#include <EncoderBissC.h>

Inheritance diagram for EncoderBissC:

Public Types
enum class	EncoderBissC_commands { bits , cs , speed , errors , direction }

Public Member Functions
const ClassIdentifier	getInfo ()
	Command handlers always have class infos. Works well with ChoosableClass. More...

	EncoderBissC ()

virtual	~EncoderBissC ()

EncoderType	getEncoderType ()

bool	updateFrame ()

int32_t	getPos ()

int32_t	getPosAbs ()

void	setPos (int32_t pos)

uint32_t	getCpr ()

void	saveFlash ()

void	restoreFlash ()

void	Run ()

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)

Public Member Functions inherited from Encoder
	Encoder ()

virtual	~Encoder ()

virtual float	getPos_f ()

virtual float	getPosAbs_f ()

virtual const ClassType	getClassType () override
	returns the used classchooser selection id of this instance More...

Public Member Functions inherited from ChoosableClass
virtual	~ChoosableClass ()

uint16_t	getSelectionID ()

Public Member Functions inherited from SPIDevice
	SPIDevice (SPIPort &port, OutputPin csPin)

	SPIDevice (SPIPort &port, SPIConfig &spiConfig)

virtual	~SPIDevice ()

void	assertChipSelect ()

void	clearChipSelect ()

virtual bool	updateCSPin (OutputPin &csPin)

virtual void	spiTxCompleted (SPIPort *port)

virtual void	spiTxRxCompleted (SPIPort *port)

virtual void	spiRequestError (SPIPort *port)

virtual SPIConfig *	getSpiConfig ()

Public Member Functions inherited from CommandHandler
virtual const ClassType	getClassType ()

	CommandHandler (const char *clsname, uint16_t clsid, uint8_t instance=0)

virtual	~CommandHandler ()

virtual bool	hasCommands ()

virtual void	setCommandsEnabled (bool enable)

void	registerCommands ()

virtual CommandStatus	internalCommand (const ParsedCommand &cmd, std::vector< CommandReply > &replies)

virtual std::string	getHelpstring ()

virtual std::string	getCommandsHelpstring ()

virtual std::string	getCsvHelpstring ()

virtual uint8_t	getCommandHandlerInstance ()

void	broadcastCommandReply (CommandReply reply, uint32_t cmdId, CMDtype type)

void	sendCommandReplyAsync (CommandReply reply, uint32_t cmdId, CMDtype type, CommandInterface *interface=nullptr)

virtual uint16_t	getCommandHandlerID ()

virtual CmdHandlerInfo *	getCommandHandlerInfo ()

virtual bool	isValidCommandId (uint32_t cmdid, uint32_t ignoredFlags=0, uint32_t requiredFlag=0)

virtual CmdHandlerCommanddef *	getCommandFromName (const std::string &cmd, uint32_t ignoredFlags=0)

virtual CmdHandlerCommanddef *	getCommandFromId (const uint32_t id, uint32_t ignoredFlags=0)

template<typename ID >
void	registerCommand (const char cmd, const ID cmdid, const char help=nullptr, uint32_t flags=0)

Public Member Functions inherited from PersistentStorage
	PersistentStorage ()

virtual	~PersistentStorage ()

void	restoreFlashDelayed ()

Static Public Member Functions
static bool	isCreatable ()

Static Public Member Functions inherited from ChoosableClass
static bool	isCreatable ()

Static Public Member Functions inherited from CommandHandler
static void	logSerial (std::string string)
	Send a log formatted sequence. More...

static void	logSerialDebug (std::string string)
	Send a log formatted sequence if debug is on. More...

static bool	logsEnabled ()

static void	setLogsEnabled (bool enabled)

static uint32_t	getClassIdFromName (const char *name)

static const char *	getClassNameFromId (const uint32_t id)

static CommandHandler *	getHandlerFromHandlerId (const uint16_t cmdhandlerID)

static CommandHandler *	getHandlerFromId (const uint16_t id, const uint8_t instance=0xFF)

static CommandHandler *	getHandlerFromClassName (const char *name, const uint8_t instance=0xFF)

static std::vector< CommandHandler * >	getHandlersFromClassName (const char *name)

static std::vector< CommandHandler * >	getHandlersFromId (const uint16_t id)

static bool	isInHandlerList (CommandHandler *handler)

static std::string	getAllHelpstrings ()

static std::vector< CommandHandler * > &	getCommandHandlers ()

template<typename TVal >
static CommandStatus	handleGetSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value)

template<typename TVal , class cls , class cls1 >
static CommandStatus	handleGetSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, void(cls1::setfunc)(TVal), cls obj)

template<typename TVal , class cls , class cls1 , class cls2 >
static CommandStatus	handleGetFuncSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal(cls1::getfunc)(), void(cls2::setfunc)(TVal), cls *obj)

template<typename TVal , class cls , class cls1 >
static CommandStatus	handleGetFuncSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, TVal(cls1::getfunc)(), cls obj)

