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

#include <EncoderManager.h>

Collaboration diagram for EncoderManager:

Public Member Functions
bool	EnsureInitialized () noexcept
	Ensure the encoder manager system is initialized.

bool	IsInitialized () const noexcept
	Check if the encoder manager is initialized.

EncoderError	GetLastError () const noexcept
	Get the most recent error code.

EncoderError	GetSystemDiagnostics (EncoderSystemDiagnostics &diagnostics) const noexcept
	Fill a diagnostics snapshot with current system state.

bool	Deinitialize () noexcept
	Deinitialize all encoders and release resources.

As5047uHandler *	GetAs5047uHandler (uint8_t deviceIndex=ENCODER_SLOT_0) noexcept
	Get access to AS5047U encoder handler by device index.

template<typename Fn >
bool	VisitDriver (uint8_t deviceIndex, Fn &&fn) noexcept
	Run `fn` on the AS5047U driver of one initialised slot, under both locks.

bool	CreateAs5047uDevice (uint8_t deviceIndex, SpiDeviceId spiDeviceId, const As5047uConfig &config=As5047uHandler::GetDefaultConfig()) noexcept
	Create an AS5047U encoder device on a given SPI device slot.

bool	CreateAs5047uDevice (uint8_t deviceIndex, BaseSpi &spi_interface, const As5047uConfig &config=As5047uHandler::GetDefaultConfig()) noexcept
	Create an AS5047U encoder device using a direct BaseSpi interface.

bool	CreateExternalAs5047uDevice (uint8_t deviceIndex, SpiDeviceId spiDeviceId, const As5047uConfig &config=As5047uHandler::GetDefaultConfig()) noexcept

bool	CreateExternalAs5047uDevice (uint8_t deviceIndex, BaseSpi &spi_interface, const As5047uConfig &config=As5047uHandler::GetDefaultConfig()) noexcept

bool	DeleteDevice (uint8_t deviceIndex) noexcept
	Delete an encoder device and free its slot.

bool	DeleteExternalDevice (uint8_t deviceIndex) noexcept

uint8_t	GetDeviceCount () const noexcept
	Get the number of active encoder devices.

bool	IsDeviceValid (uint8_t deviceIndex) const noexcept
	Check if a device index is valid and has an active device.

bool	IsExternalSlotAvailable (uint8_t deviceIndex) const noexcept
	Check if an external device slot is available for creation.

void	GetActiveDeviceIndices (std::array< uint8_t, MAX_ENCODER_DEVICES > &out, size_t &count) const noexcept
	Get indices of all active encoder devices.

size_t	InitializeAllDevices (std::array< bool, MAX_ENCODER_DEVICES > &results) noexcept
	Initialize all active encoder devices.

void	GetInitializationStatus (std::array< bool, MAX_ENCODER_DEVICES > &status) const noexcept
	Get initialization status of all device slots.

void	GetAvailableDevices (std::array< const char *, MAX_ENCODER_DEVICES > &out, size_t &count) const noexcept
	Get human-readable names of all available devices.

const char *	GetDeviceType (uint8_t deviceIndex) const noexcept
	Get device type by index.

EncoderError	ReadAngle (uint8_t deviceIndex, uint16_t &angle) noexcept
	Read angle from specific encoder device.

EncoderError	ReadAngleDegrees (uint8_t deviceIndex, double &angle_degrees) noexcept
	Read angle in degrees from specific encoder device.

EncoderError	ReadVelocityRPM (uint8_t deviceIndex, double &velocity_rpm) noexcept
	Read velocity from specific encoder device.

EncoderError	ReadDiagnostics (uint8_t deviceIndex, As5047uDiagnostics &diagnostics) noexcept
	Read diagnostics from specific encoder device.

EncoderError	ReadFieldStrength (uint8_t deviceIndex, EncoderFieldStrength &field) noexcept
	Read the AGC value and the CORDIC magnitude (magnet field strength) of one encoder.

