2015-04-11 01:07:36 -07:00
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/*
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2016-11-04 07:18:34 -07:00
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Copyright 2016 Benjamin Vedder benjamin@vedder.se
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2015-04-11 01:07:36 -07:00
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2016-11-04 07:18:34 -07:00
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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2015-04-11 01:07:36 -07:00
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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2016-11-04 07:18:34 -07:00
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The VESC firmware is distributed in the hope that it will be useful,
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2015-04-11 01:07:36 -07:00
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef ENCODER_H_
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#define ENCODER_H_
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2015-12-08 12:01:23 -08:00
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#include "conf_general.h"
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2015-04-11 01:07:36 -07:00
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// Functions
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2016-04-27 06:32:32 -07:00
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void encoder_deinit(void);
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void encoder_init_abi(uint32_t counts);
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void encoder_init_as5047p_spi(void);
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2020-11-30 13:51:10 -08:00
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void encoder_init_mt6816_spi(void);
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2019-02-18 10:30:19 -08:00
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void encoder_init_ad2s1205_spi(void);
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2019-03-30 14:05:53 -07:00
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void encoder_init_sincos(float sin_gain, float sin_offset,
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2019-04-01 04:30:27 -07:00
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float cos_gain, float cos_offset, float sincos_filter_constant);
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2019-12-05 10:50:17 -08:00
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void encoder_init_ts5700n8501(void);
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2016-04-27 06:32:32 -07:00
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bool encoder_is_configured(void);
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2015-04-11 01:07:36 -07:00
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float encoder_read_deg(void);
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2020-01-31 15:37:25 -08:00
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float encoder_read_deg_multiturn(void);
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2015-12-08 12:01:23 -08:00
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void encoder_reset(void);
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2016-04-27 06:32:32 -07:00
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void encoder_tim_isr(void);
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2015-12-08 12:01:23 -08:00
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void encoder_set_counts(uint32_t counts);
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bool encoder_index_found(void);
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2015-04-11 01:07:36 -07:00
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2020-01-12 12:25:21 -08:00
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uint32_t encoder_spi_get_val(void);
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2018-11-04 05:06:02 -08:00
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uint32_t encoder_spi_get_error_cnt(void);
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2019-01-29 10:16:15 -08:00
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float encoder_spi_get_error_rate(void);
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2020-11-30 13:51:10 -08:00
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uint32_t encoder_get_no_magnet_error_cnt(void);
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float encoder_get_no_magnet_error_rate(void);
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2020-01-18 12:08:30 -08:00
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uint32_t encoder_resolver_loss_of_tracking_error_cnt(void);
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uint32_t encoder_resolver_degradation_of_signal_error_cnt(void);
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uint32_t encoder_resolver_loss_of_signal_error_cnt(void);
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float encoder_resolver_loss_of_tracking_error_rate(void);
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float encoder_resolver_degradation_of_signal_error_rate(void);
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float encoder_resolver_loss_of_signal_error_rate(void);
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2019-04-02 06:37:15 -07:00
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uint32_t encoder_sincos_get_signal_below_min_error_cnt(void);
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uint32_t encoder_sincos_get_signal_above_max_error_cnt(void);
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float encoder_sincos_get_signal_below_min_error_rate(void);
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float encoder_sincos_get_signal_above_max_error_rate(void);
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2020-01-28 10:46:19 -08:00
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uint8_t* encoder_ts5700n8501_get_raw_status(void);
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2020-01-31 15:37:25 -08:00
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int16_t encoder_ts57n8501_get_abm(void);
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void encoder_ts57n8501_reset_errors(void);
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void encoder_ts57n8501_reset_multiturn(void);
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2021-07-28 08:14:10 -07:00
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AS504x_diag encoder_AS504x_get_diag(void);
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#define AS504x_SPI_READ_BIT 0x4000
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#define AS504x_SPI_WRITE_BIT 0x0000
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#define AS504x_SPI_DIAG_OCF_BIT_POS 8
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#define AS504x_SPI_DIAG_COF_BIT_POS 9
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#define AS504x_SPI_DIAG_COMP_LOW_BIT_POS 10
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#define AS504x_SPI_DIAG_COMP_HIGH_BIT_POS 11
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#define AS504x_SPI_EXCLUDE_PARITY_AND_ERROR_BITMASK 0x3FFF
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#define AS504x_SPI_DIAG_ADR 0x3FFD
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#define AS504x_SPI_MAGN_ADR 0x3FFE
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#define AS504x_SPI_CLEAR_ERROR_ADR 0x0001
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#define AS504x_SPI_READ_DIAG_MSG (AS504x_SPI_DIAG_ADR | AS504x_SPI_READ_BIT)
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#define AS504x_SPI_READ_MAGN_MSG (AS504x_SPI_MAGN_ADR | AS504x_SPI_READ_BIT)
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#define AS504x_SPI_READ_CLEAR_ERROR_MSG (AS504x_SPI_CLEAR_ERROR_ADR | AS504x_SPI_READ_BIT)
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2021-07-31 01:07:10 -07:00
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#define AS504x_CONNECTION_DETERMINATOR_ERROR_THRESHOLD 5
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2021-07-31 01:53:15 -07:00
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#define AS504x_DATA_INVALID_THRESHOLD 20000
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#define AS504x_REFRESH_DIAG_AFTER_NSAMPLES 100
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2018-11-04 05:06:02 -08:00
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2015-04-11 01:07:36 -07:00
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#endif /* ENCODER_H_ */
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