#include <MtEncoderSPI.h>

Inheritance diagram for MtEncoderSPI:

Public Member Functions
	MtEncoderSPI ()

virtual	~MtEncoderSPI ()

const ClassIdentifier	getInfo ()

EncoderType	getEncoderType ()

void	Run ()

void	restoreFlash () override

void	saveFlash () override

int32_t	getPos () override

uint32_t	getCpr () override

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)

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

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	spiRxCompleted (SPIPort *port)

virtual void	spiRequestError (SPIPort *port)

virtual void	beginSpiTransfer (SPIPort *port)

virtual void	endSpiTransfer (SPIPort *port)

virtual SPIConfig *	getSpiConfig ()

Public Member Functions inherited from PersistentStorage
	PersistentStorage ()

virtual	~PersistentStorage ()

void	restoreFlashDelayed ()

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)

Static Public Member Functions
static bool	isCreatable ()

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

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

static void	restoreFlashStartupCb ()

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

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

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 Attributes
static bool	inUse = false

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 Types
enum class	MtEncoderSPI_commands : uint32_t { cspin , pos , errors , mode }

enum class	MtEncoderSPI_mode : uint8_t { mt6825 , mt6835 }

Private Member Functions
uint8_t	readSpi (uint16_t addr)

void	writeSpi (uint16_t addr, uint8_t data)

void	spiTxRxCompleted (SPIPort *port)

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)

Private Attributes
bool	nomag = false

bool	overspeed = false

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

const uint8_t	POLY = 0x07

Static Private Attributes
static std::array< uint8_t, 256 >	tableCRC

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.

Protected Attributes inherited from SPIDevice
SPIPort &	spiPort

SPIConfig	spiConfig

Protected Attributes inherited from PersistentStorage
bool	restoreDelayedFlag = false

Protected Attributes inherited from CommandHandler
bool	commandsEnabled = true

std::vector< CmdHandlerCommanddef >	registeredCommands

CmdHandlerInfo	cmdHandlerInfo

Static Protected Attributes inherited from PersistentStorage
static bool	startupComplete = false

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

static void	StartScheduler ()

static void	EndScheduler ()

Detailed Description

Definition at line 20 of file MtEncoderSPI.h.

Member Enumeration Documentation

◆ MtEncoderSPI_commands

enum class MtEncoderSPI::MtEncoderSPI_commands : uint32_t

strongprivate

Enumerator
cspin
pos
errors
mode

Definition at line 21 of file MtEncoderSPI.h.

◆ MtEncoderSPI_mode

enum class MtEncoderSPI::MtEncoderSPI_mode : uint8_t

strongprivate

Enumerator
mt6825
mt6835

Definition at line 24 of file MtEncoderSPI.h.

Constructor & Destructor Documentation

◆ MtEncoderSPI()

MtEncoderSPI::MtEncoderSPI ( )

Definition at line 24 of file MtEncoderSPI.cpp.

◆ ~MtEncoderSPI()

MtEncoderSPI::~MtEncoderSPI ( )

virtual

Definition at line 46 of file MtEncoderSPI.cpp.

Member Function Documentation

◆ command()

CommandStatus MtEncoderSPI::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 266 of file MtEncoderSPI.cpp.

◆ getCpr()

uint32_t MtEncoderSPI::getCpr ( )

overridevirtual

Gets the amount of counts per full rotation of the encoder

Reimplemented from Encoder.

Definition at line 242 of file MtEncoderSPI.cpp.

◆ getEncoderType()

EncoderType MtEncoderSPI::getEncoderType ( )

inlinevirtual

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

Reimplemented from Encoder.

Definition at line 36 of file MtEncoderSPI.h.

◆ getInfo()

const ClassIdentifier MtEncoderSPI::getInfo ( )

virtual

Reimplemented from Encoder.

Definition at line 18 of file MtEncoderSPI.cpp.

◆ getPos()

int32_t MtEncoderSPI::getPos ( )

overridevirtual

Returns the encoder position as raw counts

Reimplemented from Encoder.

Definition at line 226 of file MtEncoderSPI.cpp.

◆ getPosAbs()

int32_t MtEncoderSPI::getPosAbs ( )

overridevirtual

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

Reimplemented from Encoder.

Definition at line 231 of file MtEncoderSPI.cpp.

◆ initSPI()

void MtEncoderSPI::initSPI ( )

Definition at line 102 of file MtEncoderSPI.cpp.

◆ isCreatable()

static bool MtEncoderSPI::isCreatable ( )

inlinestatic

Definition at line 34 of file MtEncoderSPI.h.

◆ readSpi()

uint8_t MtEncoderSPI::readSpi ( uint16_t addr )

private

MT encoder reads 1 byte and transmits 1 byte back after that

Definition at line 112 of file MtEncoderSPI.cpp.

◆ restoreFlash()

void MtEncoderSPI::restoreFlash ( )

overridevirtual

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

Reimplemented from PersistentStorage.

Definition at line 51 of file MtEncoderSPI.cpp.

◆ Run()

void MtEncoderSPI::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 68 of file MtEncoderSPI.cpp.

◆ saveFlash()

void MtEncoderSPI::saveFlash ( )

overridevirtual

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 60 of file MtEncoderSPI.cpp.

