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fix(AS5600): convert static variables to instance members #571

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Merged
finger563 merged 4 commits into from
Dec 11, 2025
Merged

fix(AS5600): convert static variables to instance members #571

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4d9a7ec
fix: convert static variables to instance members to enable supportin…
rahgirrafi Dec 9, 2025
2d65174
fix(as5600): initialize prev_count_ to prevent incorrect first diff
rahgirrafi Dec 9, 2025
e16c745
refactor(as5600): align implementation with MT6701 encoder
rahgirrafi Dec 10, 2025
e4a496a
Fix (AS5600): Used read_counts() instead of non-existant read() metho…
rahgirrafi Dec 10, 2025
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21 changes: 13 additions & 8 deletions components/as5600/include/as5600.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,8 @@ class As5600 : public BasePeripheral<> {
*/
void initialize(std::error_code &ec) { init(ec); }



/**
* @brief Return whether the sensor has found absolute 0 yet.
* @note The AS5600 (using I2C/SPI) does not need to search for absolute 0
Expand Down Expand Up @@ -174,6 +176,8 @@ class As5600 : public BasePeripheral<> {
return (int)((angle_h << 6) | angle_l);
}



void update(std::error_code &ec) {
logger_.info("update");
std::lock_guard<std::recursive_mutex> lock(base_mutex_);
Expand All @@ -183,11 +187,10 @@ class As5600 : public BasePeripheral<> {
return;
}
count_.store(count);
static int prev_count = count_;
// compute diff
int diff = count_ - prev_count;
// compute diff
int diff = count_ - prev_count_;
// update prev_count
prev_count = count_;
prev_count_ = count_;
// check for zero crossing
if (diff > COUNTS_PER_REVOLUTION / 2) {
// we crossed zero going clockwise (1 -> 359)
Expand All @@ -199,11 +202,10 @@ class As5600 : public BasePeripheral<> {
// update accumulator
accumulator_ += diff;
logger_.debug("CDA: {}, {}, {}", count_, diff, accumulator_);
// update velocity (filtering it)
static auto prev_time = std::chrono::high_resolution_clock::now();
// update velocity (filtering it)
auto now = std::chrono::high_resolution_clock::now();
float elapsed = std::chrono::duration<float>(now - prev_time).count();
prev_time = now;
float elapsed = std::chrono::duration<float>(now - prev_time_).count();
prev_time_ = now;
float seconds = elapsed ? elapsed : update_period_.count();
float raw_velocity = (float)(diff) / COUNTS_PER_REVOLUTION_F / seconds * SECONDS_PER_MINUTE;
velocity_rpm_ = velocity_filter_ ? velocity_filter_(raw_velocity) : raw_velocity;
Expand Down Expand Up @@ -298,5 +300,8 @@ class As5600 : public BasePeripheral<> {
std::atomic<int> accumulator_{0};
std::atomic<float> velocity_rpm_{0};
std::unique_ptr<Task> task_;
// Instance-specific variables (not static) to support multiple AS5600 sensors
int prev_count_{0};
std::chrono::high_resolution_clock::time_point prev_time_{std::chrono::high_resolution_clock::now()};
};
} // namespace espp