encoders works fine

F1:F103/BISS_C_encoders/Readme.md

@@ -1,5 +1,124 @@
 Get data from 2 encoders by BISS-C protocol
 ===========================================
 
+This device works with two BISS-C encoders (resolution from 8 to 32 bit).
+
+If you want to test readout from device, run `./testDev /dev/encoder_X0` or `./testDev /dev/encoder_X0`.
+
+** Encoder cable pinout:
+
+* 1 - NC or shield
+* 2 - CLK_A - positive of SSI clock out
+* 3 - CLC_B - negative of SSI clock out
+* 4 - NC or shield
+* 5 - +5V - 5V power for sensor (at least 250mA)
+* 6 - DATA_A - positive of data in
+* 7 - DATA_B - negative of data in
+* 8 - NC
+* 9 - Gnd - common ground
+
+
+** Device interfaces
+
+After connection you will see device 0483:5740 with three CDC interfaces. Each interface
+have its own `iInterface` field, by default they are: 
+
+* encoder_cmd - configure/command/debugging interface
+* encoder_X - X sensor output
+* encoder_Y - Y sensor output
+
+Add to udev-rules file `99-myHW.rules` which will create symlinks to each interface in `/dev/` directory.
+You can change all three `iInterface` values and store them in device' flash memory.
+
+The readout of encoders depends on settings. If you save in flash `autom=1`, readout of both encoders
+will repeat each `amperiod` milliseconds. Also you always can ask for readout sending any '\n'-terminated
+data into encoder's interface or running commands `readenc`, `readX` or `readY` in command interface.
+
+
+** Protocol
+
+The device have simple text protocol, each text string should be closed by '\n'.
+Base format is 'param [ = value]', where 'param' could be command to run some procedure
+or getter, 'value' is setter.
+
+Answer for all getters is 'param=value'. Here are answers for setters and procedures:
+
+* OK - all OK
+* FAIL - procedure failed to run
+* BADCMD - your entered wrong command
+* BADPAR - parameter of setter is out of allowable range
+
+Some procedures (like 'help' or 'readenc') returns a lot of data after calling.
+
+
+*** Base commands on command interface
+
+These are commands for directrly work with SPI interfaces:
+
+* readenc - read both encoders once
+* readX - read X encoder once
+* readY - read Y encoder once
+* help - show full help
+* reset - reset MCU
+* spideinit - deinit SPI
+* spiinit - init SPI
+* spistat - get status of both SPI interfaces
+
+
+*** Configuration commands
+
+This set of commands allows to change current configuration (remember: each time SPI configuration changes
+you need to run `spiinit`) and store it into flash memory.
+
+* autom - turn on or off automonitoring
+* amperiod - period of monitoring, 1..255 milliseconds
+* BR - change SPI BR register (1 - 18MHz ... 7 - 281kHz)
+* CPHA - change CPHA value (0/1)
+* CPOL - change CPOL value (0/1)
+* dumpconf - dump current configuration
+* encbits - set encoder data bits amount (26/32)
+* encbufsz - change encoder auxiliary buffer size (8..32 bytes)
+* erasestorage - erase full storage or current page (=n)
+* maxzeros - maximal amount of zeros in preamble
+* minzeros - minimal amount of zeros in preamble
+* setiface1 - set name of first (command) interface
+* setiface2 - set name of second (axis X) interface
+* setiface3 - set name of third (axis Y) interface
+* storeconf - store configuration in flash memory
+
+Here is example of default configuration ouput (`dumpconf`):
+
+```
+userconf_sz=108
+currentconfidx=-1
+setiface1=
+setiface2=
+setiface3=
+autom=0
+amperiod=1
+BR=4
+CPHA=0
+CPOL=1
+encbits=26
+encbufsz=12
+maxzeros=50
+minzeros=4
+```
+
+`userconf_sz` is some type of "magick sequence" to find start of last record in flash memory.
+`currentconfidx` shows number of record (-1 means that the storage is empty and you see default values).
+Empty field of `setifaceX` means default interface name.
+
+
+*** Debugging commands
+
+Some of these commands could be usefull when you're trying to play with settings or want to measure maximal
+readout speed for encoders (when each reading starts immediately after parsing previous result).
+
+* dummy - dummy integer setter/getter
+* fin - reinit flash (e.g. to restore last configuration)
+* sendx - send text string to X encoder's terminal
+* sendy - send text string to Y encoder's terminal
+* testx - test X-axis throughput
+* testy - test Y-axis throughput
 
-tl;dr