IC-Haus TW39 Encoder

Firmware/FFBoard/UserExtensions/Inc/ClassIDs.h

@@ -66,6 +66,7 @@ enum class ClassType : uint16_t {
 #define CLSID_ENCODER_MTSPI	0x62
 #define CLSID_ENCODER_BISS	0x63
 #define CLSID_ENCODER_SSI	0x64
+#define CLSID_ENCODER_TW39	0x65
 
 // Motordrivers
 #define CLSID_MOT_NONE		0x80

Firmware/FFBoard/UserExtensions/Inc/EncoderTW39.h

@@ -0,0 +1,145 @@
+/*
+ * EncoderTW39.h
+ *
+ *  Created on: Oct 4, 2026
+ *      Author: Yannick
+ */
+
+#ifndef USEREXTENSIONS_INC_ENCODERTW39_H_
+#define USEREXTENSIONS_INC_ENCODERTW39_H_
+#include "constants.h"
+#ifdef TW39ENCODER
+#include "SPI.h"
+#include "cpp_target_config.h"
+#include "Encoder.h"
+#include "PersistentStorage.h"
+#include "CommandHandler.h"
+#include "thread.hpp"
+#include "mutex.hpp"
+#include "array"
+
+class EncoderTW39: public Encoder, public SPIDevice, public PersistentStorage, public CommandHandler,cpp_freertos::Thread{
+	enum class EncoderTW39_commands : uint32_t{
+		cspin,speed,pos,errors,chip,serial,status,temp,outmode,ssi,abzres,abzcfg,uvwpairs,calib,save,reg,cmd
+	};
+
+	// Register addresses
+	enum class EncoderTW39_reg : uint16_t{
+		MAIN_CFG = 0x0000,
+		ABZ_CFG = 0x0008,
+		ABZ_RES_L = 0x000A,
+		ABZ_RES_H = 0x000C,
+		UVW_CFG = 0x0012,
+		BISS_CFG0 = 0x0018,
+		BISS_KEY = 0x0042,
+		TEST = 0x0054,
+		STAT_VAL = 0x010E,
+		STAT_LATCH = 0x0110,
+		STAT_FATAL = 0x0112,
+		STAT_START = 0x0114,
+		COMMAND = 0x4000,
+		SERIAL_L = 0x403C,
+		SERIAL_H = 0x403E,
+		T_NOW = 0x4068,
+		CHIP_ID = 0xE000,
+		CHIP_REV = 0xE002
+	};
+
+	// Values of the command register
+	enum class EncoderTW39_chipcmd : uint8_t{
+		idle = 0x00,
+		stop = 0x02,
+		restart = 0x04,
+		preset = 0x05,
+		clearStatus = 0x06,
+		writeEeprom = 0x0C,
+		autocal = 0x10
+	};
+
+	const std::array<float,3> spispeeds = {10e6,5e6,2.5e6}; // Target speeds. Must double each entry
+public:
+	EncoderTW39();
+	virtual ~EncoderTW39();
+
+	static bool inUse;
+	static ClassIdentifier info;
+	const ClassIdentifier getInfo();
+	static bool isCreatable() {return ENCODER_SPI_PORT.getFreeCsPins().size() > 0 && !inUse;};
+
+	EncoderType getEncoderType(){return EncoderType::absolute;};
+	void Run();
+
+	void restoreFlash() override;
+	void saveFlash() override;
+
+	int32_t getPos() override;
+	uint32_t getCpr() override; // Encoder counts per rotation
+
+	int32_t getPosAbs() override;
+
+	void setPos(int32_t pos);
+
+	void initSPI();
+	void updateAngleStatus();
+	bool updateAngleStatusCb();
+
+	CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies);
+	std::string getHelpstring(){return "IC-Haus TW39 SPI Encoder\n";}
+	void setCsPin(uint8_t cspin);
+
+	void setSpiSpeed(uint8_t preset);
+
+	bool readChipInfo();
+	uint16_t readReg(EncoderTW39_reg reg){return readReg((uint16_t)reg);}
+	uint16_t readReg(uint16_t addr);
+	void writeReg(EncoderTW39_reg reg,uint16_t data){writeReg((uint16_t)reg,data);}
+	void writeReg(uint16_t addr,uint16_t data);
+	void writeRegBits(EncoderTW39_reg reg,uint16_t mask,uint16_t data);
+	void sendChipCommand(EncoderTW39_chipcmd cmd);
+	uint8_t getChipCommand();
+
+	void setCalibration(bool enable);
+	bool saveEeprom();
+
+private:
+	void spiTxRxCompleted(SPIPort* port);
+	void spiRequestError(SPIPort* port);
+
+	static const uint8_t packetLen = 8; // Always 64 bit packets
+	static const uint8_t angleBits = 26; // Bits of the angle in a position packet
+	static const uint8_t posBits = 24; // Resolution reported to the ffboard. Max 26
+	static const uint16_t chipIdTW39 = 0x001D;
+	static const uint16_t bissKeyUnlock = 0xB4; // Unlocks protected commands
+	static const uint32_t eepromTimeout = 1500; // ms. Eeprom write takes up to 1s
+
+	int32_t lastAngleInt = 0;
+	int32_t curAngleInt = 0;
+	int32_t curPos = 0;
+	int32_t rotations = 0;
+	int32_t offset = 0;
+	uint8_t cspin = 0;
+	bool updateInProgress = false;
+	volatile bool transferError = false;
+	uint32_t errors = 0;
+	uint8_t spiStatus = 0; // Status bits of last position packet
+
+	bool connected = false; // Chip id matched
+	uint16_t chipId = 0;
+	uint16_t chipRev = 0;
+	uint32_t serial = 0;
+	uint16_t keyBeforeCalib = 0;
+
+	const uint8_t txbuf[packetLen] = {0x10,0,0,0,0,0,0,0}; // Position read. rm=4, wm=0
+	uint8_t rxbuf[packetLen] = {0};
+	uint8_t rxbuf_t[packetLen] = {0};
+	cpp_freertos::BinarySemaphore requestNewDataSem = cpp_freertos::BinarySemaphore(false);
+	cpp_freertos::BinarySemaphore waitForUpdateSem = cpp_freertos::BinarySemaphore(false);
+	cpp_freertos::MutexStandard transferMutex; // Prevents position updates between packets of a register access
+
+	uint8_t spiSpeedPreset = 0;
+	static const uint32_t waitThresh = 2; // If last sample older than x ms use wait semaphore. Else skip and use last value to speed up processing
+	uint32_t lastUpdateTick = 0;
+};
+
+#endif
+#endif /* USEREXTENSIONS_INC_ENCODERTW39_H_ */

