#include <EncoderSSI.h>

Inheritance diagram for EncoderSSI:

Public Types
enum class	EncoderSSI_commands { bits , cs , speed , errors , mode }

enum class	EncoderSSI_modes : uint8_t { rawmsb , AMT23 }

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

	EncoderSSI ()

virtual	~EncoderSSI ()

EncoderType	getEncoderType ()

bool	updateFrame ()

int32_t	getPos ()

int32_t	getPosAbs ()

void	setPos (int32_t pos)

uint32_t	getCpr ()

void	saveFlash ()

void	restoreFlash ()

std::string	getHelpstring ()

template<size_t N>
std::string	printModes (const std::array< const char *, N > &names)

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)

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	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 constexpr std::array< const char *, 2 >	mode_names = {"Raw","AMT23"}

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 = 0

uint32_t	errors = 0

EncoderSSI_modes	mode

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}

uint8_t	transferlen = bytes

bool	waitData = false

Static Private Attributes
static const uint8_t	bytes = 8

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

Detailed Description

Definition at line 23 of file EncoderSSI.h.

Member Enumeration Documentation

◆ EncoderSSI_commands

enum class EncoderSSI::EncoderSSI_commands

strong

Enumerator
bits
cs
speed
errors
mode

Definition at line 44 of file EncoderSSI.h.

◆ EncoderSSI_modes

enum class EncoderSSI::EncoderSSI_modes : uint8_t

strong

Enumerator
rawmsb
AMT23

Definition at line 45 of file EncoderSSI.h.

Constructor & Destructor Documentation

◆ EncoderSSI()

EncoderSSI::EncoderSSI ( )

Definition at line 22 of file EncoderSSI.cpp.

◆ ~EncoderSSI()

EncoderSSI::~EncoderSSI ( )

virtual

Definition at line 34 of file EncoderSSI.cpp.

Member Function Documentation

◆ beginSpiTransfer()

void EncoderSSI::beginSpiTransfer ( SPIPort * port )

virtual

Reimplemented from SPIDevice.

Definition at line 141 of file EncoderSSI.cpp.

◆ command()

CommandStatus EncoderSSI::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 209 of file EncoderSSI.cpp.

◆ configSPI()

void EncoderSSI::configSPI ( )

Definition at line 61 of file EncoderSSI.cpp.

◆ endSpiTransfer()

void EncoderSSI::endSpiTransfer ( SPIPort * port )

virtual

Reimplemented from SPIDevice.

Definition at line 147 of file EncoderSSI.cpp.

◆ getCpr()

uint32_t EncoderSSI::getCpr ( )

virtual

Gets the amount of counts per full rotation of the encoder

Reimplemented from Encoder.

Definition at line 178 of file EncoderSSI.cpp.

◆ getEncoderType()

EncoderType EncoderSSI::getEncoderType ( )

virtual

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

Reimplemented from Encoder.

Definition at line 154 of file EncoderSSI.cpp.

◆ getHelpstring()

std::string EncoderSSI::getHelpstring ( )

inlinevirtual

Returns a description of this class

Reimplemented from CommandHandler.

Definition at line 42 of file EncoderSSI.h.

◆ getInfo()

const ClassIdentifier EncoderSSI::getInfo ( )

virtual

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

Implements CommandHandler.

Definition at line 17 of file EncoderSSI.cpp.

◆ getPos()

int32_t EncoderSSI::getPos ( )

virtual

Returns the encoder position as raw counts

Reimplemented from Encoder.

Definition at line 167 of file EncoderSSI.cpp.

◆ getPosAbs()

int32_t EncoderSSI::getPosAbs ( )

virtual

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

Reimplemented from Encoder.

Definition at line 159 of file EncoderSSI.cpp.

◆ isCreatable()

bool EncoderSSI::isCreatable ( )

static

Definition at line 92 of file EncoderSSI.cpp.

◆ printModes()

template<size_t N>

std::string EncoderSSI::printModes ( const std::array< const char *, N > & names )

inline

Definition at line 49 of file EncoderSSI.h.

◆ printSpeeds()

std::string EncoderSSI::printSpeeds ( )

Definition at line 199 of file EncoderSSI.cpp.

◆ registerCommands()

void EncoderSSI::registerCommands ( )

Definition at line 182 of file EncoderSSI.cpp.

