Ny structure. Start of the "main" branch

Cards/EaserCAT-2000/Firmware/include/MyEncoder.h

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+#ifndef MYENCODER
+#define MYENCODER
+#include "Stm32F4_Encoder.h"
+#include <CircularBuffer.hpp>
+#define RINGBUFFERLEN 11
+
+class MyEncoder
+{
+public:
+    MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void));
+    int64_t unwrapEncoder(uint16_t in);
+    void indexPulse(void);
+    uint8_t indexHappened();
+    double currentPos();
+    double frequency(uint64_t time);
+    uint8_t getIndexState();
+    void setScale(double scale);
+    void setLatch(uint8_t latchEnable);
+
+private:
+    int64_t previousEncoderCounterValue = 0;
+    double PosScaleRes = 1.0;
+    uint32_t CurPosScale = 1;
+    uint8_t oldLatchCEnable = 0;
+    volatile uint8_t indexPulseFired = 0;
+    volatile uint8_t pleaseZeroTheCounter = 0;
+    Encoder EncoderInit;
+    uint8_t indexPin;
+
+    CircularBuffer<double_t, RINGBUFFERLEN> Pos;
+    CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
+    double curPos;
+    double oldFrequency;
+
+    TIM_TypeDef *tim_base;
+};
+
+#endif