- This library can be used for encoder SSI sensor managements.
- The rate of position estimated by position derivative with lowpass filter for smoothing.
/// @brief Last error occurred for object.
std::string errorMessage;
/**
* @struct ParametersStructure
* @brief Parameters structure.
*/
struct ParametersStructure
{
/**
* @brief HAL SPI handle pointer.
* @note - Only if the communication mode is SPI, this parameter need to be set; otherwise, leave it.
* @warning - Set the MCU hardware SPI or GPIO communication from outside of this object before using the init method of this object.
*/
SPI_HandleTypeDef* HSPI;
/**
* @brief TimerControl object pointer.
* @note - Only if the RATE_ENA be true, this parameter need to be set; otherwise, leave it.
* @warning - Set The TimerControl object that want used for this object from outside of this object before using the init method of this object.
* */
TimerControl* TIMER;
/**
* @brief SSI output data format. It can be binary or gray format.
* @note - Its value can be -> 0:EncoderSSI_DATA_FORMAT_BINARY, 1:EncoderSSI_DATA_FORMAT_GRAY
*/
uint8_t DATA_FORAMT;
/**
* @brief Encoder clock GPIO port.
* @note - Only if the communication mode is GPIO, this parameter need to be set; otherwise, leave it.
* @warning - Set the MCU hardware SPI or GPIO communication from outside of this object before using the init method of this object.
*/
GPIO_TypeDef* CLK_GPIO_PORT;
/**
* @brief Encoder clock GPIO pin. It can be GPIO_PIN_0, GPIO_PIN_1, ...
* @note - Only if the communication mode is GPIO, this parameter need to be set; otherwise, leave it.
* @warning - Set the MCU hardware SPI or GPIO communication from outside of this object before using the init method of this object.
*/
uint16_t CLK_GPIO_PIN;
/**
* @brief Encoder data GPIO port.
* @note - Only if the communication mode is GPIO, this parameter need to be set; otherwise, leave it.
* @warning - Set the MCU hardware SPI or GPIO communication from outside of this object before using the init method of this object.
*/
GPIO_TypeDef* DATA_GPIO_PORT;
/**
* @brief Encoder data GPIO pin. It can be GPIO_PIN_0, GPIO_PIN_1, ...
* @note - Only if the communication mode is GPIO, this parameter need to be set; otherwise, leave it.
* @warning - Set the MCU hardware SPI or GPIO communication from outside of this object before using the init method of this object.
*/
uint16_t DATA_GPIO_PIN;
/**
* @brief Standard SPI mode for encoder data. usually it is mode3: CPOL=1, PHASE=1
* @note The spiMode value must be one of these: 0, 1, 2, or 3.
*
* @note SPI mode 0: CPOL=0, CPHA=0
*
* @note SPI mode 1: CPOL=0, CPHA=1
*
* @note SPI mode 2: CPOL=1, CPHA=0
*
* @note SPI mode 3: CPOL=1, CPHA=1
* */
uint8_t SPI_MODE;
/**
* @brief SPI baudrate prescaler. It can be SPI_BAUDRATEPRESCALER_2, SPI_BAUDRATEPRESCALER_4, ... .
*/
uint32_t SPI_BAUDRATE_PRESCALER;
/**
* @brief Cut off frequency parameter of low pass filter for rate value. [Hz]
* @note The value of 0 means it is disabled.
* */
double FLTR;
/**
* @brief Mapping enable/disable of encoder data.
* @note Mapping is an operation for mapping raw positions (in degrees) within a specific position domain.
*/
bool MAP_ENA;
/**
* @brief The value of Map for minimum angle calculations. [deg]
* @note Mapping is an operation for mapping raw positions (in degrees) within a specific position domain.
*/
double MAP_MIN;
/**
* @brief The value of Map for maximum angle calculations. [deg]
* @note Mapping is an operation for mapping raw positions (in degrees) within a specific position domain.
*/
double MAP_MAX;
/**
* @brief Encoder single turn part resolution.
* @note It must be lower than 23 bit single turn.
* */
uint8_t RESOLUTION_SINGLE_TURN;
/**
* @brief Encoder multi turn part resolution.
* @note - It must be lower than 23 bit multi turn.
* @note - For single turn encoders this parameter must be 0.
* */
uint8_t RESOLUTION_MULTI_TURN;
/**
* @brief Offset value for raw angle measurement. [deg]
* @note Initial value is 0.
* */
double POSRAW_OFFSET_DEG;
/**
* @brief Gearbox ratio for angle measurement.
* @note output_posDeg = posDeg * gearRatio.
* */
double GEAR_RATIO;
/**
* @brief Enable/disable rate calculations. The value of true means rate calculations enabled.
*/
bool RATE_ENA;
/**
* @brief The frequency of rate measurements derived from position data. [Hz]
* @note The value of 0 means it is disabled.
*/
double RATE_FRQ;
}parameters;
/**
* @struct ValuesStructure
* @brief Values structure.
*/
struct ValuesStructure
{
/**
* @brief Raw encoder value. [Step]
* @note Max value depend on resolution.
* */
uint32_t posRawStep;
/**
* @brief Encoder shaft angle. [deg].
* @note posRawDeg = (posRawStep / max_posRawStep_singleTurn) * 360
* */
double posRawDeg;
/**
* @brief Position angle. [deg]
* @note posDeg = (posRawDeg - posRawOffsetDeg + overFlowCounter * _fullRange) * gearRatio.
* */
double posDeg;
/**
* @brief Velocity. [deg/s].
* @note velDegSec = d(posDeg)/dt
* */
double velDegSec;
///! @brief Number of cross over from overflow for posRawStep since object created.
int32_t overFlowCounter;
}value;/**
* @brief EncoderSSI constructor. Set encoder resolution and communication mode. Not apply setting.
* @param communication_mode: refers to how data is read.
*
* - A value of 0 means the clock and data are provided by SPI communication. (Default value)
*
* - A value of 1 means the clock and data are provided by raw GPIO digital input/output signal communication.
*
* - Other value not acceptable and it set to default value of SPI mode.
*
* - This parameter can only be set when the object is created and cannot be changed during the object's lifetime.
* @note - init() method needs after this for apply setting on hardware.
* @note - The default SSI data output format is binary.
* @warning Set the MCU hardware SPI or GPIO communication from outside of this object before using the init method of this object.
*/
EncoderSSI(uint8_t communication_mode = EncoderSSI_COM_Mode_SPI);
/// @brief Destructor.
~EncoderSSI();
/**
* @brief Init/Setup then Apply setting on hardware.
* @return true if succeeded.
*/
bool init(void);
/**
* @brief Read and update values.
*/
void update(void);
/**
* @brief Set the PresetValue position [deg].
* @param value is desired output position value [deg] for position at current position.
* @return true if succeeded.
* @warning Use this function after setting direction rotation of encoder. Otherwise it maybe not correct set.
* */
bool setPresetValueDeg(double value);
/**
* @brief Clean setting on hardware.
* @note Clear any buffer on output data.
*/
void clean(void);