From 0642a69e1a669e986269fd82b1fb15489e27c007 Mon Sep 17 00:00:00 2001
From: Unknown <macaulayca@hotmail.com>
Date: Thu, 24 Oct 2019 16:22:44 +1000
Subject: [PATCH] AEAT-8800

Adds AEAT-8800 SSI as an encoder using 16bit
---
 Firmware/MotorControl/encoder.cpp | 12 +++++++++---
 Firmware/MotorControl/encoder.hpp |  1 +
 tools/odrive/enums.py             |  1 +
 3 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index 1ede2f47..4c061cc5 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -339,7 +339,9 @@ bool Encoder::abs_spi_init() {
     spi->Init.TIMode            = SPI_TIMODE_DISABLE;
     spi->Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
     spi->Init.CRCPolynomial     = 10;
-
+    if (config_.mode == MODE_SPI_ABS_AEAT) {
+        spi->Init.CLKPolarity   = SPI_POLARITY_HIGH;
+    }
     HAL_SPI_DeInit(spi);
     HAL_SPI_Init(spi);
     //stash our configuration
@@ -390,7 +392,10 @@ void Encoder::abs_spi_cb() {
                     abs_spi_pos_updated_ = true;
             }
         } break;
-
+        case MODE_SPI_ABS_AEAT: {
+            pos_abs_ = abs_spi_dma_rx_[0];
+            abs_spi_pos_updated_ = true;
+        } break;
         default: {
             set_error(ERROR_UNSUPPORTED_ENCODER_MODE);
         } break;
@@ -455,7 +460,8 @@ bool Encoder::update() {
         } break;
 
         case MODE_SPI_ABS_AMS:
-        case MODE_SPI_ABS_CUI: {
+        case MODE_SPI_ABS_CUI: 
+        case MODE_SPI_ABS_AEAT: {
             if (abs_spi_pos_updated_ == false && abs_spi_pos_init_once_) {
                 // Low pass filter the error
                 spi_error_rate_ += current_meas_period * (1.0f - spi_error_rate_);
diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp
index 3e140ca0..76d4fcde 100644
--- a/Firmware/MotorControl/encoder.hpp
+++ b/Firmware/MotorControl/encoder.hpp
@@ -26,6 +26,7 @@ class Encoder {
         MODE_SINCOS,
         MODE_SPI_ABS_CUI = 0x100,
         MODE_SPI_ABS_AMS = 0x101,
+        MODE_SPI_ABS_AEAT = 0x102,
     };
     const uint32_t MODE_FLAG_ABS = 0x100;
 
diff --git a/tools/odrive/enums.py b/tools/odrive/enums.py
index 08ea6ec0..b9bf4f85 100644
--- a/tools/odrive/enums.py
+++ b/tools/odrive/enums.py
@@ -84,3 +84,4 @@ ENCODER_MODE_HALL = 0x01
 ENCODER_MODE_SINCOS = 0x02
 ENCODER_MODE_SPI_ABS_CUI = 0x100
 ENCODER_MODE_SPI_ABS_AMS = 0x101
+ENCODER_MODE_SPI_ABS_AEAT = 0x102