Trying to make pid-ip2.5 module more general.

Author: apullin

ams-enc.c

@@ -49,7 +49,7 @@
 #include "i2c.h"
 #include "ams-enc.h"
 #include "utils.h"
-
+#include "settings.h"
 
 #define LSB2ENCDEG      0.0219
 #define ENC_I2C_CHAN    1       //Encoder is on I2C channel 1
@@ -73,8 +73,7 @@ EncObj encPos[NUM_ENC];
 
 #define AMS_ENC_ANGLE_REG   0xFE
 
-#define AMS_ENC_OFFSET_0 5758
-#define AMS_ENC_OFFSET_1 7706
+
 
 volatile unsigned char  state = AMS_ENC_IDLE;
 volatile unsigned char  encoder_number = 0;
@@ -129,8 +128,33 @@ void amsEncoderResetPos(void) {
         encPos[i].calibPos = 0;
         encPos[i].oticks = 0;   // set revolution counter to 0
     }
+
+    //Set up offset
+    //TODO: maybe move these to NVM somewhere in the flash, rather than project defines
+#ifdef AMS_ENC_OFFSET_0
     encPos[0].offset = AMS_ENC_OFFSET_0;
+#else
+    encPos[0].offset = 0;
+#endif
+
+#ifdef AMS_ENC_OFFSET_1
     encPos[1].offset = AMS_ENC_OFFSET_1;
+#else
+    encPos[1].offset = 0;
+#endif
+
+#ifdef AMS_ENC_OFFSET_2
+    encPos[2].offset = AMS_ENC_OFFSET_2;
+#else
+    encPos[2].offset = 0;
+#endif
+
+#ifdef AMS_ENC_OFFSET_3
+    encPos[3].offset = AMS_ENC_OFFSET_3;
+#else
+    encPos[3].offset = 0;
+#endif
+
 }
 
 /*****************************************************************************
@@ -271,3 +295,30 @@ float amsEncoderGetFloatPos(unsigned char num) {
     pos = encPos[num].pos* LSB2ENCDEG; //calculate Float
     return pos;
 }
+
+int amsEncoderGetPos(unsigned char num) {
+    if(num < NUM_ENC){
+        return encPos[num].pos;
+    }
+    else{
+        return 0;
+    }
+}
+
+long amsEncoderGetOticks(unsigned char num) {
+    if(num < NUM_ENC){
+        return encPos[num].oticks;
+    }
+    else{
+        return 0;
+    }
+}
+
+unsigned int amsEncoderGetOffset(unsigned char num){
+    if(num < NUM_ENC){
+        return encPos[num].offset;
+    }
+    else{
+        return 0;
+    }
+}

ams-enc.h

@@ -58,8 +58,6 @@ typedef struct {
     unsigned int offset; // initial reading on setup - relative zero position
 } EncObj;
 
-extern EncObj encPos[NUM_ENC];
-
 /*****************************************************************************
  * Function Name : amsHallSetup
  * Description   : initialize I2C, and for initial calibration, set offset
@@ -106,11 +104,35 @@ void amsEncoderBlockingRead(unsigned char num);
 unsigned char amsEncoderStartAsyncRead(void);
 
 /*****************************************************************************
- * Function Name : encGetFloatPos
+ * Function Name : amsEncoderGetFloatPos
  * Description   : Return the angular position of encoder[num] return as float
  * Parameters    : None
- * Return Value  : None
+ * Return Value  : float value for a single encoder, in degrees
  *****************************************************************************/
 float amsEncoderGetFloatPos(unsigned char num);
 
+/*****************************************************************************
+ * Function Name : amsEncoderGetPos
+ * Description   : Return the angular position of encoder[num] return as int
+ * Parameters    : None
+ * Return Value  : int value for a single encoder
+ *****************************************************************************/
+int amsEncoderGetPos(unsigned char num);
+
+/*****************************************************************************
+ * Function Name : amsEncoderGetOticks
+ * Description   : Return the count of total revolutions
+ * Parameters    : None
+ * Return Value  : int value, for a single encoder
+ *****************************************************************************/
+long amsEncoderGetOticks(unsigned char num);
+
+/*****************************************************************************
+ * Function Name : amsEncoderGetOffset
+ * Description   : Return the offset for an encoder
+ * Parameters    : None
+ * Return Value  : int value, for a single encoder
+ *****************************************************************************/
+unsigned int amsEncoderGetOffset(unsigned char num);
+
 #endif // __AMS_ENC_H