Static Public Member Functions inherited from PersistentStorage
static std::vector< PersistentStorage * > &	getFlashHandlers ()

static void	restoreFlashStartupCb ()

Static Public Attributes
static ClassIdentifier	info

Static Public Attributes inherited from Encoder
static ClassIdentifier	info ={.name = "None" , .id=CLSID_ENCODER_NONE, .visibility = ClassVisibility::visible}

static const std::vector< class_entry< Encoder > >	all_encoders

Static Public Attributes inherited from ChoosableClass
static ClassIdentifier	info

Static Public Attributes inherited from CommandHandler
static bool	logEnabled = true

Private Attributes
int	lenghtDataBit = 22

int	spiSpeed = 3

bool	waitData = false

bool	invertDirection = true

uint32_t	lastUpdateTick = 0

int32_t	pos = 0

int32_t	posOffset = 0

int32_t	lastPos = 0

int32_t	newPos = 0

int32_t	mtpos = 0

uint8_t	spi_buf [bytes] = {0}

uint32_t	decod_buf [bytes/4] = {0}

const uint8_t	POLY = 0x43

int32_t	numErrors = 0

cpp_freertos::BinarySemaphore	requestNewDataSem = cpp_freertos::BinarySemaphore(false)

cpp_freertos::BinarySemaphore	waitForUpdateSem = cpp_freertos::BinarySemaphore(false)

Static Private Attributes
static const bool	useWaitSem = true

static const uint32_t	waitThresh = 2

static const uint8_t	bytes = 8

static std::array< uint8_t, 64 >	tableCRC6n

static bool	inUse = false

Additional Inherited Members
Protected Member Functions inherited from SPIDevice
virtual void	setSpiConfig (SPIConfig config)

Protected Member Functions inherited from CommandHandler
void	setInstance (uint8_t instance)

virtual void	addCommandHandler ()

virtual void	removeCommandHandler ()

Static Protected Member Functions inherited from CommandHandler
static std::vector< uint16_t > &	getCommandHandlerIds ()

Protected Attributes inherited from Encoder
uint32_t	cpr = 0

Protected Attributes inherited from ChoosableClass
uint16_t	selectionId
	Should only be written by ClassChooser during creation. More...

Protected Attributes inherited from SPIDevice
SPIPort &	spiPort

SPIConfig	spiConfig

Protected Attributes inherited from CommandHandler
bool	commandsEnabled = true

std::vector< CmdHandlerCommanddef >	registeredCommands

CmdHandlerInfo	cmdHandlerInfo

Protected Attributes inherited from PersistentStorage
bool	restoreDelayedFlag = false

Static Protected Attributes inherited from PersistentStorage
static bool	startupComplete = false

Private Member Functions inherited from cpp_freertos::Thread
	Thread (const std::string Name, uint16_t StackDepth, UBaseType_t Priority)

	Thread (const char *Name, uint16_t StackDepth, UBaseType_t Priority)

	Thread (uint16_t StackDepth, UBaseType_t Priority)

bool	Start ()

virtual	~Thread ()

TaskHandle_t	GetHandle ()

void	Suspend ()

void	Resume ()

void	ResumeFromISR ()

void	Notify ()

void	NotifyFromISR ()

uint32_t	WaitForNotification (TickType_t Timeout=portMAX_DELAY)

UBaseType_t	GetPriority ()

UBaseType_t	GetPriorityFromISR ()

void	SetPriority (UBaseType_t NewPriority)

std::string	GetName ()

char *	GetName ()

virtual void	Cleanup ()

void	Delay (const TickType_t Delay)

void	DelayUntil (const TickType_t Period)

void	ResetDelayUntil ()

bool	Wait (ConditionVariable &Cv, Mutex &CvLock, TickType_t Timeout=portMAX_DELAY)

Static Private Member Functions inherited from cpp_freertos::Thread
static void	Yield ()

static void	StartScheduler ()

static void	EndScheduler ()

Detailed Description

Definition at line 23 of file EncoderBissC.h.

