Unified handler for AS5047U magnetic rotary position sensor. More...

#include <As5047uHandler.h>

Public Member Functions
	As5047uHandler (BaseSpi &spi_interface, const As5047uConfig &config=GetDefaultConfig()) noexcept
	Construct AS5047U handler with SPI interface.

	~As5047uHandler () noexcept=default
	Destructor - automatically handles cleanup.

	As5047uHandler (const As5047uHandler &)=delete

As5047uHandler &	operator= (const As5047uHandler &)=delete

	As5047uHandler (As5047uHandler &&)=delete

As5047uHandler &	operator= (As5047uHandler &&)=delete

bool	Initialize () noexcept
	Initialize the AS5047U sensor (lazy initialization)

bool	EnsureInitialized () noexcept
	Ensure the handler is initialized (lazy init entrypoint).

bool	Deinitialize () noexcept
	Deinitialize the sensor and free resources.

bool	IsInitialized () const noexcept
	Check if sensor is initialized and ready.

bool	IsSensorReady () const noexcept
	Check if sensor driver is ready (lazy initialization helper)

as5047u::AS5047U< As5047uSpiAdapter > *	GetSensor () noexcept
	Get pointer to AS5047U driver for advanced operations.

as5047u::AS5047U< As5047uSpiAdapter > *	GetDriver () noexcept
	Naming-consistent alias of GetSensor().

const as5047u::AS5047U< As5047uSpiAdapter > *	GetDriver () const noexcept

template<typename Fn >
auto	visitDriver (Fn &&fn) noexcept -> decltype(fn(std::declval< as5047u::AS5047U< As5047uSpiAdapter > & >()))
	Visit the underlying AS5047U driver under handler mutex protection.

const char *	GetDescription () const noexcept
	Get sensor description string.

AS5047U_Error	GetLastError () const noexcept
	Get last error code.

As5047uDiagnostics	GetDiagnostics () const noexcept
	Snapshot of the diagnostics cached at the last refresh.

bool	RefreshDiagnostics () noexcept
	Read ERRFL from the sensor and update the cached diagnostics.

void	DumpDiagnostics () const noexcept
	Dump comprehensive diagnostics and statistics to log as INFO level. Logs AS5047U sensor status, communication health, and measurement statistics.

Static Public Member Functions
static As5047uConfig	GetDefaultConfig () noexcept
	Get default sensor configuration.

Private Member Functions
bool	ValidateSensor () noexcept
	Validate sensor parameters.

bool	EnsureInitializedLocked () noexcept
	Ensure initialized while mutex is already held.

void	HandleSensorErrors (uint16_t sensor_errors) noexcept
	Handle sensor errors and update diagnostics.

void	UpdateDiagnostics () noexcept
	Update cached diagnostics.

bool	ApplyConfiguration (const As5047uConfig &config) noexcept
	Apply configuration to sensor.

Private Attributes
BaseSpi &	spi_ref_
	Reference to SPI interface.

std::unique_ptr< As5047uSpiAdapter >	spi_adapter_
	SPI CRTP adapter.

std::unique_ptr< as5047u::AS5047U< As5047uSpiAdapter > >	as5047u_sensor_
	AS5047U driver instance.

As5047uConfig	config_
	Sensor configuration.

RtosMutex	handler_mutex_
	Thread safety mutex.

bool	initialized_
	Initialization state.

AS5047U_Error	last_error_
	Last driver-reported error flags.

As5047uDiagnostics	diagnostics_
	Cached diagnostics.

char	description_ [64]
	Sensor description.

Detailed Description

Unified handler for AS5047U magnetic rotary position sensor.

This class provides a comprehensive interface for the AS5047U sensor with:

Lazy initialization pattern for optimal memory usage
Shared pointer management for safe cross-component sharing
Complete exception-free design for embedded reliability
Thread-safe operations with mutex protection
CRTP adapter integration with BaseSpi
High-level sensor abstraction
Advanced AS5047U features and diagnostics

Architecture follows the same excellence as TMC9660Handler and PCAL95555Handler.