EncoderError	SetZeroPosition (uint8_t deviceIndex, uint16_t zero_position) noexcept
	Set zero position for specific encoder device.

void	ReadAllAngles (std::array< uint16_t, MAX_ENCODER_DEVICES > &angles, std::array< uint8_t, MAX_ENCODER_DEVICES > &device_indices, std::array< EncoderError, MAX_ENCODER_DEVICES > &errors, size_t &count) noexcept
	Read angles from all active encoder devices.

void	ReadAllVelocities (std::array< double, MAX_ENCODER_DEVICES > &velocities_rpm, std::array< uint8_t, MAX_ENCODER_DEVICES > &device_indices, std::array< EncoderError, MAX_ENCODER_DEVICES > &errors, size_t &count) noexcept
	Read velocities from all active encoder devices.

bool	CheckAllDevicesHealth () noexcept
	Check health status of all active encoder devices.

uint32_t	GetMeasurementCount (uint8_t deviceIndex) const noexcept
	Get measurement statistics for monitoring specific device.

uint32_t	GetCommunicationErrorCount (uint8_t deviceIndex) const noexcept
	Get communication error count for specific device.

void	DumpStatistics () const noexcept
	Dump comprehensive system statistics to log as INFO level. Logs all device statistics, interrupt counts, and system health information.

	EncoderManager (const EncoderManager &)=delete

EncoderManager &	operator= (const EncoderManager &)=delete

	EncoderManager (EncoderManager &&)=delete

EncoderManager &	operator= (EncoderManager &&)=delete

Static Public Member Functions
static EncoderManager &	GetInstance () noexcept
	Get the singleton instance of EncoderManager.

Static Public Attributes
static constexpr uint8_t	MAX_ENCODER_DEVICES = 4
	Maximum supported AS5047U devices.

static constexpr uint8_t	ENCODER_SLOT_0 = 0

static constexpr uint8_t	ENCODER_SLOT_1 = 1

static constexpr uint8_t	ENCODER_SLOT_2 = 2

static constexpr uint8_t	ENCODER_SLOT_3 = 3

static constexpr uint8_t	ONBOARD_ENCODER_INDEX = ENCODER_SLOT_0

Private Member Functions
	EncoderManager () noexcept
	Private constructor for singleton pattern.

	~EncoderManager () noexcept
	Private destructor.

bool	Initialize () noexcept
	Initialize the encoder manager system (no devices auto-created).

As5047uHandler *	ReadyHandlerLocked (uint8_t deviceIndex) noexcept
	Handler of an active, initialised slot, or nullptr. Caller holds manager_mutex_.

EncoderError	FinishRead (uint8_t deviceIndex, AS5047U_Error sticky, bool count_measurement) noexcept
	Count a read and map its sticky flags to an error. Caller holds manager_mutex_.

Static Private Member Functions
static bool	IsValidDeviceIndex (uint8_t deviceIndex) noexcept
	Validate that deviceIndex is within [0, MAX_ENCODER_DEVICES).

static EncoderError	mapDriverError (AS5047U_Error sticky_flags) noexcept
	Map AS5047U driver sticky error flags to generic EncoderError.

Private Attributes
std::atomic< bool >	initialized_ {false}
	System initialization state (atomic for thread safety).

std::atomic< EncoderError >	last_error_ {EncoderError::SUCCESS}
	Most recent error code for system-level tracking.

RtosMutex	manager_mutex_
	Main system mutex for thread-safe operations. Uses RtosMutex for embedded RTOS compatibility.

std::array< std::optional< As5047uHandler >, MAX_ENCODER_DEVICES >	as5047u_handlers_
	AS5047U encoder handlers (one per device slot), in place (no heap): emplaced on create, reset on delete/deinit. Protected by manager_mutex_.

std::array< bool, MAX_ENCODER_DEVICES >	device_initialized_
	Device initialization status tracking. Tracks which devices have been successfully initialized.

std::array< bool, MAX_ENCODER_DEVICES >	device_active_
	Device active status tracking. Tracks which device slots have active devices.

CommChannelsManager *	comm_manager_ = nullptr
	Reference to communication manager for SPI access. Used for creating encoder devices with proper transport interfaces.

