-    * @param _pinPWM the pin to read the PWM sensor input signal
+   /** MagneticSensorPWM(uint8_t _pinPWM, int _min, int _max)
+    * @param _pinPWM  the pin that is reading the pwm from magnetic sensor
+    * @param _min_raw_count  the smallest expected reading
+    * @param _max_raw_count  the largest expected reading
     */
     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)
+     * 
+     * Constructor that computes the min and max raw counts based on the PWM frequency and the number of PWM clocks in one period
+     * 
+     * @param _pinPWM  the pin that is reading the pwm from magnetic sensor
+     * @param 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
+     * @param _total_pwm_clocks  the total number of PWM clocks in one period, e.g. 4351 for the AS5600
+     * @param _min_pwm_clocks  the 0 value returned by the sensor, in PWM clocks, e.g. 128 for the AS5600
+     * @param _max_pwm_clocks  the largest value returned by the sensor, in PWM clocks, e.g. 4223 for the AS5600
+     */
+    MagneticSensorPWM(uint8_t _pinPWM, int freqHz, int _total_pwm_clocks, int _min_pwm_clocks, int _max_pwm_clocks);
 
     // initialize the sensor hardware
     void init();