2022-02-19 06:37:12 -08:00
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/*
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Copyright 2016 - 2022 Benjamin Vedder benjamin@vedder.se
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Copyright 2022 Jakub Tomczak
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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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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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The VESC firmware is distributed in the hope that it will be useful,
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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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2022-01-09 08:10:40 -08:00
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#ifndef ENCODER_ENCODER_H_
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#define ENCODER_ENCODER_H_
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#include "hal.h"
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2022-02-19 09:51:34 -08:00
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#include "encoder_datatype.h"
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2022-11-15 11:34:30 -08:00
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#include "enc_abi.h"
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2022-02-19 12:00:52 -08:00
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#include "enc_ad2s1205.h"
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2022-07-18 13:25:03 -07:00
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#include "enc_as5x47u.h"
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2022-11-15 11:34:30 -08:00
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#include "enc_as504x.h"
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2022-10-02 07:33:17 -07:00
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#include "enc_bissc.h"
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2022-11-15 11:34:30 -08:00
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#include "enc_mt6816.h"
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#include "enc_sincos.h"
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#include "enc_tle5012.h"
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#include "enc_ts5700n8501.h"
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2022-02-19 12:00:52 -08:00
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// Functions
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bool encoder_init(volatile mc_configuration *conf);
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2022-12-07 02:55:55 -08:00
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void encoder_update_config(volatile mc_configuration *conf);
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2022-02-19 12:00:52 -08:00
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void encoder_deinit(void);
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2022-11-19 07:23:07 -08:00
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void encoder_set_custom_callbacks (
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float (*read_deg)(void),
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bool (*has_fault)(void),
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char* (*print_info)(void));
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2022-01-09 08:10:40 -08:00
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float encoder_read_deg(void);
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float encoder_read_deg_multiturn(void);
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2023-03-29 03:35:32 -07:00
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void encoder_set_deg(float deg);
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encoder_type_t encoder_is_configured(void);
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bool encoder_index_found(void);
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void encoder_reset_multiturn(void);
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void encoder_reset_errors(void);
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2022-11-19 09:46:01 -08:00
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float encoder_get_error_rate(void);
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2022-02-19 09:51:34 -08:00
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void encoder_check_faults(volatile mc_configuration *m_conf, bool is_second_motor);
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2022-02-19 09:51:34 -08:00
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// Interrupt handlers
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void encoder_pin_isr(void);
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2022-01-09 08:10:40 -08:00
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void encoder_tim_isr(void);
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#endif /* ENCODER_ENCODER_H_ */
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