GpioManager *	gpio_manager_ = nullptr
	Reference to GPIO manager for interrupt pin access. Used for configuring interrupt pins for encoder devices.

std::array< std::atomic< uint32_t >, MAX_ENCODER_DEVICES >	measurement_counts_ {0}
	Measurement and error tracking for all devices.

std::array< std::atomic< uint32_t >, MAX_ENCODER_DEVICES >	communication_error_counts_ {0}
	Communication error counts per device.

Detailed Description

Singleton for managing multiple AS5047U encoder devices with indexed access.

The Vortex V1 board has no onboard encoder. All AS5047U devices are user-provisioned at runtime via CreateAs5047uDevice(). The board exposes a dedicated SPI CS line for the encoder (SpiDeviceId::AS5047U_POSITION_ENCODER, GPIO 20) plus two external CS slots — any of them can host an AS5047U.

Key Features:

Up to 4 AS5047U devices (indices 0–3), all user-created
Dynamic device creation/deletion on any slot
Thread-safe singleton pattern with RtosMutex
Exception-free operation with pointer-based returns
ESP-IDF v5.5+ SPI integration

Usage Example:

auto& enc = EncoderManager::GetInstance();
enc.EnsureInitialized();
 
// Create an AS5047U on the dedicated CS pin (slot 0)
enc.CreateAs5047uDevice(0, SpiDeviceId::AS5047U_POSITION_ENCODER);
 
uint16_t angle;
if (enc.ReadAngle(0, angle) == EncoderError::SUCCESS) {
    printf("Angle: %u LSB (%.2f deg)\n",
           angle, static_cast<double>(angle) * (360.0 / 16384.0));
}

Constructor & Destructor Documentation

◆ EncoderManager() [1/3]

EncoderManager::EncoderManager ( const EncoderManager & )

delete

◆ EncoderManager() [2/3]

EncoderManager::EncoderManager ( EncoderManager && )

delete

◆ EncoderManager() [3/3]

EncoderManager::EncoderManager ( )

privatenoexcept

Private constructor for singleton pattern.

◆ ~EncoderManager()

EncoderManager::~EncoderManager ( )

privatenoexcept

Private destructor.

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Member Function Documentation

◆ CheckAllDevicesHealth()

bool EncoderManager::CheckAllDevicesHealth ( )

noexcept

Check health status of all active encoder devices.

Returns: true if all active devices are healthy, false if any have errors

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◆ CreateAs5047uDevice() [1/2]

bool EncoderManager::CreateAs5047uDevice	(	uint8_t	deviceIndex,
		BaseSpi &	spi_interface,
		const As5047uConfig &	config = `As5047uHandler::GetDefaultConfig()`
	)

noexcept

Create an AS5047U encoder device using a direct BaseSpi interface.

Parameters

deviceIndex	Device slot (0–3)
spi_interface	Direct reference to BaseSpi interface
config	Optional AS5047U configuration (defaults to default config)

Returns: true if device created successfully, false otherwise

◆ CreateAs5047uDevice() [2/2]

bool EncoderManager::CreateAs5047uDevice	(	uint8_t	deviceIndex,
		SpiDeviceId	spiDeviceId,
		const As5047uConfig &	config = `As5047uHandler::GetDefaultConfig()`
	)

noexcept

Create an AS5047U encoder device on a given SPI device slot.

Parameters

deviceIndex	Device slot (0–3)
spiDeviceId	SPI device ID for communication (e.g. AS5047U_POSITION_ENCODER)
config	Optional AS5047U configuration (defaults to default config)

Returns: true if device created successfully, false otherwise

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◆ CreateExternalAs5047uDevice() [1/2]

bool EncoderManager::CreateExternalAs5047uDevice	(	uint8_t	deviceIndex,
		BaseSpi &	spi_interface,
		const As5047uConfig &	config = `As5047uHandler::GetDefaultConfig()`
	)

inlinenoexcept

Deprecated:: Use CreateAs5047uDevice(). Kept for backward compatibility.

