Alternative struct based approach

Author: owennewo

src/Hardware.h

@@ -0,0 +1,47 @@
+#ifndef HARDWARE_H
+#define HARDWARE_H
+
+
+#include "MagneticSensorSPI.h"
+
+/** Typical configuration for the 14bit AMS AS5147 magnetic sensor over SPI interface */
+MagneticSensorSPIConfig_s AS5147_SPI = {
+  .spi_mode = SPI_MODE1,
+  .clock_speed = 1000000,
+  .bit_resolution = 14,
+  .angle_register = 0xCFFF,
+  .data_start_bit = 13, 
+  .command_rw_bit = 14,
+  .command_parity_bit = 15
+};
+
+/** Typical configuration for the 14bit MonolithicPower MA730 magnetic sensor over SPI interface */
+MagneticSensorSPIConfig_s MA730_SPI = {
+  .spi_mode = SPI_MODE0,
+  .clock_speed = 1000000,
+  .bit_resolution = 14,
+  .angle_register = 0x0000,
+  .data_start_bit = 15, 
+  .command_rw_bit = 0,  // not required
+  .command_parity_bit = 0 // parity not implemented
+};
+
+/** Typical configuration for the 12bit AMS AS5600 magnetic sensor over I2C interface */
+MagneticSensorI2CConfig_s AS5600_I2C = {
+  .chip_address = 0x36,
+  .clock_speed = 1000000,
+  .bit_resolution = 12,
+  .angle_register = 0x0E,
+  .data_start_bit = 11
+};
+
+/** Typical configuration for the 12bit AMS AS5048 magnetic sensor over I2C interface */
+MagneticSensorI2CConfig_s AS5048_I2C = {
+  .chip_address = 0x40,  // highly configurable.  if A1 and A2 are held low, this is probable value
+  .clock_speed = 1000000,
+  .bit_resolution = 14,
+  .angle_register = 0xFE,
+  .data_start_bit = 15
+};
+
+#endif

src/MagneticSensorI2C.cpp

@@ -28,11 +28,24 @@ MagneticSensorI2C::MagneticSensorI2C(uint8_t _chip_address, int _bit_resolution,
 
 }
 
-MagneticSensorI2C MagneticSensorI2C::AS5600() {
-  MagneticSensorI2C* sensor = new MagneticSensorI2C(0x36, 12, 0x0E, 4);
-  return *sensor;
-}
+MagneticSensorI2C::MagneticSensorI2C(MagneticSensorI2CConfig_s config){
+  chip_address = config.chip_address; 
 
+  // angle read register of the magnetic sensor
+  angle_register_msb = config.angle_register;
+  // register maximum value (counts per revolution)
+  cpr = pow(2, config.bit_resolution);
+  
+  int bits_used_msb = config.data_start_bit - 7;
+  lsb_used = config.bit_resolution - bits_used_msb;
+  // extraction masks
+  lsb_mask = (uint8_t)( (2 << lsb_used) - 1 );
+  msb_mask = (uint8_t)( (2 << bits_used_msb) - 1 );
+  clock_speed = 400000;
+  sda_pin = SDA;
+  scl_pin = SCL;
+
+}
 
 void MagneticSensorI2C::init(){
 

src/MagneticSensorI2C.h

@@ -6,6 +6,13 @@
 #include "FOCutils.h"
 #include "Sensor.h"
 
+struct MagneticSensorI2CConfig_s  {
+  int chip_address;
+  long clock_speed;
+  int bit_resolution;
+  int angle_register;
+  int data_start_bit; 
+};
 
 class MagneticSensorI2C: public Sensor{
  public:
@@ -18,6 +25,12 @@ class MagneticSensorI2C: public Sensor{
      */
     MagneticSensorI2C(uint8_t _chip_address, int _bit_resolution, uint8_t _angle_register_msb, int _msb_bits_used);
 
+    /**
+     * MagneticSensorI2C class constructor
+     * @param config  I2C config
+     */
+    MagneticSensorI2C(MagneticSensorI2CConfig_s config);
+
     static MagneticSensorI2C AS5600();
 