◆ setCsPin()

void MtEncoderSPI::setCsPin ( uint8_t cspin )

Definition at line 94 of file MtEncoderSPI.cpp.

◆ setMode()

void MtEncoderSPI::setMode ( MtEncoderSPI::MtEncoderSPI_mode mode )

Definition at line 253 of file MtEncoderSPI.cpp.

◆ setPos()

void MtEncoderSPI::setPos ( int32_t pos )

virtual

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

Reimplemented from Encoder.

Definition at line 137 of file MtEncoderSPI.cpp.

◆ spiTxRxCompleted()

void MtEncoderSPI::spiTxRxCompleted ( SPIPort * port )

privatevirtual

Reimplemented from SPIDevice.

Definition at line 142 of file MtEncoderSPI.cpp.

◆ updateAngleStatus()

void MtEncoderSPI::updateAngleStatus ( )

Reads the angle and diagnostic registers in burst mode

Definition at line 155 of file MtEncoderSPI.cpp.

◆ updateAngleStatusCb()

bool MtEncoderSPI::updateAngleStatusCb ( )

Definition at line 172 of file MtEncoderSPI.cpp.

◆ writeSpi()

void MtEncoderSPI::writeSpi	(	uint16_t	addr,
		uint8_t	data )

private

Definition at line 126 of file MtEncoderSPI.cpp.

Member Data Documentation

◆ cspin

uint8_t MtEncoderSPI::cspin = 0

private

Definition at line 73 of file MtEncoderSPI.h.

◆ curAngleInt

int32_t MtEncoderSPI::curAngleInt = 0

private

Definition at line 69 of file MtEncoderSPI.h.

◆ curPos

int32_t MtEncoderSPI::curPos = 0

private

Definition at line 70 of file MtEncoderSPI.h.

◆ errors

uint32_t MtEncoderSPI::errors = 0

private

Definition at line 75 of file MtEncoderSPI.h.

◆ info

ClassIdentifier MtEncoderSPI::info

static

Initial value:

= {
         .name = "MagnTek SPI" ,
         .id=CLSID_ENCODER_MTSPI,
 }

Definition at line 14 of file MtEncoderSPI.h.

◆ inUse

bool MtEncoderSPI::inUse = false

static

Definition at line 31 of file MtEncoderSPI.h.

◆ lastAngleInt

int32_t MtEncoderSPI::lastAngleInt = 0

private

Definition at line 68 of file MtEncoderSPI.h.

◆ mode

MtEncoderSPI_mode MtEncoderSPI::mode = MtEncoderSPI_mode::mt6825

private

Definition at line 84 of file MtEncoderSPI.h.

◆ nomag

bool MtEncoderSPI::nomag = false

private

Definition at line 66 of file MtEncoderSPI.h.

◆ offset

int32_t MtEncoderSPI::offset = 0

private

Definition at line 72 of file MtEncoderSPI.h.

◆ overspeed

bool MtEncoderSPI::overspeed = false

private

Definition at line 67 of file MtEncoderSPI.h.

◆ POLY

const uint8_t MtEncoderSPI::POLY = 0x07

private

Definition at line 87 of file MtEncoderSPI.h.

◆ requestNewDataSem

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

private

Definition at line 81 of file MtEncoderSPI.h.

◆ rotations

int32_t MtEncoderSPI::rotations = 0

private

Definition at line 71 of file MtEncoderSPI.h.

◆ rxbuf

uint8_t MtEncoderSPI::rxbuf[6] = {0}

private

Definition at line 79 of file MtEncoderSPI.h.

◆ rxbuf_t

uint8_t MtEncoderSPI::rxbuf_t[6] = {0}

private

Definition at line 80 of file MtEncoderSPI.h.

◆ tableCRC

std::array<uint8_t,256> MtEncoderSPI::tableCRC

staticprivate

Definition at line 86 of file MtEncoderSPI.h.

◆ txbuf

uint8_t MtEncoderSPI::txbuf[6] = {0}

private

Definition at line 78 of file MtEncoderSPI.h.

◆ updateInProgress

bool MtEncoderSPI::updateInProgress = false

private

Definition at line 74 of file MtEncoderSPI.h.

◆ waitForUpdateSem

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

private

Definition at line 82 of file MtEncoderSPI.h.

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ MtEncoderSPI_commands

◆ MtEncoderSPI_mode

Constructor & Destructor Documentation

◆ MtEncoderSPI()

◆ ~MtEncoderSPI()

Member Function Documentation

◆ command()

◆ getCpr()

◆ getEncoderType()

◆ getInfo()

◆ getPos()

◆ getPosAbs()

◆ initSPI()

◆ isCreatable()

◆ readSpi()

◆ restoreFlash()

◆ Run()

◆ saveFlash()

◆ setCsPin()

◆ setMode()

◆ setPos()

◆ spiTxRxCompleted()

◆ updateAngleStatus()

◆ updateAngleStatusCb()

◆ writeSpi()

Member Data Documentation

◆ cspin

◆ curAngleInt

◆ curPos

◆ errors

◆ info

◆ inUse

◆ lastAngleInt

◆ mode

◆ nomag

◆ offset

◆ overspeed

◆ POLY

◆ requestNewDataSem

◆ rotations

◆ rxbuf

◆ rxbuf_t

◆ tableCRC

◆ txbuf

◆ updateInProgress

◆ waitForUpdateSem