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◆ CreateExternalAs5047uDevice() [2/2]

bool EncoderManager::CreateExternalAs5047uDevice	(	uint8_t	deviceIndex,
		SpiDeviceId	spiDeviceId,
		const As5047uConfig &	config = `As5047uHandler::GetDefaultConfig()`
	)

inlinenoexcept

Deprecated:: Use CreateAs5047uDevice(). Kept for backward compatibility.

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◆ Deinitialize()

bool EncoderManager::Deinitialize ( )

noexcept

Deinitialize all encoders and release resources.

Returns: true if deinitialized successfully, false otherwise

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◆ DeleteDevice()

bool EncoderManager::DeleteDevice ( uint8_t deviceIndex )

noexcept

Delete an encoder device and free its slot.

Parameters

deviceIndex Device slot (0–3)

Returns: true if device deleted successfully, false otherwise

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◆ DeleteExternalDevice()

bool EncoderManager::DeleteExternalDevice ( uint8_t deviceIndex )

inlinenoexcept

Deprecated:: Use DeleteDevice(). Kept for backward compatibility.

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◆ DumpStatistics()

void EncoderManager::DumpStatistics ( ) const

noexcept

Dump comprehensive system statistics to log as INFO level. Logs all device statistics, interrupt counts, and system health information.

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◆ EnsureInitialized()

bool EncoderManager::EnsureInitialized ( )

noexcept

Ensure the encoder manager system is initialized.

Note: No devices are created automatically — call CreateAs5047uDevice() after init.

Returns: true if initialization successful, false otherwise

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◆ FinishRead()

EncoderError EncoderManager::FinishRead	(	uint8_t	deviceIndex,
		AS5047U_Error	sticky,
		bool	count_measurement
	)

privatenoexcept

Count a read and map its sticky flags to an error. Caller holds manager_mutex_.

◆ GetActiveDeviceIndices()

void EncoderManager::GetActiveDeviceIndices	(	std::array< uint8_t, MAX_ENCODER_DEVICES > &	out,
		size_t &	count
	)		const

noexcept

Get indices of all active encoder devices.

Parameters

out	Fixed-size output array
count	Output: number of entries written

◆ GetAs5047uHandler()

As5047uHandler * EncoderManager::GetAs5047uHandler ( uint8_t deviceIndex = ENCODER_SLOT_0 )

noexcept

Get access to AS5047U encoder handler by device index.

Parameters

deviceIndex Device slot (0–3)

Returns: Pointer to As5047uHandler if valid and active, nullptr otherwise

◆ GetAvailableDevices()

void EncoderManager::GetAvailableDevices	(	std::array< const char *, MAX_ENCODER_DEVICES > &	out,
		size_t &	count
	)		const

noexcept

Get human-readable names of all available devices.

Parameters

out	Fixed-size output array of const char* string literals
count	Output: number of entries written

◆ GetCommunicationErrorCount()

uint32_t EncoderManager::GetCommunicationErrorCount ( uint8_t deviceIndex ) const

noexcept

Get communication error count for specific device.

Parameters

deviceIndex Device slot (0–3)

Returns: Number of communication errors since initialization

◆ GetDeviceCount()

uint8_t EncoderManager::GetDeviceCount ( ) const

noexcept

Get the number of active encoder devices.

Returns: Number of active devices (0 to MAX_ENCODER_DEVICES)

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◆ GetDeviceType()

const char * EncoderManager::GetDeviceType ( uint8_t deviceIndex ) const

noexcept

Get device type by index.

Parameters

deviceIndex Device index

Returns: Device type string literal or nullptr if invalid

◆ GetInitializationStatus()

void EncoderManager::GetInitializationStatus ( std::array< bool, MAX_ENCODER_DEVICES > & status ) const

noexcept

Get initialization status of all device slots.

Parameters

status Output: per-slot status

◆ GetInstance()

EncoderManager & EncoderManager::GetInstance ( )

staticnoexcept

Get the singleton instance of EncoderManager.

Returns: Reference to the singleton EncoderManager.

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◆ GetLastError()

EncoderError EncoderManager::GetLastError ( ) const

inlinenoexcept

Get the most recent error code.

Returns: Last EncoderError set by any API call

◆ GetMeasurementCount()

uint32_t EncoderManager::GetMeasurementCount ( uint8_t deviceIndex ) const

noexcept

Get measurement statistics for monitoring specific device.

