EncoderBissC.h

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/*
 * EncoderBissC.h
 *
 *  Created on: 19.12.2020
 *      Author: Leon & Yannick
 */
 
#ifndef ENCODERBISSC_H_
#define ENCODERBISSC_H_
 
#include "cppmain.h"
#include "constants.h"
#include "ChoosableClass.h"
#include "CommandHandler.h"
#include "SPI.h"
#include "Encoder.h"
#include "cpp_target_config.h"
#include <math.h>
#include "PersistentStorage.h"
#include "semaphore.hpp"
#include "array"
 
class EncoderBissC: public Encoder, public SPIDevice , public CommandHandler,cpp_freertos::Thread,public PersistentStorage {
public:
 
    static ClassIdentifier info;
    const ClassIdentifier getInfo();
 
    EncoderBissC();
    virtual ~EncoderBissC();
 
    EncoderType getEncoderType();
    static bool isCreatable();
    bool updateFrame();
    int32_t getPos();
    int32_t getPosAbs();
    void setPos(int32_t pos);
    uint32_t getCpr();
 
    void saveFlash();      // Write to flash here
    void restoreFlash();    // Load from flash
 
    void Run();
 
    enum class EncoderBissC_commands {bits,cs,speed,errors,direction};
 
    CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies);
 
    void registerCommands();
    void configSPI();
    void acquirePosition();
    void spiRxCompleted(SPIPort* port) override;
    void beginSpiTransfer(SPIPort* port);
    void endSpiTransfer(SPIPort* port);
 
private:
    static const bool useWaitSem = true; // Wait until data is processed. otherwise returns last value
    static const uint32_t waitThresh = 2; // If last sample older than x ms use wait semaphore. Else skip and use last value to speed up processing
    int lenghtDataBit = 22;
    int spiSpeed = 3;
    bool waitData = false;
    bool invertDirection = true; // Most biss-c encoders count UP clockwise while standard motor direction is usually CCW
 
    uint32_t lastUpdateTick = 0;
 
    int32_t pos = 0, posOffset = 0,lastPos = 0,newPos = 0;
    int32_t mtpos = 0;
    //bool crc_ok = false;
    const static uint8_t bytes = 8; // Maybe use higher length to allow higher speeds because the fixed length start timeout wastes more bits at higher rates
    uint8_t spi_buf[bytes] = {0};
    uint32_t decod_buf[bytes/4] = {0};
 
 
    const uint8_t POLY = 0x43;
    static std::array<uint8_t,64> tableCRC6n;
    int32_t numErrors = 0;
    static bool inUse;
    cpp_freertos::BinarySemaphore requestNewDataSem = cpp_freertos::BinarySemaphore(false);
    cpp_freertos::BinarySemaphore waitForUpdateSem = cpp_freertos::BinarySemaphore(false);
};
 
#endif /* ENCODERBISSC_H_ */