73 lines
2.1 KiB
C++
73 lines
2.1 KiB
C++
/*
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* PrimaryEncoderSetup.h
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*
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* Created on: 3 окт. 2019 г.
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* Author: user
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*/
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#ifndef SOURCE_APPLICATION_BOARD_PRIMARYENCODERSETUP_H_
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#define SOURCE_APPLICATION_BOARD_PRIMARYENCODERSETUP_H_
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#include "../ISetupStep.hh"
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#include "../../peripheral/ISerialPort.hh"
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#include "../../peripheral/IGpio.hh"
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namespace application { namespace board {
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struct PrimaryEncoderSetup : public ISetupStep {
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peripheral::ISerialPort * serial_port = nullptr;
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peripheral::IGpio * de_pin = nullptr;
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peripheral::IGpio * power_pin = nullptr;
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peripheral::IGpio * cs21_pin = nullptr;
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peripheral::IGpio * cs22_pin = nullptr;
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bool input( Environment & env );
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void build( Environment & env );
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struct Links {
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//Input:
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Environment::Id serial_port_id;
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Environment::GpioId de_pin_id;
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Environment::GpioId power_pin_id;
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Environment::GpioId cs21_id;
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Environment::GpioId cs22_id;
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//Output:
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Environment::Id primary_encoder_id;
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Environment::StatusId data_valid_id;
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Environment::StatusId failure_id;
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Environment::SignalId encoder_angle_sig_id; //!<Угол по данным энкодера.
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Environment::SignalId encoder_turn_sig_id; //!<Оборот по данным энкодера.
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Environment::SignalId encoder_err_sig_id; //!<Код ошибки энкодера.
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};
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const Links & links;
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const configuration::ProcessConfig & params;
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struct Setting {
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uint16_t de_active_level;
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uint16_t power_pin_active_level;
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uint16_t cs21_active_level;
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uint16_t cs22_active_level;
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uint16_t shift_bit_count;
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uint16_t turn_bit_len;
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uint16_t max_turn_bit_len;
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uint16_t angle_bit_len;
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uint16_t error_bit_len;
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uint16_t inverse;
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};
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const Setting & config;
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PrimaryEncoderSetup( const Links & links,
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const Setting & config,
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const configuration::ProcessConfig & proc );
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};
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} /* namespace board */
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} /* namespace application */
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#endif /* SOURCE_APPLICATION_BOARD_PRIMARYENCODERSETUP_H_ */
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