Parameters

deviceIndex Device slot (0–3)

Returns: Number of measurements taken since initialization

◆ GetSystemDiagnostics()

EncoderError EncoderManager::GetSystemDiagnostics ( EncoderSystemDiagnostics & diagnostics ) const

noexcept

Fill a diagnostics snapshot with current system state.

Parameters

diagnostics Output structure to populate

Returns: EncoderError::SUCCESS on success, EncoderError::NOT_INITIALIZED if not init

◆ Initialize()

bool EncoderManager::Initialize ( )

privatenoexcept

Initialize the encoder manager system (no devices auto-created).

Returns: true if initialization successful, false otherwise

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◆ InitializeAllDevices()

size_t EncoderManager::InitializeAllDevices ( std::array< bool, MAX_ENCODER_DEVICES > & results )

noexcept

Initialize all active encoder devices.

Parameters

results Output: per-slot initialization result

Returns: Number of devices successfully initialized

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◆ IsDeviceValid()

bool EncoderManager::IsDeviceValid ( uint8_t deviceIndex ) const

noexcept

Check if a device index is valid and has an active device.

Parameters

deviceIndex Device index to check

Returns: true if device exists and is active, false otherwise

◆ IsExternalSlotAvailable()

bool EncoderManager::IsExternalSlotAvailable ( uint8_t deviceIndex ) const

noexcept

Check if an external device slot is available for creation.

Parameters

deviceIndex External device index (1, 2, or 3 only)

Returns: true if slot is available, false if occupied or invalid index

◆ IsInitialized()

bool EncoderManager::IsInitialized ( ) const

noexcept

Check if the encoder manager is initialized.

Returns: true if initialized, false otherwise

◆ IsValidDeviceIndex()

static bool EncoderManager::IsValidDeviceIndex ( uint8_t deviceIndex )

inlinestaticprivatenoexcept

Validate that deviceIndex is within [0, MAX_ENCODER_DEVICES).

◆ mapDriverError()

EncoderError EncoderManager::mapDriverError ( AS5047U_Error sticky_flags )

staticprivatenoexcept

Map AS5047U driver sticky error flags to generic EncoderError.

Parameters

sticky_flags Sticky error flags from AS5047U driver

Returns: Corresponding EncoderError code

◆ operator=() [1/2]

EncoderManager & EncoderManager::operator= ( const EncoderManager & )

delete

◆ operator=() [2/2]

EncoderManager & EncoderManager::operator= ( EncoderManager && )

delete

◆ ReadAllAngles()

void EncoderManager::ReadAllAngles	(	std::array< uint16_t, MAX_ENCODER_DEVICES > &	angles,
		std::array< uint8_t, MAX_ENCODER_DEVICES > &	device_indices,
		std::array< EncoderError, MAX_ENCODER_DEVICES > &	errors,
		size_t &	count
	)

noexcept

Read angles from all active encoder devices.

Parameters

angles	Output: per-slot angle readings (only valid where errors[i] == SUCCESS)
device_indices	Output: indices of active devices
errors	Output: per-slot error codes
count	Output: number of entries written

◆ ReadAllVelocities()

void EncoderManager::ReadAllVelocities	(	std::array< double, MAX_ENCODER_DEVICES > &	velocities_rpm,
		std::array< uint8_t, MAX_ENCODER_DEVICES > &	device_indices,
		std::array< EncoderError, MAX_ENCODER_DEVICES > &	errors,
		size_t &	count
	)

noexcept

Read velocities from all active encoder devices.

Parameters

velocities_rpm	Output: per-slot velocity readings
device_indices	Output: indices of active devices
errors	Output: per-slot error codes
count	Output: number of entries written

◆ ReadAngle()

EncoderError EncoderManager::ReadAngle	(	uint8_t	deviceIndex,
		uint16_t &	angle
	)

noexcept

Read angle from specific encoder device.

