inc_encoder.h

#ifndef INC_ENCODER_H_INCLUDED
#define INC_ENCODER_H_INCLUDED

#include <stdint.h>
#include "my_fp.h"

class Encoder
{
public:
   enum mode
   {
      SINGLE, AB, ABZ, SPI, RESOLVER, SINCOS, INVALID
   };

   static void Reset();
   static void SetMode(enum mode encMode);
   static bool SeenNorthSignal();
   static void UpdateRotorAngle(int dir);
   static void UpdateRotorFrequency(int callingFrequency);
   static void SetPwmFrequency(uint32_t frq);
   static uint16_t GetRotorAngle();
   static uint32_t GetSpeed();
   static uint32_t GetFullTurns();
   static u32fp GetRotorFrequency();
   static int GetRotorDirection();
   static void SetImpulsesPerTurn(uint16_t imp);
   static void SwapSinCos(bool swap);
   static void SetSinCosOffset(uint16_t offset);
   static void ResetDistance();
   static int32_t GetDistance();

private:
   static void UpdateTurns(uint16_t angle, uint16_t lastAngle);
   static void InitTimerSingleChannelMode();
   static void InitTimerABZMode();
   static void InitSPIMode();
   static void InitResolverMode();
   static uint16_t GetAngleSPI();
   static uint16_t GetAngleResolver();
   static uint16_t GetAngleSinCos();
   static uint16_t DecodeAngle(bool invert);
   static int GetPulseTimeFiltered();
   static void GetMinMaxTime(int& min, int& max);
};

#endif // INC_ENCODER_H_INCLUDED