DJI-Gimbal-FOC/src/linearHallSensor.h

#ifndef LinearHallSensor_h
#define LinearHallSensor_h

#include "Arduino.h"
#include "BLDCMotor.h"

/**
 * @brief Linear Hall sensor class
 * 
 */
class LinearHallSensor
{
    public:
        /**
         Linear Hall Sensor class constructor
        @param ch1 Analog pin for channel 1
        @param ch2 Analog pin for channel 2
        */ 
        LinearHallSensor(uint8_t ch1, uint8_t ch2);


        /**
         * @brief Initialize variable by measuring max and min value
         * 
         */
        void init(BLDCMotor motor);


        /**
         * @brief Read the sensors and return the current angle in rad
         * 
         * @return rad and angle 
         */
        float readSensorCallbackStateMachine();

        float readSensorCallback();
        
        /**
         * @brief retrun the max angle of the motor
         * 
         * @return max angle in rad  
         */
        float getMaxAngle();


    private:
        uint32_t _analogPin1; 
        uint32_t _analogPin2;
        
        //  max values read from the ADC on channels during init
        uint32_t _maxCh1;
        uint32_t _maxCh2;
        uint32_t _minCh1;
        uint32_t _minCh2;

        float _prevPosition;
        float _currentPosition;
        float _estimatePosition;    // current position + offset
        float _offset;              // offset angle measured at init
        float _maxSensor;           // Max range angle value measured (so command from 0 to that value)

        float _minPositionEndValue; // min pos in open loop mode
        float _maxPositionEndValue;
};

#endif