Constructor & Destructor Documentation

◆ As5047uHandler() [1/3]

As5047uHandler::As5047uHandler	(	BaseSpi &	spi_interface,
		const As5047uConfig &	config = `GetDefaultConfig()`
	)

explicitnoexcept

Construct AS5047U handler with SPI interface.

Parameters

spi_interface	Reference to BaseSpi implementation
config	Initial sensor configuration

Note: Lightweight constructor following lazy initialization pattern. Objects are created during Initialize() call.

◆ ~As5047uHandler()

As5047uHandler::~As5047uHandler ( )

defaultnoexcept

Destructor - automatically handles cleanup.

◆ As5047uHandler() [2/3]

As5047uHandler::As5047uHandler ( const As5047uHandler & )

delete

◆ As5047uHandler() [3/3]

As5047uHandler::As5047uHandler ( As5047uHandler && )

delete

Member Function Documentation

◆ ApplyConfiguration()

bool As5047uHandler::ApplyConfiguration ( const As5047uConfig & config )

privatenoexcept

Apply configuration to sensor.

Parameters

config Configuration to apply

Returns: True if successful

◆ Deinitialize()

bool As5047uHandler::Deinitialize ( )

noexcept

Deinitialize the sensor and free resources.

Returns: true if successful

◆ DumpDiagnostics()

void As5047uHandler::DumpDiagnostics ( ) const

noexcept

Dump comprehensive diagnostics and statistics to log as INFO level. Logs AS5047U sensor status, communication health, and measurement statistics.

◆ EnsureInitialized()

bool As5047uHandler::EnsureInitialized ( )

noexcept

Ensure the handler is initialized (lazy init entrypoint).

Returns: true if initialized and ready.

◆ EnsureInitializedLocked()

bool As5047uHandler::EnsureInitializedLocked ( )

privatenoexcept

Ensure initialized while mutex is already held.

Returns: True if sensor is ready.

◆ GetDefaultConfig()

As5047uConfig As5047uHandler::GetDefaultConfig ( )

staticnoexcept

Get default sensor configuration.

Returns: Default As5047uConfig structure

◆ GetDescription()

const char * As5047uHandler::GetDescription ( ) const

noexcept

Get sensor description string.

Returns: Description of the sensor

◆ GetDiagnostics()

As5047uDiagnostics As5047uHandler::GetDiagnostics ( ) const

noexcept

Snapshot of the diagnostics cached at the last refresh.

Refreshed by Initialize() and RefreshDiagnostics(); reading this does not touch the bus.

◆ GetDriver() [1/2]

const as5047u::AS5047U< As5047uSpiAdapter > * As5047uHandler::GetDriver ( ) const

noexcept

◆ GetDriver() [2/2]

as5047u::AS5047U< As5047uSpiAdapter > * As5047uHandler::GetDriver ( )

noexcept

Naming-consistent alias of GetSensor().

Warning: Raw pointer — NOT mutex-protected. Prefer visitDriver().

◆ GetLastError()

AS5047U_Error As5047uHandler::GetLastError ( ) const

noexcept

Get last error code.

After a failed Initialize() these are the sticky flags the driver collected during it (link errors include BusError and ReplyCrcError). Initialize() clears the driver's sticky flags; the driver's GetStickyErrorFlags() no longer clears them, call ClearStickyErrorFlags() through visitDriver() for that.

Returns: Last error that occurred

◆ GetSensor()

as5047u::AS5047U< As5047uSpiAdapter > * As5047uHandler::GetSensor ( )

noexcept

Get pointer to AS5047U driver for advanced operations.

Returns: Pointer to AS5047U driver or nullptr if not initialized

Warning: Raw pointer — NOT mutex-protected. Caller is responsible for external synchronization in multi-task environments. Prefer visitDriver() for thread-safe access.

Note: Caller must not delete the returned pointer; lifetime is owned by the handler.

◆ HandleSensorErrors()

void As5047uHandler::HandleSensorErrors ( uint16_t sensor_errors )

privatenoexcept

Handle sensor errors and update diagnostics.

