FEATURE new library version with AS5x4x support and a lot of refactoring

Author: askuric

README.md

@@ -1,4 +1,5 @@
 #include <SimpleFOC.h>
+// software interrupt library
 #include <PciManager.h>
 #include <PciListenerImp.h>
 
@@ -67,7 +68,7 @@ void setup() {
   motor.useDebugging(Serial);
 
   // link the motor to the sensor
-  motor.linkEncoder(&encoder);
+  motor.linkSensor(&encoder);
 
   // intialise motor
   motor.init();

examples/HMBGC_example/HMBGC_example.ino renamed to examples/encoder examples/HMBGC_example/HMBGC_example.ino

@@ -1,4 +1,7 @@
 #include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
 
 // Only pins 2 and 3 are supported
 #define arduinoInt1 2             // Arduino UNO interrupt 0
@@ -19,12 +22,10 @@ Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192, A0);
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
-// index calback interrupt code 
-// please set the right PCINT(0,1,2)_vect parameter
-//  PCINT0_vect - index pin in between D8 and D13
-//  PCINT1_vect - index pin in between A0 and A5 (recommended)
-//  PCINT2_vect - index pin in between D0 and D7
-ISR (PCINT1_vect) { encoder.handleIndex(); }
+void doIndex(){encoder.handleIndex();}
+
+// If no available hadware interrupt pins use the software interrupt
+PciListenerImp listenerIndex(encoder.index_pin, doIndex);
 
 void setup() {
   // debugging port
@@ -41,7 +42,11 @@ void setup() {
   encoder.pullup = Pullup::EXTERN;
 
   // initialise encoder hardware
-  encoder.init(doA, doB);
+  encoder.init();
+  // hardware interrupt enable
+  encoder.enableInterrupts(doA, doB);
+  // software interrupts
+  PciManager.registerListener(&listenerIndex);
 
   // power supply voltage
   // default 12V
@@ -58,14 +63,12 @@ void setup() {
   // default value is 100
   motor.PI_velocity_index_search.voltage_ramp = 100;
 
-
   // set FOC loop to be used
   // ControlType::voltage
   // ControlType::velocity
   // ControlType::velocity_ultra_slow
   // ControlType::angle
   motor.controller = ControlType::angle;
-
 
   // contoller configuration based on the controll type 
   // velocity PI controller parameters
@@ -90,7 +93,7 @@ void setup() {
   motor.useDebugging(Serial);
 
   // link the motor to the sensor
-  motor.linkEncoder(&encoder);
+  motor.linkSensor(&encoder);
 
   // intialise motor
   motor.init();

examples/angle_control/angle_control.ino renamed to examples/encoder examples/angle_control/angle_control.ino

@@ -13,18 +13,12 @@ BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);
 //  - encA, encB    - encoder A and B pins
 //  - ppr           - impulses per rotation  (cpr=ppr*4)
 //  - index pin     - (optional input) 
-Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192, A0);
+Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192);
 
 // Interrupt rutine intialisation
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
-// index calback interrupt code 
-// please set the right PCINT(0,1,2)_vect parameter
-//  PCINT0_vect - index pin in between D8 and D13
-//  PCINT1_vect - index pin in between A0 and A5 (recommended)
-//  PCINT2_vect - index pin in between D0 and D7
-ISR (PCINT1_vect) { encoder.handleIndex(); }
 
 void setup() {
   // debugging port
@@ -41,7 +35,9 @@ void setup() {
   encoder.pullup = Pullup::EXTERN;
 
   // initialise encoder hardware
-  encoder.init(doA, doB);
+  encoder.init();
+  // hardware interrupt enable
+  encoder.enableInterrupts(doA, doB);
 
   // power supply voltage
   // default 12V
@@ -82,7 +78,7 @@ void setup() {
   motor.useDebugging(Serial);
 
   // link the motor to the sensor
-  motor.linkEncoder(&encoder);
+  motor.linkSensor(&encoder);
   // intialise motor
   motor.init();
   // align encoder and start FOC

examples/change_direction/change_direction.ino renamed to examples/encoder examples/change_direction/change_direction.ino

@@ -24,7 +24,9 @@ void setup() {
   encoder.pullup = Pullup::EXTERN;
 
   // initialise encoder hardware
-  encoder.init(doA, doB);
+  encoder.init();
+  // hardware interrupt enable
+  encoder.enableInterrupts(doA, doB);
 
   Serial.println("Encoder ready");
   _delay(1000);

examples/encoder_example/encoder_example.ino renamed to examples/encoder examples/encoder_example/encoder_example.ino

@@ -28,7 +28,9 @@ void setup() {
   encoder.pullup = Pullup::EXTERN;
 
   // initialise encoder hardware
-  encoder.init(doA, doB);
+  encoder.init();
+  // hardware interrupt enable
+  encoder.enableInterrupts(doA, doB);
 
   // power supply voltage
   // default 12V
@@ -38,7 +40,7 @@ void setup() {
   motor.controller = ControlType::voltage;
 
