uploaded 10 hours ago
Shared CRTP base class for espp magnetic angle encoders (As5600, Mt6701): periodic position/velocity update loop over a HighResolutionTimer or Timer
Readme
# Magnetic Encoder Base [](https://components.espressif.com/components/espp/magnetic_encoder) The `espp::MagneticEncoderBase` class is the shared CRTP base class for the espp magnetic angle encoders (`espp::As5600` and `espp::Mt6701`). It holds all of the machinery common to those encoders: * the periodic update loop (raw-count accumulation + velocity estimation), * the position / velocity accessors (count, radians, degrees, accumulator, RPM), * and the periodic driver that calls `update()` at the configured rate. The concrete encoder supplies exactly one thing - a `read()` that refreshes the raw count from the sensor - which the base invokes through static (CRTP) dispatch, so there is no virtual-call overhead even when the update loop runs at very high frequency (e.g. 1-2 kHz). The periodic driver is selected at compile time (per encoder, via KConfig / menuconfig): * an `espp::HighResolutionTimer` (default), which has microsecond resolution and is the right choice for sub-millisecond update periods, or * an `espp::Timer`, which schedules against an absolute wake-up time (drift-free and in phase - important for stable velocity / accumulator state) but is limited to the FreeRTOS tick resolution. This component is a building block; it is not instantiated directly. See the `as5600` and `mt6701` components for concrete encoders that derive from it.
Links
- Homepage
- Documentation
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Repository
615b8dfde3e14e5a40ac4d1e2c605182b9d31bfd
- MIT
Supports all targets
Maintainer
- William Emfinger <waemfinger@gmail.com>
To add this component to your project, run:
download archive
idf.py add-dependency "espp/magnetic_encoder^1.2.0"
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