Cleanup encoder code

Firmware/.vscode/settings.json

@@ -8,7 +8,9 @@
         "string": "cpp",
         "unordered_map": "cpp",
         "vector": "cpp",
-        "system_error": "cpp"
+        "system_error": "cpp",
+        "numeric": "cpp",
+        "ostream": "cpp"
     },
     "C_Cpp.errorSquiggles": "disabled"
 }

Firmware/include/MyEncoder.h

@@ -3,12 +3,22 @@
 #include "Stm32F4_Encoder.h"
 #include <CircularBuffer.h>
 #define RINGBUFFERLEN 101
-//  EncoderInit.SetCount(Tim3, 0);
+
-//  EncoderInit.SetCount(Tim4, 0);
-//  EncoderInit.SetCount(Tim8, 0);
 class MyEncoder
 {
 public:
+    MyEncoder(uint8_t _indexPin, void irq(void));
+    int32_t unwrapEncoder(uint16_t in);
+    void indexPulse(void);
+    void init(TIM_TypeDef *_tim_base);
+    uint8_t indexHappened();
+    double currentPos(volatile uint32_t cnt);
+    double frequency(uint64_t time);
+    uint8_t getIndexState();
+    void setScale(double scale);
+    void setLatch(uint8_t latchEnable);
+
+private:
     int32_t previousEncoderCounterValue = 0;
     double PosScaleRes = 1.0;
     uint32_t CurPosScale = 1;
@@ -23,18 +33,6 @@ public:
     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, TIM_TypeDef *_tim_base);
-    uint8_t indexHappened();
-    double currentPos(volatile uint32_t cnt);
-    double frequency(uint64_t time);
-    uint8_t getIndexState();
-    void setScale(double scale);
-    void setLatch(uint8_t latchEnable);
 };
 
 #endif

Firmware/src/MyEncoder.cpp

@@ -36,11 +36,11 @@ void MyEncoder::indexPulse(void)
         pleaseZeroTheCounter = 0;
     }
 }
-void MyEncoder::init(enum EncTimer timer, TIM_TypeDef *_tim_base)
+void MyEncoder::init(TIM_TypeDef *_tim_base)
 {
-    tim_base = _tim_base;
+    EncoderInit.tim_base = _tim_base;
     // Set starting count value
-    EncoderInit.SetCount(timer, 0);
+    EncoderInit.SetCount(0);
     // EncoderInit.SetCount(Tim3, 0);
     // EncoderInit.SetCount(Tim4, 0);
     // EncoderInit.SetCount(Tim8, 0);

Firmware/src/Stm32F4_Encoder.cpp

@@ -5,45 +5,21 @@
     Created on: Nov 20, 2020
         Author: GoktugH.
 */
-
+// TIM2, TIM3, TIM4, TIM8
 Encoder::Encoder()
 {
     int unit;
 }
 
-void Encoder::eattach(int enco)
+// void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
+void Encoder::SetCount(int64_t Counter)
 {
+    tim_base->CNT = Counter;
 }
-
+// uint16_t Encoder::GetCount(enum EncTimer enc)
-void Encoder::attachh(int encoNumber)
+uint16_t Encoder::GetCount()
 {
-    eattach(encoNumber);
+    return tim_base->CNT;
-}
-
-void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
-{
-
-    if (enc == Tim2)
-        TIM2->CNT = Counter;
-    else if (enc == Tim3)
-        TIM3->CNT = Counter;
-    else if (enc == Tim4)
-        TIM4->CNT = Counter;
-    else if (enc == Tim8)
-        TIM8->CNT = Counter;
-}
-uint16_t Encoder::GetCount(enum EncTimer enc)
-{
-
-    if (enc == Tim2)
-        c = (TIM2->CNT);
-    else if (enc == Tim3)
-        c = (TIM3->CNT);
-    else if (enc == Tim4)
-        c = (TIM4->CNT);
-    else if (enc == Tim8)
-        c = (TIM8->CNT);
-    return c;
 }
 
 void GpioConfigPortA(GPIO_TypeDef *GPIOx)

Firmware/src/main.cpp

@@ -83,7 +83,7 @@ void setup(void)
    rcc_config();
 
    Step1.setScale(500);
-   Encoder1.init(Tim2, TIM2);
+   Encoder1.init(TIM2);
 
    ecat_slv_init(&config);
 }