From a9b90eb11a5d5d12384ec1066dd4eb69833624a6 Mon Sep 17 00:00:00 2001
From: Unknown <pfguenette@gmail.com>
Date: Wed, 24 Jun 2020 20:34:44 -0400
Subject: [PATCH] Add RLS SPI encoder (single-turn)

---
 Firmware/MotorControl/encoder.cpp | 7 +++++++
 Firmware/MotorControl/encoder.hpp | 1 +
 2 files changed, 8 insertions(+)

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index d1545fc1..c9f27a36 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -311,6 +311,7 @@ void Encoder::sample_now() {
         case MODE_SPI_ABS_AMS:
         case MODE_SPI_ABS_CUI:
         case MODE_SPI_ABS_AEAT:
+        case MODE_SPI_ABS_RLS:
         {
             axis_->motor_.log_timing(Motor::TIMING_LOG_SAMPLE_NOW);
             // Do nothing
@@ -400,6 +401,11 @@ void Encoder::abs_spi_cb(){
             pos = rawVal & 0x3fff;
         } break;
 
+        case MODE_SPI_ABS_RLS: {
+            uint16_t rawVal = abs_spi_dma_rx_[0];
+            pos = (rawVal >> 2) & 0x3fff;
+        } break;
+
         default: {
            set_error(ERROR_UNSUPPORTED_ENCODER_MODE);
            return;
@@ -469,6 +475,7 @@ bool Encoder::update() {
                 delta_enc -= 6283;
         } break;
         
+        case MODE_SPI_ABS_RLS:
         case MODE_SPI_ABS_AMS:
         case MODE_SPI_ABS_CUI: 
         case MODE_SPI_ABS_AEAT: {
diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp
index fcf94101..99f93e0f 100644
--- a/Firmware/MotorControl/encoder.hpp
+++ b/Firmware/MotorControl/encoder.hpp
@@ -27,6 +27,7 @@ public:
         MODE_SPI_ABS_CUI = 0x100,   //!< compatible with CUI AMT23xx
         MODE_SPI_ABS_AMS = 0x101,   //!< compatible with AMS AS5047P, AS5048A/AS5048B (no daisy chain support)
         MODE_SPI_ABS_AEAT = 0x102,  //!< not yet implemented
+        MODE_SPI_ABS_RLS = 0x103,
     };
     const uint32_t MODE_FLAG_ABS = 0x100;