◆ restoreFlash()

void EncoderSSI::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 41 of file EncoderSSI.cpp.

◆ saveFlash()

void EncoderSSI::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 52 of file EncoderSSI.cpp.

◆ setMode()

void EncoderSSI::setMode ( EncoderSSI_modes mode )

Definition at line 190 of file EncoderSSI.cpp.

◆ setPos()

void EncoderSSI::setPos ( int32_t pos )

virtual

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

Reimplemented from Encoder.

Definition at line 171 of file EncoderSSI.cpp.

◆ spiRxCompleted()

void EncoderSSI::spiRxCompleted ( SPIPort * port )

overridevirtual

Reimplemented from SPIDevice.

Definition at line 96 of file EncoderSSI.cpp.

◆ updateFrame()

bool EncoderSSI::updateFrame ( )

Member Data Documentation

◆ bytes

const uint8_t EncoderSSI::bytes = 8

staticprivate

Definition at line 80 of file EncoderSSI.h.

◆ errors

uint32_t EncoderSSI::errors = 0

private

Definition at line 72 of file EncoderSSI.h.

◆ info

ClassIdentifier EncoderSSI::info

static

Initial value:

= {
         .name = "SSI" ,
         .id=CLSID_ENCODER_SSI
}

Definition at line 26 of file EncoderSSI.h.

◆ inUse

bool EncoderSSI::inUse = false

staticprivate

Definition at line 84 of file EncoderSSI.h.

◆ lastPos

int32_t EncoderSSI::lastPos = 0

private

Definition at line 77 of file EncoderSSI.h.

◆ lastUpdateTick

uint32_t EncoderSSI::lastUpdateTick = 0

private

Definition at line 75 of file EncoderSSI.h.

◆ lenghtDataBit

int EncoderSSI::lenghtDataBit = 22

private

Definition at line 70 of file EncoderSSI.h.

◆ mode

EncoderSSI_modes EncoderSSI::mode

private

Definition at line 73 of file EncoderSSI.h.

◆ mode_names

constexpr std::array<const char*,2> EncoderSSI::mode_names = {"Raw","AMT23"}

staticconstexpr

Definition at line 46 of file EncoderSSI.h.

◆ mtpos

int32_t EncoderSSI::mtpos = 0

private

Definition at line 78 of file EncoderSSI.h.

◆ newPos

int32_t EncoderSSI::newPos = 0

private

Definition at line 77 of file EncoderSSI.h.

◆ pos

int32_t EncoderSSI::pos = 0

private

Definition at line 77 of file EncoderSSI.h.

◆ posOffset

int32_t EncoderSSI::posOffset = 0

private

Definition at line 77 of file EncoderSSI.h.

◆ spi_buf

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

private

Definition at line 81 of file EncoderSSI.h.

◆ spiSpeed

int EncoderSSI::spiSpeed = 0

private

Definition at line 71 of file EncoderSSI.h.

◆ transferlen

uint8_t EncoderSSI::transferlen = bytes

private

Definition at line 82 of file EncoderSSI.h.

◆ waitData

bool EncoderSSI::waitData = false

private

Definition at line 86 of file EncoderSSI.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

◆ EncoderSSI_commands

◆ EncoderSSI_modes

Constructor & Destructor Documentation

◆ EncoderSSI()

◆ ~EncoderSSI()

Member Function Documentation

◆ beginSpiTransfer()

◆ command()

◆ configSPI()

◆ endSpiTransfer()

◆ getCpr()

◆ getEncoderType()

◆ getHelpstring()

◆ getInfo()

◆ getPos()

◆ getPosAbs()

◆ isCreatable()

◆ printModes()

◆ printSpeeds()

◆ registerCommands()

◆ restoreFlash()

◆ saveFlash()

◆ setMode()

◆ setPos()

◆ spiRxCompleted()

◆ updateFrame()

Member Data Documentation

◆ bytes

◆ errors

◆ info

◆ inUse

◆ lastPos

◆ lastUpdateTick

◆ lenghtDataBit

◆ mode

◆ mode_names

◆ mtpos

◆ newPos

◆ pos

◆ posOffset

◆ spi_buf

◆ spiSpeed

◆ transferlen

◆ waitData