As5047uHandler.h File Reference

Unified handler for AS5047U magnetic rotary position sensor with SPI integration. More...

#include <cstdint>
#include <memory>
#include <type_traits>
#include <utility>
#include "core/hf-core-drivers/external/hf-as5047u-driver/inc/as5047u.hpp"
#include "base/BaseSpi.h"
#include "RtosMutex.h"

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Classes
class	As5047uSpiAdapter
	CRTP adapter connecting BaseSpi interface to AS5047U SpiInterface. More...
struct	As5047uMeasurement
	Complete sensor measurement data structure. More...
struct	As5047uDiagnostics
	Sensor diagnostic information. More...
struct	As5047uConfig
	AS5047U configuration structure. More...
class	As5047uHandler
	Unified handler for AS5047U magnetic rotary position sensor. More...

Functions
std::unique_ptr< As5047uHandler >	CreateAs5047uHandler (BaseSpi &spi_interface, const As5047uConfig &config=As5047uHandler::GetDefaultConfig()) noexcept
	Create AS5047U handler instance.

Detailed Description

Unified handler for AS5047U magnetic rotary position sensor with SPI integration.

This class provides a modern, unified interface for a single AS5047U device following the same architectural excellence as TMC9660Handler and PCAL95555Handler:

• Bridge pattern for BaseSpi integration
• Lazy initialization with lightweight construction
• Shared pointer management for safe memory handling
• Complete exception-free design with noexcept methods
• Thread-safe operations with RtosMutex protection
• Comprehensive error handling and validation
• High-level sensor abstraction with position/velocity/diagnostics
• Advanced AS5047U features (DAEC, OTP programming, interface configuration)
• Factory method for creating multiple sensor instances

Features:

• 14-bit absolute angle measurement (0-16383 counts per revolution)
• Velocity measurement with multiple unit conversions
• Dynamic Angle Error Compensation (DAEC)
• ABI/UVW/PWM interface configuration
• OTP programming for permanent settings
• Comprehensive diagnostics and error handling
• Multiple SPI frame formats (16/24/32-bit)
• Thread-safe concurrent access

Author

HardFOC Team

Version

1.0

Date

2025

Copyright

HardFOC

Function Documentation

CreateAs5047uHandler()

std::unique_ptr< As5047uHandler > CreateAs5047uHandler ( BaseSpi & spi_interface, const As5047uConfig & config = As5047uHandler::GetDefaultConfig() )

noexcept

Create AS5047U handler instance.

Parameters

spi_interface	Reference to SPI interface
config	Sensor configuration

Returns

Unique pointer to AS5047U handler