Parameters

deviceIndex	Device slot (0–3)
angle	Output angle value (0-16383 LSB, 14-bit)

Returns: EncoderError::SUCCESS if successful

◆ ReadAngleDegrees()

EncoderError EncoderManager::ReadAngleDegrees	(	uint8_t	deviceIndex,
		double &	angle_degrees
	)

noexcept

Read angle in degrees from specific encoder device.

Parameters

deviceIndex	Device slot (0–3)
angle_degrees	Output angle in degrees (0.0-359.978°)

Returns: EncoderError::SUCCESS if successful

◆ ReadDiagnostics()

EncoderError EncoderManager::ReadDiagnostics	(	uint8_t	deviceIndex,
		As5047uDiagnostics &	diagnostics
	)

noexcept

Read diagnostics from specific encoder device.

One SPI read of ERRFL (clear-on-read). The counters come from this manager. AGC and magnitude are not part of As5047uDiagnostics; use ReadFieldStrength().

Parameters

deviceIndex	Device slot (0–3)
diagnostics	Output diagnostic information

Returns: EncoderError::SUCCESS if successful

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◆ ReadFieldStrength()

EncoderError EncoderManager::ReadFieldStrength	(	uint8_t	deviceIndex,
		EncoderFieldStrength &	field
	)

noexcept

Read the AGC value and the CORDIC magnitude (magnet field strength) of one encoder.

Parameters

deviceIndex	Device slot (0–3)
field	Output AGC (0–255) and magnitude (0–16383) readings

Returns: EncoderError::SUCCESS if successful

◆ ReadVelocityRPM()

EncoderError EncoderManager::ReadVelocityRPM	(	uint8_t	deviceIndex,
		double &	velocity_rpm
	)

noexcept

Read velocity from specific encoder device.

Parameters

deviceIndex	Device slot (0–3)
velocity_rpm	Output velocity in RPM

Returns: EncoderError::SUCCESS if successful

◆ ReadyHandlerLocked()

As5047uHandler * EncoderManager::ReadyHandlerLocked ( uint8_t deviceIndex )

privatenoexcept

Handler of an active, initialised slot, or nullptr. Caller holds manager_mutex_.

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◆ SetZeroPosition()

EncoderError EncoderManager::SetZeroPosition	(	uint8_t	deviceIndex,
		uint16_t	zero_position
	)

noexcept

Set zero position for specific encoder device.

Parameters

deviceIndex	Device slot (0–3)
zero_position	Zero position in LSB (0-16383)

Returns: EncoderError::SUCCESS if successful

◆ VisitDriver()

template<typename Fn >

bool EncoderManager::VisitDriver	(	uint8_t	deviceIndex,
		Fn &&	fn
	)

inlinenoexcept

Run fn on the AS5047U driver of one initialised slot, under both locks.

Holds the manager lock (the slot cannot be deleted) and the handler lock (no other task talks to this AS5047U) for the whole call. This replaces the raw driver pointer the manager used to hand out. Keep fn short: it blocks every other encoder call.

Parameters

deviceIndex	Device slot (0–3)
fn	Callable taking `as5047u::AS5047U<As5047uSpiAdapter>&`.

Returns: true if fn ran; false if the slot is empty or not initialised.

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Member Data Documentation

◆ as5047u_handlers_

std::array<std::optional<As5047uHandler>, MAX_ENCODER_DEVICES> EncoderManager::as5047u_handlers_

private

AS5047U encoder handlers (one per device slot), in place (no heap): emplaced on create, reset on delete/deinit. Protected by manager_mutex_.

◆ comm_manager_

CommChannelsManager* EncoderManager::comm_manager_ = nullptr

private

Reference to communication manager for SPI access. Used for creating encoder devices with proper transport interfaces.

◆ communication_error_counts_

std::array<std::atomic<uint32_t>, MAX_ENCODER_DEVICES> EncoderManager::communication_error_counts_ {0}

private

Communication error counts per device.

◆ device_active_

std::array<bool, MAX_ENCODER_DEVICES> EncoderManager::device_active_

private

Device active status tracking. Tracks which device slots have active devices.

◆ device_initialized_

std::array<bool, MAX_ENCODER_DEVICES> EncoderManager::device_initialized_

private

Device initialization status tracking. Tracks which devices have been successfully initialized.

