41 lines
1.1 KiB
C++
Executable File
41 lines
1.1 KiB
C++
Executable File
#ifndef MYENCODER
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#define MYENCODER
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#include "Stm32F4_Encoder.h"
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#include <CircularBuffer.h>
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#define RINGBUFFERLEN 101
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// EncoderInit.SetCount(Tim3, 0);
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// EncoderInit.SetCount(Tim4, 0);
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// EncoderInit.SetCount(Tim8, 0);
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class MyEncoder
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{
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public:
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int32_t previousEncoderCounterValue = 0;
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double PosScaleRes = 1.0;
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uint32_t CurPosScale = 1;
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uint8_t oldLatchCEnable = 0;
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volatile uint8_t indexPulseFired = 0;
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volatile uint8_t pleaseZeroTheCounter = 0;
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Encoder EncoderInit;
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uint8_t indexPin;
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CircularBuffer<double_t, RINGBUFFERLEN> Pos;
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CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
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double curPos;
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TIM_TypeDef *tim_base;
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public:
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MyEncoder(uint8_t _indexPin, void irq(void));
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int32_t unwrapEncoder(uint16_t in);
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void indexPulse(void);
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void init(enum EncTimer timer, TIM_TypeDef *_tim_base);
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uint8_t indexHappened();
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double currentPos(volatile uint32_t cnt);
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double frequency(uint64_t time);
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uint8_t getIndexState();
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void setScale(double scale);
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void setLatch(uint8_t latchEnable);
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};
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#endif
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