MtEncoderSPI.h

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/*
 * MtEncoderSPI.h
 *
 *  Created on: 02.11.2021
 *      Author: Yannick
 */
 
#ifndef USEREXTENSIONS_SRC_MTENCODERSPI_H_
#define USEREXTENSIONS_SRC_MTENCODERSPI_H_
#include "constants.h"
#ifdef MTENCODERSPI
#include "SPI.h"
#include "cpp_target_config.h"
#include "Encoder.h"
#include "PersistentStorage.h"
#include "CommandHandler.h"
#include "thread.hpp"
 
 
class MtEncoderSPI: public Encoder, public SPIDevice, public PersistentStorage, public CommandHandler,cpp_freertos::Thread{
    enum class MtEncoderSPI_commands : uint32_t{
        cspin,pos,errors,mode
    };
    enum class MtEncoderSPI_mode : uint8_t{
        mt6825,mt6835
    };
public:
    MtEncoderSPI();
    virtual ~MtEncoderSPI();
 
    static bool inUse;
    static ClassIdentifier info;
    const ClassIdentifier getInfo();
    static bool isCreatable() {return ext3_spi.getFreeCsPins().size() > 0 && !inUse;};
 
    EncoderType getEncoderType(){return EncoderType::absolute;};
    void Run();
 
    void restoreFlash() override;
    void saveFlash() override;
 
    int32_t getPos() override;
    uint32_t getCpr() override; // Encoder counts per rotation
 
    int32_t getPosAbs() override;
 
    void setPos(int32_t pos);
 
    void initSPI();
    void updateAngleStatus();
    bool updateAngleStatusCb();
 
    CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies);
    void setCsPin(uint8_t cspin);
 
    void setMode(MtEncoderSPI_mode mode);
 
    //bool useDMA = false; // if true uses DMA for angle updates instead of polling SPI. TODO when used with tmc external encoder using DMA will hang the interrupt randomly
 
private:
    uint8_t readSpi(uint16_t addr);
    void writeSpi(uint16_t addr,uint8_t data);
    void spiTxRxCompleted(SPIPort* port);
 
 
    bool nomag = false; // Magnet lost in last report
    bool overspeed = false; // Overspeed flag set in last report
    int32_t lastAngleInt = 0;
    int32_t curAngleInt = 0;
    int32_t curPos = 0;
    int32_t rotations = 0;
    int32_t offset = 0;
    uint8_t cspin = 0;
    bool updateInProgress = false;
    uint32_t errors = 0;
 
 
    uint8_t txbuf[6] = {0};
    uint8_t rxbuf[6] = {0};
    uint8_t rxbuf_t[6] = {0};
    cpp_freertos::BinarySemaphore requestNewDataSem = cpp_freertos::BinarySemaphore(false);
    cpp_freertos::BinarySemaphore waitForUpdateSem = cpp_freertos::BinarySemaphore(false);
 
    MtEncoderSPI_mode mode = MtEncoderSPI_mode::mt6825;
 
    static std::array<uint8_t,256> tableCRC;
    const uint8_t POLY = 0x07;
};
 
#endif /* USEREXTENSIONS_SRC_MTENCODERSPI_H_ */
#endif