EncoderSSI.h

Go to the documentation of this file.

/*
 * EncoderSSI.h
 *
 *  Created on: 22.02.23
 *      Author: Yannick
 */
 
#ifndef ENCODERSSI_H_
#define ENCODERSSI_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 EncoderSSI: public Encoder, public SPIDevice , public CommandHandler,public PersistentStorage {
public:
 
    static ClassIdentifier info;
    const ClassIdentifier getInfo();
 
    EncoderSSI();
    virtual ~EncoderSSI();
 
    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
    std::string getHelpstring(){return "SPI SSI Encoder\n";}
 
    enum class EncoderSSI_commands {bits,cs,speed,errors,mode};
    enum class EncoderSSI_modes : uint8_t{rawmsb,AMT23}; // 15 max modes
    static constexpr std::array<const char*,2> mode_names = {"Raw","AMT23"};
 
    template<size_t N>
    std::string printModes(const std::array<const char*,N>& names){
        std::string reply;
        for(uint8_t i = 0; i<names.size();i++){
            reply+=  std::string(names[i])  + ":" + std::to_string(i)+"\n";
        }
        return reply;
    }
 
    std::string printSpeeds();
 
    CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies);
 
    void registerCommands();
    void configSPI();
 
    void spiRxCompleted(SPIPort* port) override;
    void beginSpiTransfer(SPIPort* port);
    void endSpiTransfer(SPIPort* port);
    void setMode(EncoderSSI_modes mode);
 
private:
    int lenghtDataBit = 22;
    int spiSpeed = 0;
    uint32_t errors = 0;
    EncoderSSI_modes mode;
 
    uint32_t lastUpdateTick = 0;
 
    int32_t pos = 0, posOffset = 0,lastPos = 0,newPos = 0;
    int32_t mtpos = 0;
 
    const static uint8_t bytes = 8;
    uint8_t spi_buf[bytes] = {0};
    uint8_t transferlen = bytes;
 
    static bool inUse;
 
    bool waitData = false;
 
};
 
#endif