Member Enumeration Documentation

◆ EncoderBissC_commands

enum class EncoderBissC::EncoderBissC_commands

strong

Enumerator
bits
cs
speed
errors
direction

Definition at line 45 of file EncoderBissC.h.

Constructor & Destructor Documentation

◆ EncoderBissC()

EncoderBissC::EncoderBissC ( )

Definition at line 26 of file EncoderBissC.cpp.

◆ ~EncoderBissC()

EncoderBissC::~EncoderBissC ( )

virtual

Definition at line 134 of file EncoderBissC.cpp.

Member Function Documentation

◆ acquirePosition()

void EncoderBissC::acquirePosition ( )

◆ beginSpiTransfer()

void EncoderBissC::beginSpiTransfer ( SPIPort * port )

virtual

Reimplemented from SPIDevice.

Definition at line 146 of file EncoderBissC.cpp.

◆ command()

CommandStatus EncoderBissC::command	(	const ParsedCommand &	cmd,
		std::vector< CommandReply > &	replies
	)

virtual

Parameters

[in]	cmd	The parsed command to be executed.
[out]	replies	A vector to return one or multiple reply objects into. Replies to the interface will be generated based on the reply objects. A string reply may not contain start, end and separation markers: [,],\| Other characters are allowed.

Reimplemented from CommandHandler.

Definition at line 249 of file EncoderBissC.cpp.

◆ configSPI()

void EncoderBissC::configSPI ( )

Definition at line 99 of file EncoderBissC.cpp.

◆ endSpiTransfer()

void EncoderBissC::endSpiTransfer ( SPIPort * port )

virtual

Reimplemented from SPIDevice.

Definition at line 151 of file EncoderBissC.cpp.

◆ getCpr()

uint32_t EncoderBissC::getCpr ( )

virtual

Gets the amount of counts per full rotation of the encoder

Reimplemented from Encoder.

Definition at line 237 of file EncoderBissC.cpp.

◆ getEncoderType()

EncoderType EncoderBissC::getEncoderType ( )

virtual

Returns the type of the encoder. Must override this and NOT return NONE in other classes

Reimplemented from Encoder.

Definition at line 158 of file EncoderBissC.cpp.

◆ getInfo()

const ClassIdentifier EncoderBissC::getInfo ( )

virtual

Command handlers always have class infos. Works well with ChoosableClass.

Implements CommandHandler.

Definition at line 20 of file EncoderBissC.cpp.

◆ getPos()

int32_t EncoderBissC::getPos ( )

virtual

Returns the encoder position as raw counts

Reimplemented from Encoder.

Definition at line 216 of file EncoderBissC.cpp.

◆ getPosAbs()

int32_t EncoderBissC::getPosAbs ( )

virtual

Returns absolute positions without offsets for absolute encoders. Otherwise it returns getPos

Reimplemented from Encoder.

Definition at line 206 of file EncoderBissC.cpp.

◆ isCreatable()

bool EncoderBissC::isCreatable ( )

static

Definition at line 130 of file EncoderBissC.cpp.

◆ registerCommands()

void EncoderBissC::registerCommands ( )

Definition at line 241 of file EncoderBissC.cpp.

◆ restoreFlash()

void EncoderBissC::restoreFlash ( )

virtual

Should be implemented to restore settings. This is not automatically called and should be called when appropriate.

Reimplemented from PersistentStorage.

Definition at line 79 of file EncoderBissC.cpp.

◆ Run()

void EncoderBissC::Run ( )

virtual

Implementation of your actual thread code. You must override this function.

Note: If INCLUDE_vTaskDelete is defined, then you may return from your Run method. This will cause the task to be deleted from FreeRTOS, however you are still responsible to delete the task object. If this is not defined, then retuning from your Run() method will result in an assert.

Implements cpp_freertos::Thread.

Definition at line 43 of file EncoderBissC.cpp.

◆ saveFlash()

void EncoderBissC::saveFlash ( )

virtual

Called when the user uses the "save" command and presses the save button in the configurator Automatically called by the command parser thread for every class that inherits from PersistentStorage

Reimplemented from PersistentStorage.

Definition at line 90 of file EncoderBissC.cpp.

◆ setPos()

void EncoderBissC::setPos ( int32_t pos )

virtual

Change the position of the encoder Can be used to reset the center

Reimplemented from Encoder.

Definition at line 225 of file EncoderBissC.cpp.

◆ spiRxCompleted()

void EncoderBissC::spiRxCompleted ( SPIPort * port )

overridevirtual

Reimplemented from SPIDevice.

