encoder.h

/*
 * encoder.h
 *
 *      Author: nickl
 *
 */
 
#ifndef INC_ENCODER_H_
#define INC_ENCODER_H_
 
#include "stm32f4xx_hal.h"
#include "stdint.h"
#include "math.h"
 
#include "gpio.h"

class Encoder {
public:
    Encoder(SPI_HandleTypeDef* hspi, TIM_HandleTypeDef* htim, GPIO& CSn);
 
    uint16_t rawAngle;          // angle [int bits]

    void update();
    int32_t getCommutationAngle();
    float getAngle(); 
    float getPosition();
    float getVelocity();
    void zero();            
    void resetPosition();
    uint16_t readRawAngle();
 
private:
    SPI_HandleTypeDef* hspi;
    TIM_HandleTypeDef* htim;
    GPIO& CSn;
 
    static constexpr uint16_t resolution = 16384;   // 14-bit encoder
    static constexpr int32_t commutationZeroAngle = (1722 - (16384/44)); //233 locked rotor angle + 90deg electric (16384/44)
    uint16_t zeroAngle;                             // zero reference angle
    uint16_t resetAngle;                            // position where accumulation was zeroed to eliminate offset
 
    uint32_t prevT;             // last update time [us]
    uint16_t prevAngle;         // last update angle [int bits]
    int32_t rawPosition;        // rotational position [int bits]
    int32_t rawVelocity;        // velocity [int bits]
    int32_t dPos;
    uint32_t dt;

 * @return Timestamp in microseconds from timer.
    uint32_t micros() const;    // us timing helper function
};
 
#endif /* INC_ENCODER_H_ */