Parameters

sensor_errors Error flags from sensor

◆ Initialize()

bool As5047uHandler::Initialize ( )

noexcept

Initialize the AS5047U sensor (lazy initialization)

Returns: true if successful, false otherwise

Creates AS5047U driver instance and performs sensor initialization. Safe to call multiple times - subsequent calls return current status.

◆ IsInitialized()

bool As5047uHandler::IsInitialized ( ) const

noexcept

Check if sensor is initialized and ready.

Returns: True if sensor is ready for operations

◆ IsSensorReady()

bool As5047uHandler::IsSensorReady ( ) const

noexcept

Check if sensor driver is ready (lazy initialization helper)

Returns: True if driver instance exists and is ready

◆ operator=() [1/2]

As5047uHandler & As5047uHandler::operator= ( As5047uHandler && )

delete

◆ operator=() [2/2]

As5047uHandler & As5047uHandler::operator= ( const As5047uHandler & )

delete

◆ RefreshDiagnostics()

bool As5047uHandler::RefreshDiagnostics ( )

noexcept

Read ERRFL from the sensor and update the cached diagnostics.

Returns: false if the handler could not be initialized.

◆ UpdateDiagnostics()

void As5047uHandler::UpdateDiagnostics ( )

privatenoexcept

Update cached diagnostics.

◆ ValidateSensor()

bool As5047uHandler::ValidateSensor ( )

privatenoexcept

Validate sensor parameters.

Returns: True if sensor is in valid state

◆ visitDriver()

template<typename Fn >

auto As5047uHandler::visitDriver ( Fn && fn ) -> decltype(fn(std::declval<as5047u::AS5047U<As5047uSpiAdapter>&>()))

inlinenoexcept

Visit the underlying AS5047U driver under handler mutex protection.

Returns: Callable result or default-constructed value when driver is unavailable.

Member Data Documentation

◆ as5047u_sensor_

std::unique_ptr<as5047u::AS5047U<As5047uSpiAdapter> > As5047uHandler::as5047u_sensor_

private

AS5047U driver instance.

◆ config_

As5047uConfig As5047uHandler::config_

private

Sensor configuration.

◆ description_

char As5047uHandler::description_[64]

private

Sensor description.

◆ diagnostics_

As5047uDiagnostics As5047uHandler::diagnostics_

mutableprivate

Cached diagnostics.

◆ handler_mutex_

RtosMutex As5047uHandler::handler_mutex_

mutableprivate

Thread safety mutex.

◆ initialized_

bool As5047uHandler::initialized_

private

Initialization state.

◆ last_error_

AS5047U_Error As5047uHandler::last_error_

mutableprivate

Last driver-reported error flags.

◆ spi_adapter_

std::unique_ptr<As5047uSpiAdapter> As5047uHandler::spi_adapter_

private

SPI CRTP adapter.

◆ spi_ref_

BaseSpi& As5047uHandler::spi_ref_

private

Reference to SPI interface.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ As5047uHandler() [1/3]

◆ ~As5047uHandler()

◆ As5047uHandler() [2/3]

◆ As5047uHandler() [3/3]

Member Function Documentation

◆ ApplyConfiguration()

◆ Deinitialize()

◆ DumpDiagnostics()

◆ EnsureInitialized()

◆ EnsureInitializedLocked()

◆ GetDefaultConfig()

◆ GetDescription()

◆ GetDiagnostics()

◆ GetDriver() [1/2]

◆ GetDriver() [2/2]

◆ GetLastError()

◆ GetSensor()

◆ HandleSensorErrors()

◆ Initialize()

◆ IsInitialized()

◆ IsSensorReady()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ RefreshDiagnostics()

◆ UpdateDiagnostics()

◆ ValidateSensor()

◆ visitDriver()

Member Data Documentation

◆ as5047u_sensor_

◆ config_

◆ description_

◆ diagnostics_

◆ handler_mutex_

◆ initialized_

◆ last_error_

◆ spi_adapter_

◆ spi_ref_