Definition at line 140 of file EncoderBissC.cpp.

◆ updateFrame()

bool EncoderBissC::updateFrame ( )

Member Data Documentation

◆ bytes

const uint8_t EncoderBissC::bytes = 8

staticprivate

Definition at line 69 of file EncoderBissC.h.

◆ decod_buf

uint32_t EncoderBissC::decod_buf[bytes/4] = {0}

private

Definition at line 71 of file EncoderBissC.h.

◆ info

ClassIdentifier EncoderBissC::info

static

Initial value:

= {
         .name = "BISS-C" ,
         .id=CLSID_ENCODER_BISS
}

Definition at line 26 of file EncoderBissC.h.

◆ inUse

bool EncoderBissC::inUse = false

staticprivate

Definition at line 77 of file EncoderBissC.h.

◆ invertDirection

bool EncoderBissC::invertDirection = true

private

Definition at line 62 of file EncoderBissC.h.

◆ lastPos

int32_t EncoderBissC::lastPos = 0

private

Definition at line 66 of file EncoderBissC.h.

◆ lastUpdateTick

uint32_t EncoderBissC::lastUpdateTick = 0

private

Definition at line 64 of file EncoderBissC.h.

◆ lenghtDataBit

int EncoderBissC::lenghtDataBit = 22

private

Definition at line 59 of file EncoderBissC.h.

◆ mtpos

int32_t EncoderBissC::mtpos = 0

private

Definition at line 67 of file EncoderBissC.h.

◆ newPos

int32_t EncoderBissC::newPos = 0

private

Definition at line 66 of file EncoderBissC.h.

◆ numErrors

int32_t EncoderBissC::numErrors = 0

private

Definition at line 76 of file EncoderBissC.h.

◆ POLY

const uint8_t EncoderBissC::POLY = 0x43

private

Definition at line 74 of file EncoderBissC.h.

◆ pos

int32_t EncoderBissC::pos = 0

private

Definition at line 66 of file EncoderBissC.h.

◆ posOffset

int32_t EncoderBissC::posOffset = 0

private

Definition at line 66 of file EncoderBissC.h.

◆ requestNewDataSem

cpp_freertos::BinarySemaphore EncoderBissC::requestNewDataSem = cpp_freertos::BinarySemaphore(false)

private

Definition at line 78 of file EncoderBissC.h.

◆ spi_buf

uint8_t EncoderBissC::spi_buf[bytes] = {0}

private

Definition at line 70 of file EncoderBissC.h.

◆ spiSpeed

int EncoderBissC::spiSpeed = 3

private

Definition at line 60 of file EncoderBissC.h.

◆ tableCRC6n

std::array<uint8_t,64> EncoderBissC::tableCRC6n

staticprivate

Definition at line 75 of file EncoderBissC.h.

◆ useWaitSem

const bool EncoderBissC::useWaitSem = true

staticprivate

Definition at line 57 of file EncoderBissC.h.

◆ waitData

bool EncoderBissC::waitData = false

private

Definition at line 61 of file EncoderBissC.h.

◆ waitForUpdateSem

cpp_freertos::BinarySemaphore EncoderBissC::waitForUpdateSem = cpp_freertos::BinarySemaphore(false)

private

Definition at line 79 of file EncoderBissC.h.

◆ waitThresh

const uint32_t EncoderBissC::waitThresh = 2

staticprivate

Definition at line 58 of file EncoderBissC.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ EncoderBissC_commands

Constructor & Destructor Documentation

◆ EncoderBissC()

◆ ~EncoderBissC()

Member Function Documentation

◆ acquirePosition()

◆ beginSpiTransfer()

◆ command()

◆ configSPI()

◆ endSpiTransfer()

◆ getCpr()

◆ getEncoderType()

◆ getInfo()

◆ getPos()

◆ getPosAbs()

◆ isCreatable()

◆ registerCommands()

◆ restoreFlash()

◆ Run()

◆ saveFlash()

◆ setPos()

◆ spiRxCompleted()

◆ updateFrame()

Member Data Documentation

◆ bytes

◆ decod_buf

◆ info

◆ inUse

◆ invertDirection

◆ lastPos

◆ lastUpdateTick

◆ lenghtDataBit

◆ mtpos

◆ newPos

◆ numErrors

◆ POLY

◆ pos

◆ posOffset

◆ requestNewDataSem

◆ spi_buf

◆ spiSpeed

◆ tableCRC6n

◆ useWaitSem

◆ waitData

◆ waitForUpdateSem

◆ waitThresh