uStepperEncoder.h

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/********************************************************************************************
*       File:       uStepperEncoder.h                                                       *
*       Version:    2.0.0                                                                   *
*       Date:       March 30th, 2020                                                        *
*       Author:     Thomas Hørring Olsen                                                    *
*                                                                                           *   
*********************************************************************************************
*   (C) 2020                                                                                *
*                                                                                           *
*   uStepper ApS                                                                            *
*   www.ustepper.com                                                                        *
*   administration@ustepper.com                                                             *
*                                                                                           *
*   The code contained in this file is released under the following open source license:    *
*                                                                                           *
*           Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International         *
*                                                                                           *
*   The code in this file is provided without warranty of any kind - use at own risk!       *
*   neither uStepper ApS nor the author, can be held responsible for any damage             *
*   caused by the use of the code contained in this file !                                  *
*                                                                                           *
********************************************************************************************/
#include <Arduino.h>
 
#define CS PB2 
#define DIN PB3 
#define DO PB4 
#define CLK PB5 
#define ENCODERDATATOSTEP 51200.0/65536.0 
#define ENCODERDATATOREVOLUTIONS 60.0/65536.0 
#define ANGLETOENCODERDATA 65535.0/360.0 
class uStepperEncoder
{
    public:
        uStepperEncoder(void);
 
        void init( uStepperS * _pointer );
 
        void setHome( float initialAngle = 0 );
 
        float getAngle( void );
 
        uint16_t getAngleRaw( void );
 
        float getAngleMoved( bool filtered = true);
 
        int32_t getAngleMovedRaw( bool filtered = true );
 
        float getSpeed(void);
 
        float getRPM(void);
 
        uint16_t captureAngle( void );
 
        uint8_t getStatus( void );
 
        bool detectMagnet(void);
 
        volatile int32_t smoothValue;
        
        volatile float speedSmoothValue;
 
        volatile uint16_t encoderOffset;
 
        volatile uint16_t angle;
 
        volatile int32_t angleMoved;
 
 
        volatile uint16_t oldAngle;
 
 
        volatile float curSpeed;
 
        volatile posFilter_t encoderFilter;
 
        volatile  uint8_t Beta = 5;
 
    private:
        
        uStepperS * pointer;
 
        void chipSelect(bool state);
 
        uint8_t status; 
        int32_t userAngleOffset = 0;    
 
        volatile int32_t angleMovedRaw = 0;
 
};