joint_level_control/swing__sensor__rosinterface_8h_source.html

 #ifndef SWING_SENSOR_ROS

 #define SWING_SENSOR_ROS


 #include <string>

 //Error flags to diferentiate between errors

 const uint8_t SPI_CMD_ERROR =  0x01;

 const uint8_t SPI_PARITY_ERROR = 0x02;

 const uint8_t SPI_DEVICE_ERROR = 0x04;

 const uint8_t SPI_MODE_ERROR = 0x08;

 const uint8_t ANGLE_OUT_OF_BOUNDS_ERROR = 0x10;

 const uint8_t JOINT_LIMIT_ERROR = 0x20;


 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);


 #endif

readSwingAngle
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 ...
Definition: swing_sensor_rosinterface.cpp:44

SPI_PARITY_ERROR
const uint8_t SPI_PARITY_ERROR
flag if the parity of the spi msg is wrong
Definition: swing_sensor_rosinterface.h:12

ANGLE_OUT_OF_BOUNDS_ERROR
const uint8_t ANGLE_OUT_OF_BOUNDS_ERROR
flag if the returned value is unfeasible
Definition: swing_sensor_rosinterface.h:15

SPI_DEVICE_ERROR
const uint8_t SPI_DEVICE_ERROR
flag if the spi device can't be opened
Definition: swing_sensor_rosinterface.h:13

SPI_CMD_ERROR
const uint8_t SPI_CMD_ERROR
flag if the cmd frame error bit in the spi msg is set
Definition: swing_sensor_rosinterface.h:11

SPI_MODE_ERROR
const uint8_t SPI_MODE_ERROR
flag if the spi mode can't be set / read
Definition: swing_sensor_rosinterface.h:14

JOINT_LIMIT_ERROR
const uint8_t JOINT_LIMIT_ERROR
flag if the read angle is not within the joint limits
Definition: swing_sensor_rosinterface.h:16