Firmware/FFBoard/UserExtensions/Inc/eeprom_addresses.h

@@ -13,11 +13,11 @@
 
 #include "main.h"
 // Change this to the amount of currently registered variables
-#define NB_OF_VAR 183
+#define NB_OF_VAR 185
 extern const uint16_t VirtAddVarTab[NB_OF_VAR];
 
 // Amount of variables in exportable list
-#define NB_EXPORTABLE_ADR 168
+#define NB_EXPORTABLE_ADR 170
 extern const uint16_t exportableFlashAddresses[NB_EXPORTABLE_ADR];
 
 
@@ -221,6 +221,9 @@ uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data) will return 1 if
 // SSI
 #define ADR_SSI_CONF1 0x413
 #define ADR_SSI_OFS 0x414
+// TW39 Encoder
+#define ADR_ENCTW39_OFS 0x420
+#define ADR_ENCTW39_CONF1 0x421
 // Analog min/max calibrations
 #define ADR_LOCALANALOG_MIN_0 0x500
 #define ADR_LOCALANALOG_MAX_0 0x501

Firmware/FFBoard/UserExtensions/Src/EncoderSources.cpp

@@ -10,6 +10,7 @@
 #include "MtEncoderSPI.h"
 #include "EncoderBissC.h"
 #include "EncoderSSI.h"
+#include "EncoderTW39.h"
 // 0-63 valid ids
 #ifndef ENCODERSOURCES_DEFAULT_OVERRIDE
 std::vector<class_entry<Encoder>> const Encoder::all_encoders =
@@ -29,5 +30,8 @@ std::vector<class_entry<Encoder>> const Encoder::all_encoders =
 #ifdef SSIENCODER
 		add_class<EncoderSSI, Encoder>(6),
 #endif
+#ifdef TW39ENCODER
+		add_class<EncoderTW39, Encoder>(7),
+#endif
 };
 #endif