encoder.h

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/*
 * encoder.h
 *
 *  Created on: May 27, 2025
 *      Author: jacka
 */
 
#ifndef INC_ENCODER_H_
#define INC_ENCODER_H_

 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "time_utils.h"
#include <stm32f4xx_hal.h>

typedef struct {
    TIM_HandleTypeDef *htim;  
    int32_t last_count;       
    int32_t position;         
    uint32_t last_time_us;    
    int32_t delta;            
    float speed_cps;          
} encoder_t;

void encoder_init(encoder_t *encoder, TIM_HandleTypeDef *htim);

void encoder_update(encoder_t *encoder);

int32_t encoder_getposition(encoder_t *encoder);

int32_t encoder_getdelta(encoder_t *encoder);

float encoder_getspeed(encoder_t *encoder);

void encoder_reset(encoder_t *encoder);
 
#ifdef __cplusplus
}
#endif
 
#endif /* INC_ENCODER_H_ */