     /** sensor initialise pins */

src/MagneticSensorSPI.cpp

@@ -5,7 +5,7 @@
 //  _bit_resolution   sensor resolution bit number
 // _angle_register  - (optional) angle read register - default 0x3FFF
 MagneticSensorSPI::MagneticSensorSPI(int cs, float _bit_resolution, int _angle_register){
-  // chip select pin
+  
   chip_select_pin = cs; 
   // angle read register of the magnetic sensor
   angle_register = _angle_register ? _angle_register : DEF_ANGLE_REGISTAR;
@@ -21,25 +21,21 @@ MagneticSensorSPI::MagneticSensorSPI(int cs, float _bit_resolution, int _angle_r
 
 }
 
-MagneticSensorSPI MagneticSensorSPI::MA730(int cs) {
-  MagneticSensorSPI* sensor = new MagneticSensorSPI(cs, 14, 0x0000);
-  sensor->spi_mode = SPI_MODE0;
-  sensor->command_parity_bit = -1;  // parity bit insertion not implemented
-  sensor->command_rw_bit = -1; // rw bit not required for angle
-  sensor->data_start_bit = 15;
-  return *sensor;
-}
-
-MagneticSensorSPI MagneticSensorSPI::AS5147(int cs) {
-  MagneticSensorSPI* sensor = new MagneticSensorSPI(cs, 14, 0xCFFF);
-  sensor->spi_mode = SPI_MODE1;
-  sensor->command_parity_bit = 15; 
-  sensor->command_rw_bit = 14;
-  sensor->data_start_bit = 13;
-  return *sensor;
+MagneticSensorSPI::MagneticSensorSPI(MagneticSensorSPIConfig_s config, int cs){
+  chip_select_pin = cs; 
+  // angle read register of the magnetic sensor
+  angle_register = config.angle_register ? config.angle_register : DEF_ANGLE_REGISTAR;
+  // register maximum value (counts per revolution)
+  cpr = pow(2, config.bit_resolution);
+  spi_mode = config.spi_mode;
+  clock_speed = config.clock_speed;
+  bit_resolution = config.bit_resolution;
+  
+  command_parity_bit = config.command_parity_bit; // for backwards compatibilty
+  command_rw_bit = config.command_rw_bit; // for backwards compatibilty
+  data_start_bit = config.data_start_bit; // for backwards compatibilty
 }
 
-
 void MagneticSensorSPI::init(){
 	// 1MHz clock (AMS should be able to accept up to 10MHz)
 	settings = SPISettings(clock_speed, MSBFIRST, spi_mode);
@@ -174,10 +170,10 @@ word MagneticSensorSPI::read(word angle_register){
 
   word command = angle_register;
 
-  if (command_rw_bit > -1) {
+  if (command_rw_bit > 0) {
     command = angle_register | (1 << command_rw_bit);
   }
-  if (command_parity_bit > -1) {
+  if (command_parity_bit > 0) {
    	//Add a parity bit on the the MSB
   	command |= ((word)spiCalcEvenParity(command) << command_parity_bit);
   }

src/MagneticSensorSPI.h

@@ -8,6 +8,16 @@
 
 #define DEF_ANGLE_REGISTAR 0x3FFF
 
+struct MagneticSensorSPIConfig_s  {
+  int spi_mode;
+  long clock_speed;
+  int bit_resolution;
+  int angle_register;
+  int data_start_bit;
+  int command_rw_bit;
+  int command_parity_bit;
+};
+
 class MagneticSensorSPI: public Sensor{
  public:
     /**
@@ -17,9 +27,12 @@ class MagneticSensorSPI: public Sensor{
      * @param angle_register  (optional) angle read register - default 0x3FFF
      */
     MagneticSensorSPI(int cs, float bit_resolution, int angle_register = 0);
-
-    static MagneticSensorSPI MA730(int cs);
-    static MagneticSensorSPI AS5147(int cs);
+    /**
+     *  MagneticSensorSPI class constructor
+     * @param config   SPI config
+     * @param cs  SPI chip select pin
+     */
+    MagneticSensorSPI(MagneticSensorSPIConfig_s config, int cs);
 
     /** sensor initialise pins */
     void init();

src/SimpleFOC.h

@@ -94,5 +94,6 @@ void loop() {
 #include "MagneticSensorAnalog.h"
 #include "HallSensor.h"
 #include "BLDCMotor.h"
+#include "Hardware.h"
 
 #endif