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add encoder support (LIR-OM158A)

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This commit is contained in:
Edward Emelianov
2024-03-23 17:43:38 +03:00
parent 7de5819361
commit b89b548e0a
11 changed files with 108 additions and 56 deletions
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17
F3:F303/CANbus4BTA/commonfunctions.c
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@@ -148,8 +148,21 @@ static errcodes sendspi2(CAN_message *msg){
// read encoder value and send over CAN
static errcodes encget(CAN_message *msg){
FIXDL(msg);
if(read_encoder(msg->data + 4)) return ERR_OK;
return ERR_CANTRUN;
uint8_t buf[8];
if(!read_encoder(buf)) return ERR_CANTRUN;
*((uint32_t*)(msg->data+4)) = *((uint32_t*)buf);
#ifdef EBUG
uint32_t val = buf[0] << 24 | buf[1] << 16 | buf[2] << 8 | buf[3];
uint32_t timest = *((uint32_t*)(buf + 4));
USB_sendstr("\nEncoder=");
USB_sendstr(u2str((val & 0x7fffffff)>>5));
USB_sendstr(", timest=");
USB_sendstr(u2str(timest));
USB_sendstr(" (raw: "); USB_sendstr(uhex2str(val));
USB_sendstr(", masked: "); USB_sendstr(uhex2str((val & 0x7fffffff)>>5));
USB_sendstr(")\n");
#endif
return ERR_OK;
}
// reinit encoder
static errcodes encreinit(CAN_message _U_ *msg){