As5047uHandler

High-precision 14-bit magnetic rotary encoder handler with SPI integration.

Construction 

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explicit As5047uHandler(BaseSpi& spi_interface,
                        const As5047uConfig& config = GetDefaultConfig()) noexcept;

Factory 

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auto handler = CreateAs5047uHandler(spi_interface);   // returns std::unique_ptr<As5047uHandler>

Key Methods

Lifecycle

Method Description
Initialize() Create driver instance, apply config. Returns bool.
EnsureInitialized() Lazy init helper — calls Initialize() if needed
Deinitialize() Release sensor resources. Returns bool.
IsInitialized() Check initialization state
IsSensorReady() Check if driver instance exists and is ready

Driver Access

Method Description
GetSensor() / GetDriver() Direct pointer to AS5047U<As5047uSpiAdapter>* (nullptr if not init)
visitDriver(fn) Execute callable under handler mutex; returns default if driver unavailable

Utility

Method Description
GetDefaultConfig() Static — returns default As5047uConfig
GetDescription() Human-readable handler description string
GetLastError() Last AS5047U_Error from the driver
DumpDiagnostics() Log sensor status, comm health, measurement stats

Driver Usage (via GetSensor() / GetDriver())

Use the underlying driver’s unit-enum API for measurements:

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auto* sensor = handler.GetSensor();
float angle_deg = sensor->GetAngle(as5047u::AngleUnit::Degrees);
float vel_rpm  = sensor->GetVelocity(as5047u::VelocityUnit::Rpm);

Mutex-Protected Access (via visitDriver()) 

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float angle = handler.visitDriver([](auto& drv) {
    return drv.GetAngle(as5047u::AngleUnit::Degrees);
});

Thread Safety

All public methods are protected by an internal RtosMutex. visitDriver() additionally holds the mutex for the duration of the callable.

Test Coverage

See examples/esp32/main/handler_tests/as5047u_handler_comprehensive_test.cpp — 8 test sections covering initialization, angle reading, velocity, DAEC, zero position, diagnostics, error handling, and concurrent access.