fsb_encoder.h

 
#ifndef FSB_ENCODER_H
#define FSB_ENCODER_H
 
#include <cstdint>
#include "fsb_types.h"
 
namespace fsb
{
 
enum class EncoderStatus: uint8_t
{
    SUCCESS = 0,
    RESOLUTION_IS_ZERO = 1,
    RESOLUTION_EXCEEDS_MAX = 2,
    COUNTS_PER_REV_ZERO = 3,
    VALUE_PER_REV_ZERO = 4
};
 
class IncrementalEncoder
{
public:
    IncrementalEncoder() = default;
 
    EncoderStatus
    set_parameters(uint8_t counter_resolution_bits, uint32_t counts_per_rev, real_t value_per_rev);
 
    void reset(int32_t count, real_t value);
 
    void reset_value(real_t value);
 
    real_t decode(int32_t count);
 
    int32_t encode(real_t value);
 
private:
    // encoder count
    int32_t m_count = 0;
    // value offset at count == 0
    real_t m_value_offset = 0.0;
    // scaled units per revolution
    real_t m_value_per_rev = 0.0;
    // Encoder counts per revolution
    uint32_t m_counts_per_rev = 0U;
    // incremental encoder limit based on counter bit depth
    int32_t m_counter_lower_limit = 0;
};
 
} // namespace fsb
 
#endif