Encoder device management for the HardFOC Vortex V1 platform. More...

#include <array>
#include <atomic>
#include <optional>
#include "RtosMutex.h"
#include "handlers/as5047u/As5047uHandler.h"

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Classes
struct	EncoderFieldStrength
	Magnet field readings of one AS5047U (see EncoderManager::ReadFieldStrength()). More...

struct	EncoderSystemDiagnostics
	System-level diagnostics snapshot for encoder health monitoring. More...

struct	EncoderSystemDiagnostics::DeviceSnapshot
	Per-device health snapshot. More...

class	EncoderManager
	Singleton for managing multiple AS5047U encoder devices with indexed access. More...

Typedefs
using	As5047uError = EncoderError
	Backward-compatible alias for EncoderError.

Enumerations
enum class	EncoderError : uint8_t { SUCCESS = 0 , NOT_INITIALIZED , INITIALIZATION_FAILED , INVALID_PARAMETER , SPI_COMMUNICATION_FAILED , CRC_ERROR , FRAMING_ERROR , SENSOR_ERROR , TIMEOUT , MUTEX_LOCK_FAILED }
	Generic encoder manager error codes. More...

Functions
constexpr const char *	EncoderErrorToString (EncoderError error) noexcept
	Convert EncoderError to a human-readable string.

constexpr const char *	As5047uErrorToString (As5047uError error) noexcept
	Backward-compatible helper — calls EncoderErrorToString().

EncoderManager &	GetEncoderManager () noexcept
	Convenience accessor — equivalent to EncoderManager::GetInstance().

Detailed Description

Encoder device management for the HardFOC Vortex V1 platform.

Manages up to four AS5047U position encoder devices. The Vortex V1 board has no onboard encoder — all devices are user-provisioned via CreateAs5047uDevice(). The board provides a dedicated SPI CS pin (SpiDeviceId::AS5047U_POSITION_ENCODER, GPIO 20) plus two external CS slots that can each host an AS5047U or other SPI sensor.

Version: 2.1

Typedef Documentation

◆ As5047uError

using As5047uError = EncoderError

Backward-compatible alias for EncoderError.

Enumeration Type Documentation

◆ EncoderError

enum class EncoderError : uint8_t

strong

Generic encoder manager error codes.

These are manager-layer errors and are intentionally encoder-family agnostic. Handler/driver internals keep native driver error flags and are translated into this common manager error domain.

Enumerator
SUCCESS	Operation completed successfully.
NOT_INITIALIZED	Manager not yet initialised.
INITIALIZATION_FAILED	Device initialisation failed.
INVALID_PARAMETER	Null pointer or out-of-range argument.
SPI_COMMUNICATION_FAILED	SPI bus transfer failed.
CRC_ERROR	CRC mismatch on SPI frame.
FRAMING_ERROR	Malformed SPI frame received.
SENSOR_ERROR	Encoder sensor self-test failure.
TIMEOUT	Operation timed out.
MUTEX_LOCK_FAILED	RTOS mutex acquire timed out.

Function Documentation

◆ As5047uErrorToString()

constexpr const char * As5047uErrorToString ( As5047uError error )

constexprnoexcept

Backward-compatible helper — calls EncoderErrorToString().

Parameters

error Error code to convert.

Returns: Null-terminated string representation.

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◆ EncoderErrorToString()

constexpr const char * EncoderErrorToString ( EncoderError error )

constexprnoexcept

Convert EncoderError to a human-readable string.

Parameters

error Error code to convert.

Returns: Null-terminated string representation.

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◆ GetEncoderManager()

EncoderManager & GetEncoderManager ( )

inlinenoexcept

Convenience accessor — equivalent to EncoderManager::GetInstance().

Returns: Reference to the singleton EncoderManager.