#include <string>

Include dependency graph for swing_sensor_rosinterface.h:

This graph shows which files directly or indirectly include this file:

Functions
uint16_t	readSwingAngle (const std::string &spi_device, uint8_t spi_cs_id, uint8_t spi_mode, uint8_t spi_bits, uint32_t spi_speed, uint16_t spi_delay, uint8_t *error)
	This function is responsible for reading data from the hall sensors over spi. Returns the Hallsensor counts. More...

Variables
const uint8_t	SPI_CMD_ERROR = 0x01
	flag if the cmd frame error bit in the spi msg is set

const uint8_t	SPI_PARITY_ERROR = 0x02
	flag if the parity of the spi msg is wrong

const uint8_t	SPI_DEVICE_ERROR = 0x04
	flag if the spi device can't be opened

const uint8_t	SPI_MODE_ERROR = 0x08
	flag if the spi mode can't be set / read

const uint8_t	ANGLE_OUT_OF_BOUNDS_ERROR = 0x10
	flag if the returned value is unfeasible

const uint8_t	JOINT_LIMIT_ERROR = 0x20
	flag if the read angle is not within the joint limits

Detailed Description

Contains the spi transfer functionality for the hall sensors as well as the error flags.

Function Documentation

This function is responsible for reading data from the hall sensors over spi. Returns the Hallsensor counts.

Parameters

spi_device	[in] string file descriptor of the spi device,
spi_cs_id	[in] uint8_t ID of the sensor,
mode	[in] uint8_t spi mode: clock phase and polarity,
bits	[in] uint8_t spi bits per word,
speed	[in] uint32_t spi transfer speed in Hz,
delay	[in] uint16_t delay in usec after last bit transfer, before device deselect.
error	[out] uint8_t* variable used to return the errors of the transfer, contains error flags