Sensor¶

This chapter describes the Sensor interface, which represents a sensor in a controller, typically to track actuator movement or environment monitoring.

Routing¶

The most basic sensor routing is given in Basic sensor routing, which consists solely of an Actual signal. The value from hardware is directly propagated to the signal value.

Basic sensor routing¶

Specific sensor implementations can deviate from this basic routing, e.g. with configurable scaling and filter as shown in Complex sensor routing.

Complex sensor routing¶

In the case of more complex routing, the signal at the interface between hardware and software is always called Value.

Signals¶

Common signals that can be available for sensors are described in the following table:

Name	Data type	R/W	Description
Actual	sensor specific	R	Sensor actual value at the end of the sensor routing.
Value	sensor specific	R	Sensor value at the interface between hardware and software, if applicable.

The Actual signal is present for every sensor. The Value is present for sensors with more complex routing.

Inputs¶

A sensor can have inputs, e.g. for connecting a waveform generator.

Event¶

A sensor is also an event source.

Power state machine¶

A sensor can have a Power state machine that allows for changing the power state of the sensor.