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Added CPR configuration option to SC60228 Encoder #15

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Added CPR configuration option to SC60228 Encoder #15

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46f690e
Added CPR configuration option to SC60228
josephduchesne Sep 9, 2022
b349333
Updated readme example to show new configuration for sc60228 encoder
josephduchesne Sep 9, 2022
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4 changes: 2 additions & 2 deletions src/encoders/sc60228/MagneticSensorSC60228.cpp
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Expand Up @@ -3,7 +3,7 @@
#include "common/foc_utils.h"
#include "common/time_utils.h"

MagneticSensorSC60228::MagneticSensorSC60228(int nCS, SPISettings settings) : SC60228(settings, nCS){
MagneticSensorSC60228::MagneticSensorSC60228(int nCS, uint32_t cpr, SPISettings settings) : SC60228(settings, nCS), cpr_(cpr){
// nix
};
MagneticSensorSC60228::~MagneticSensorSC60228(){ };
Expand All @@ -12,7 +12,7 @@ MagneticSensorSC60228::~MagneticSensorSC60228(){ };

float MagneticSensorSC60228::getSensorAngle(){
SC60228Angle angle_data = readRawAngle();
float result = ( angle_data.angle / (float)SC60228_CPR ) * _2PI;
float result = ( angle_data.angle / (float)cpr_ ) * _2PI;
return result;
};

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3 changes: 2 additions & 1 deletion src/encoders/sc60228/MagneticSensorSC60228.h
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Expand Up @@ -8,12 +8,13 @@

class MagneticSensorSC60228 : public Sensor, public SC60228 {
public:
MagneticSensorSC60228(int nCS = -1, SPISettings settings = SC60228SPISettings);
MagneticSensorSC60228(int nCS = -1, uint32_t cpr=4096, SPISettings settings = SC60228SPISettings);
virtual ~MagneticSensorSC60228();

virtual float getSensorAngle() override;

virtual void init(SPIClass* _spi = &SPI) override;
uint32_t cpr_;
};


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5 changes: 4 additions & 1 deletion src/encoders/sc60228/README.md
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Expand Up @@ -34,7 +34,10 @@ void setup() {
Set some options:

```c++
MagneticSensorSC60228 sensor1(SENSOR1_CS, mySPISettings);
// set counts_per_revolution (which should be the default 4096, but one some hardware appears to be 2048), and spi settings
MagneticSensorSC60228 sensor1(SENSOR1_CS, 4096, mySPISettings);
// or with default SPI settings, just override cpr to a non-default value
MagneticSensorSC60228 sensor1(SENSOR1_CS, 2048);
```

Use another SPI bus:
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1 change: 0 additions & 1 deletion src/encoders/sc60228/SC60228.h
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Expand Up @@ -18,7 +18,6 @@ typedef union {
} SC60228Angle;


#define SC60228_CPR 4096
#define SC60228_BITORDER MSBFIRST

static SPISettings SC60228SPISettings(8000000, SC60228_BITORDER, SPI_MODE1); // @suppress("Invalid arguments")
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