EncoderLocal.h

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/*
 * EncoderLocal.h
 *
 *  Created on: 02.02.2020
 *      Author: Yannick
 */
 
#ifndef ENCODERLOCAL_H_
#define ENCODERLOCAL_H_
 
#include "cppmain.h"
#include <Encoder.h>
#include "constants.h"
#include "ExtiHandler.h"
#include "TimerHandler.h"
#include "CommandHandler.h"
#include "PersistentStorage.h"
 
#ifdef LOCALENCODER
extern TIM_HandleTypeDef TIM_ENC;
 
 
 
class EncoderLocal: public Encoder,public ExtiHandler,TimerHandler,public CommandHandler, public PersistentStorage{
    enum class EncoderLocal_commands : uint32_t{
        cpr,useindex
    };
public:
    static bool inUse;
    static ClassIdentifier info;
    const ClassIdentifier getInfo();
    static bool isCreatable() {return !inUse;};
 
    EncoderLocal();
    virtual ~EncoderLocal();
 
    EncoderType getEncoderType();
 
    void registerCommands();
 
    int32_t getPos();
    void setPos(int32_t pos);
    //void setOffset(int32_t offset);
    void setPeriod(uint32_t period);
    void overflowCallback();
    void exti(uint16_t GPIO_Pin) override;
    void timerElapsed(TIM_HandleTypeDef* htim);
 
    int32_t getTimerCount();
 
    void setCpr(uint32_t cpr); // Encoder counts per rotation
 
    CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies);
    std::string getHelpstring(){return "Local ABN encoder\n";}
    void saveFlash();      // Write to flash here
    void restoreFlash();    // Load from flash
 
    //const ClassType getClassType() override {return ClassType::Encoder;};
private:
    TIM_HandleTypeDef* htim;
    int16_t offset = 0;
    int32_t pos = 0; // Extra position counter for overflows
    uint32_t indexpos = 0;
 
    bool indexHit = false;
    bool useIndex = false;
};
#endif
#endif /* ENCODERLOCAL_H_ */