EncoderInput.h

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/*
 * Copyright (c) 2020 Teknic, Inc.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */

#ifndef __ENCODER_INPUT_H__
#define __ENCODER_INPUT_H__

#include "PeripheralRoute.h"

#define VEL_EST_SAMPLES 50

namespace ClearCore {

typedef void (*voidFuncPtr)(void);

class EncoderInput {
    friend class SysManager;
public:

#ifndef HIDE_FROM_DOXYGEN

    EncoderInput();

    volatile const int16_t& HwPosition() {
        return m_hwPosn;
    }

    void IndexDetected(int16_t posn) {
        m_hwIndex = posn;
        m_processIndex = true;
    }
#endif

    int32_t Position();

    int32_t Position(int32_t newPosn);

    void AddToPosition(int32_t posnAdjust);

    int32_t IndexPosition();

    void Enable(bool isEnabled);

    void SwapDirection(bool isSwapped);

    volatile const int32_t& Velocity() {
        return m_velocity;
    }

    volatile const bool& IndexDetected() {
        return m_indexDetected;
    }

    void IndexInverted(bool invert);

    bool QuadratureError();

    void ClearQuadratureError();

    volatile const int16_t& StepsLastSample() {
        return m_stepsLast;
    }

private:
    const PeripheralRoute *m_aInfo;
    const PeripheralRoute *m_bInfo;
    const PeripheralRoute *m_indexInfo;
    int32_t m_curPosn;
    int32_t m_offsetAdjustment;
    int32_t m_velocity;
    int16_t m_hwPosn;
    int32_t m_posnHistory[VEL_EST_SAMPLES];
    uint8_t m_posnHistoryIndex;
    bool m_enabled;
    bool m_processIndex;
    int16_t m_hwIndex;
    int32_t m_indexPosn;
    bool m_indexDetected;
    bool m_indexInverted;
    int16_t m_stepsLast;

    void Initialize();

    void Update();

}; // EncoderInput

} // ClearCore namespace

#endif /* __ENCODER_INPUT_H__ */