jeka/MyOwnEtherCATDevice
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Further cleanup and modularization

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This commit is contained in:
Hakan Bastedt
2024-01-10 22:27:04 +01:00
parent 3bbf089d01
commit 6f29a0d492
3 changed files with 38 additions and 28 deletions
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16
Firmware/include/MyEncoder.h
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@@ -3,16 +3,16 @@
#include "Stm32F4_Encoder.h"
#include <CircularBuffer.h>
#define RINGBUFFERLEN 101
// EncoderInit.SetCount(Tim3, 0);
// EncoderInit.SetCount(Tim4, 0);
// EncoderInit.SetCount(Tim8, 0);
// EncoderInit.SetCount(Tim3, 0);
// EncoderInit.SetCount(Tim4, 0);
// EncoderInit.SetCount(Tim8, 0);
class MyEncoder
{
public:
int32_t previousEncoderCounterValue = 0;
double PosScaleRes = 1.0;
uint32_t CurPosScale = 1;
uint8_t OldLatchCEnable = 0;
uint8_t oldLatchCEnable = 0;
volatile uint8_t indexPulseFired = 0;
volatile uint8_t pleaseZeroTheCounter = 0;
Encoder EncoderInit;
@@ -22,15 +22,19 @@ public:
CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
double curPos;
TIM_TypeDef *tim_base;
public:
MyEncoder(uint8_t _indexPin, void irq(void));
int32_t unwrapEncoder(uint16_t in);
void indexPulse(void);
void init(enum EncTimer timer);
void init(enum EncTimer timer, TIM_TypeDef *_tim_base);
uint8_t indexHappened();
double currentPos();
double currentPos(volatile uint32_t cnt);
double frequency(uint64_t time);
uint8_t getIndexState();
void setScale(double scale);
void setLatch(uint8_t latchEnable);
};
#endif