◆ ENCODER_SLOT_0

constexpr uint8_t EncoderManager::ENCODER_SLOT_0 = 0

staticconstexpr

◆ ENCODER_SLOT_1

constexpr uint8_t EncoderManager::ENCODER_SLOT_1 = 1

staticconstexpr

◆ ENCODER_SLOT_2

constexpr uint8_t EncoderManager::ENCODER_SLOT_2 = 2

staticconstexpr

◆ ENCODER_SLOT_3

constexpr uint8_t EncoderManager::ENCODER_SLOT_3 = 3

staticconstexpr

◆ gpio_manager_

GpioManager* EncoderManager::gpio_manager_ = nullptr

private

Reference to GPIO manager for interrupt pin access. Used for configuring interrupt pins for encoder devices.

◆ initialized_

std::atomic<bool> EncoderManager::initialized_ {false}

private

System initialization state (atomic for thread safety).

◆ last_error_

std::atomic<EncoderError> EncoderManager::last_error_ {EncoderError::SUCCESS}

private

Most recent error code for system-level tracking.

◆ manager_mutex_

RtosMutex EncoderManager::manager_mutex_

mutableprivate

Main system mutex for thread-safe operations. Uses RtosMutex for embedded RTOS compatibility.

◆ MAX_ENCODER_DEVICES

constexpr uint8_t EncoderManager::MAX_ENCODER_DEVICES = 4

staticconstexpr

Maximum supported AS5047U devices.

◆ measurement_counts_

std::array<std::atomic<uint32_t>, MAX_ENCODER_DEVICES> EncoderManager::measurement_counts_ {0}

private

Measurement and error tracking for all devices.

Measurement counts per device

◆ ONBOARD_ENCODER_INDEX

constexpr uint8_t EncoderManager::ONBOARD_ENCODER_INDEX = ENCODER_SLOT_0

staticconstexpr

Deprecated:: Use ENCODER_SLOT_0. Kept for backward compatibility.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EncoderManager() [1/3]

◆ EncoderManager() [2/3]

◆ EncoderManager() [3/3]

◆ ~EncoderManager()

Member Function Documentation

◆ CheckAllDevicesHealth()

◆ CreateAs5047uDevice() [1/2]

◆ CreateAs5047uDevice() [2/2]

◆ CreateExternalAs5047uDevice() [1/2]

◆ CreateExternalAs5047uDevice() [2/2]

◆ Deinitialize()

◆ DeleteDevice()

◆ DeleteExternalDevice()

◆ DumpStatistics()

◆ EnsureInitialized()

◆ FinishRead()

◆ GetActiveDeviceIndices()

◆ GetAs5047uHandler()

◆ GetAvailableDevices()

◆ GetCommunicationErrorCount()

◆ GetDeviceCount()

◆ GetDeviceType()

◆ GetInitializationStatus()

◆ GetInstance()

◆ GetLastError()

◆ GetMeasurementCount()

◆ GetSystemDiagnostics()

◆ Initialize()

◆ InitializeAllDevices()

◆ IsDeviceValid()

◆ IsExternalSlotAvailable()

◆ IsInitialized()

◆ IsValidDeviceIndex()

◆ mapDriverError()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ ReadAllAngles()

◆ ReadAllVelocities()

◆ ReadAngle()

◆ ReadAngleDegrees()

◆ ReadDiagnostics()

◆ ReadFieldStrength()

◆ ReadVelocityRPM()

◆ ReadyHandlerLocked()

◆ SetZeroPosition()

◆ VisitDriver()

Member Data Documentation

◆ as5047u_handlers_

◆ comm_manager_

◆ communication_error_counts_

◆ device_active_

◆ device_initialized_

◆ ENCODER_SLOT_0

◆ ENCODER_SLOT_1

◆ ENCODER_SLOT_2

◆ ENCODER_SLOT_3

◆ gpio_manager_

◆ initialized_

◆ last_error_

◆ manager_mutex_

◆ MAX_ENCODER_DEVICES

◆ measurement_counts_

◆ ONBOARD_ENCODER_INDEX