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hall.c
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Created
Wed, Oct 2, 07:20
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text/x-c
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Fri, Oct 4, 07:20 (2 d)
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21248061
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R2671 HHRI-software
hall.c
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This document is not UTF8. It was detected as Shift JIS and converted to UTF8 for display.
/*
* Copyright (C) 2017 EPFL-LSRO (Laboratoire de Syst鑪es Robotiques).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "hall.h"
#define HALL_AMPLI_GAIN 1.1f
#define HALL_VOLT_DIVIDER 0.5f
AdcChannel hall_channel;
/**
* @brief Initialize the hall sensor driver.
* @param channel: the ADC channel the hall sensor is wired to (0 or 1).
*/
void hall_Init(AdcChannel channel)
{
hall_channel = channel;
}
/**
* @brief Return the Hall sensor output voltage.
* @return The Hall sensor output voltage [V].
*/
float32_t hall_GetVoltage(void)
{
// Because of the analog stages between the Hall sensor output pin and the
// ADC pin, a conversion is necessary to obtain the Hall output voltage.
float32_t voltage = adc_GetChannelVoltage(hall_channel); // Voltage at the ADC pin.
voltage = voltage / HALL_VOLT_DIVIDER; // Voltage between the Bessel filter and the voltage divider.
voltage = (voltage - ADC_REF_VOLTAGE) / HALL_AMPLI_GAIN + ADC_REF_VOLTAGE; // Voltage at the Hall output pin.
return voltage;
}
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