   // link the motor to the sensor
-  motor.linkEncoder(&encoder);
+  motor.linkSensor(&encoder);
   // intialise motor
   motor.init();
 

examples/find_pole_pairs_number/find_pole_pairs_number.ino renamed to examples/encoder examples/find_pole_pairs_number/find_pole_pairs_number.ino

@@ -1,4 +1,7 @@
 #include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
 
 // Only pins 2 and 3 are supported
 #define arduinoInt1 2             // Arduino UNO interrupt 0
@@ -19,12 +22,9 @@ Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192, A0);
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
-// index calback interrupt code 
-// please set the right PCINT(0,1,2)_vect parameter
-//  PCINT0_vect - index pin in between D8 and D13
-//  PCINT1_vect - index pin in between A0 and A5 (recommended)
-//  PCINT2_vect - index pin in between D0 and D7
-ISR (PCINT1_vect) { encoder.handleIndex(); }
+// If no available hadware interrupt pins use the software interrupt
+PciListenerImp listenerIndex(encoder.index_pin, doIndex);
+
 
 void setup() {
   // debugging port
@@ -41,8 +41,12 @@ void setup() {
   encoder.pullup = Pullup::EXTERN;
 
   // initialise encoder hardware
-  encoder.init(doA, doB);
-  
+  encoder.init();
+  // hardware interrupt enable
+  encoder.enableInterrupts(doA, doB);
+  // software interrupts
+  PciManager.registerListener(&listenerIndex);
+
   // power supply voltage
   // default 12V
   motor.voltage_power_supply = 12;
@@ -81,7 +85,7 @@ void setup() {
   motor.useDebugging(Serial);
 
   // link the motor to the sensor
-  motor.linkEncoder(&encoder);
+  motor.linkSensor(&encoder);
 
   // intialise motor
   motor.init();

examples/velocity_control/velocity_control.ino renamed to examples/encoder examples/velocity_control/velocity_control.ino

@@ -1,4 +1,7 @@
 #include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
 
 // Only pins 2 and 3 are supported
 #define arduinoInt1 2             // Arduino UNO interrupt 0
@@ -14,16 +17,13 @@ BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
 //  - ppr           - impulses per rotation  (cpr=ppr*4)
 //  - index pin     - (optional input)
 Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192, A0);
+
 // Interrupt rutine intialisation
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
-// index calback interrupt code 
-// please set the right PCINT(0,1,2)_vect parameter
-//  PCINT0_vect - index pin in between D8 and D13
-//  PCINT1_vect - index pin in between A0 and A5 (recommended)
-//  PCINT2_vect - index pin in between D0 and D7
-ISR (PCINT1_vect) { encoder.handleIndex(); }
+// If no available hadware interrupt pins use the software interrupt
+PciListenerImp listenerIndex(encoder.index_pin, doIndex);
 
 void setup() {
   // debugging port
@@ -40,7 +40,11 @@ void setup() {
   encoder.pullup = Pullup::EXTERN;
 
   // initialise encoder hardware
-  encoder.init(doA, doB);
+  encoder.init();
+  // hardware interrupt enable
+  encoder.enableInterrupts(doA, doB);
+  // software interrupts
+  PciManager.registerListener(&listenerIndex);
 
   // power supply voltage
   // default 12V
@@ -76,7 +80,7 @@ void setup() {
   motor.useDebugging(Serial);
 
   // link the motor to the sensor
-  motor.linkEncoder(&encoder);
+  motor.linkSensor(&encoder);
 
   // intialise motor
   motor.init();

examples/velocity_ultraslow_control/velocity_ultraslow_control.ino renamed to examples/encoder examples/velocity_ultraslow_control/velocity_ultraslow_control.ino

@@ -14,16 +14,13 @@ BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
 //  - ppr           - impulses per rotation  (cpr=ppr*4)
 //  - index pin     - (optional input)
 Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192, A0);
+
 // Interrupt rutine intialisation
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
-// index calback interrupt code 
-// please set the right PCINT(0,1,2)_vect parameter
-//  PCINT0_vect - index pin in between D8 and D13
-//  PCINT1_vect - index pin in between A0 and A5 (recommended)
-//  PCINT2_vect - index pin in between D0 and D7
-ISR (PCINT1_vect) { encoder.handleIndex(); }
+// If no available hadware interrupt pins use the software interrupt
+PciListenerImp listenerIndex(encoder.index_pin, doIndex);
 
 void setup() {
   // debugging port
@@ -40,7 +37,11 @@ void setup() {
   encoder.pullup = Pullup::EXTERN;
 
   // initialise encoder hardware
-  encoder.init(doA, doB);
+  encoder.init();
+  // hardware interrupt enable
+  encoder.enableInterrupts(doA, doB);
+  // software interrupts
+  PciManager.registerListener(&listenerIndex);
 
   // power supply voltage
   // default 12V
@@ -69,7 +70,7 @@ void setup() {
   motor.useDebugging(Serial);
 
   // link the motor to the sensor
-  motor.linkEncoder(&encoder);
+  motor.linkSensor(&encoder);
   // intialise motor
   motor.init();
   // align encoder and start FOC