Firmware Version 0.1.2

API Reference

Firmware Version:

C/C++ API Reference

NCoder.NCoder()

NCoder::NCoder(uint32_t device_id, Interface *interface)

Description

Construct a new NCoder object.

Parameters

Datatype	Variable	Description
uint32_t	device_id	Device Id for the NCoder device
Interface *	interface	CAN / USB Interface object for the interface to which the NCoder is connected

NCoder.NCoder()

NCoder::NCoder(Interface *interface)

Description

Construct a new NCoder object.

Parameters

Datatype	Variable	Description
Interface *	interface	USB Interface object for the interface to which the NCoder is connected

NCoder.configureEncoder()

ret_status_t NCoder::configureEncoder(uint8_t encoder_type, int32_t resolution_param)

Description

Configure the encoder parameters.

encoder_type value	Encoder Type	Description
0	TYPE_NONE	Using no encoder
2	TYPE_INCREMENTAL	Using incremental Encoder (Tested)
3	TYPE_SPI_ABS_AMS	Using AS5047P absolute encoder from AMS (Tested)
4	TYPE_SPI_ABS_MAXXX	Using MAXXX series absolute encoders from Monolith Power Systems (Tested with MA732, MA702)
5	TYPE_SPI_ABS_MUXXX	Using MU series absolute encoders from iC-Haus (Tested with MU150, MU200)
6	TYPE_SPI_ABS_CUI	Using AMT 203 absolute encoder from CUI
7	TYPE_SPI_ABS_AEAT	Using AEAT absolute encoders from Broadcomm
8	TYPE_SPI_ABS_RLS	Using RLS absolute encoders from Renishaw
9	TYPE_SPI_ABS_MA600	Using MA600 absolute encoder from Monolith Power Systems

Parameters

Datatype	Variable	Description
uint8_t	encoder_type	Set the encoder type
int32_t	resolution_param	Set the encoder resolution [in bits]

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.enterDFUMode()

ret_status_t NCoder::enterDFUMode()

Description

Enter the Device Firmware Update (DFU) mode.

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.eraseConfigurations()

ret_status_t NCoder::eraseConfigurations()

Description

Erase the saved configurations from non-volatile memory.

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getAbsoluteAngle()

ret_status_t NCoder::getAbsoluteAngle(float *abs_angle)

Description

Get the current absolute angle measurement from the encoder (in degrees)

Parameters

Datatype	Variable	Description
float *	abs_angle	Pointer to the variable where the absolute angle value is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getEncoderConfiguration()

ret_status_t NCoder::getEncoderConfiguration(uint8_t *encoder_type, int32_t *resolution_param)

Description

Retrieve the current encoder configuration parameters.

encoder_type value	Encoder Type	Description
0	TYPE_NONE	Using no encoder
4	TYPE_SPI_ABS_MA732	Using MA732 absolute encoder from Monolith Power Systems
9	TYPE_SPI_ABS_MA600	Using MA600 absolute encoder from Monolith Power Systems

Parameters

Datatype	Variable	Description
uint8_t *	encoder_type	Pointer to the variable where the encoder type value is to be saved
int32_t *	resolution_param	Pointer to the variable where the encoder resolution [in bits] is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getEncoderCount()

ret_status_t NCoder::getEncoderCount(int32_t *encoder_count)

Description

Get the current encoder count (angular Increment)

Parameters

Datatype	Variable	Description
int32_t *	encoder_count	Pointer to the variable where the encoder count value is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getEncoderDirection()

ret_status_t NCoder::getEncoderDirection(uint8_t *direction)

Description

Get the encoder direction.

Parameters

Datatype	Variable	Description
uint8_t *	direction	Pointer to the variable where the encoder direction is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getEncoderRawData()

ret_status_t NCoder::getEncoderRawData(uint32_t *abs_position)

Description

Get the raw absolute position data directly from encoder hardware.

Parameters

Datatype	Variable	Description
uint32_t *	abs_position	Pointer to the variable where the raw data value is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getFilterWindowLength()

ret_status_t NCoder::getFilterWindowLength(uint32_t *filter_window_length)

Description

Get the filter window length for the encoder.

Parameters

Datatype	Variable	Description
uint32_t *	filter_window_length	Pointer to the variable where the filter window length value is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getFilteredAcceleration()

ret_status_t NCoder::getFilteredAcceleration(float *acceleration_filtered)

Description

Get the filtered acceleration value.

Parameters

Datatype	Variable	Description
float *	acceleration_filtered	Pointer to the variable where the filtered acceleration value is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getFilteredVelocity()

ret_status_t NCoder::getFilteredVelocity(float *velocity_filtered)

Description

Get the filtered velocity value.

Parameters

Datatype	Variable	Description
float *	velocity_filtered	Pointer to the variable where the filtered velocity value is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getFirmwareCommit()

ret_status_t NCoder::getFirmwareCommit(std::string *commit)

Description

Get the firmware commit hash of the NCoder device.

Parameters

Datatype	Variable	Description
std::string *	commit	Pointer to the string where the commit hash is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getFirmwareVersion()

ret_status_t NCoder::getFirmwareVersion(uint8_t *major, uint8_t *minor, uint16_t *revision)

Description

Get the firmware version of the NCoder device.

Parameters

Datatype	Variable	Description
uint8_t *	major	Pointer to the variable where the major version is to be saved
uint8_t *	minor	Pointer to the variable where the minor version is to be saved
uint16_t *	revision	Pointer to the variable where the revision number is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getHardwareVersion()

ret_status_t NCoder::getHardwareVersion(uint8_t *tag, uint8_t *major, uint8_t *minor, uint8_t *variant)

Description

Get the hardware version of the NCoder device.

Parameters

Datatype	Variable	Description
uint8_t *	tag	Pointer to the variable where the hardware tag is to be saved
uint8_t *	major	Pointer to the variable where the major version is to be saved
uint8_t *	minor	Pointer to the variable where the minor version is to be saved
uint8_t *	variant	Pointer to the variable where the variant is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getMAxxxSPIRegister()

ret_status_t NCoder::getMAxxxSPIRegister(uint8_t register_address, uint8_t *data, bool *status)

Description

Get a value from the MAxxx SPI register.

Parameters

Datatype	Variable	Description
uint8_t	register_address	Address of the register to be read
uint8_t *	data	Pointer to the variable where the register data is to be saved
bool *	status	Pointer to the variable where the status of the operation is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getMultiturnAngle()

ret_status_t NCoder::getMultiturnAngle(float *multiturn_angle)

Description

Get the multiturn angle of the encoder.

Parameters

Datatype	Variable	Description
float *	multiturn_angle	Pointer to the variable where the multiturn angle is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getNodeId()

ret_status_t NCoder::getNodeId(uint32_t *node_id)

Description

Get current CAN Node ID of the NCoder device.

Parameters

Datatype	Variable	Description
uint32_t *	node_id	Pointer to the variable to which the current CAN Node ID of the NCoder device is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getRawAcceleration()

ret_status_t NCoder::getRawAcceleration(float *acceleration_raw)

Description

Get the raw acceleration value.

Parameters

Datatype	Variable	Description
float *	acceleration_raw	Pointer to the variable where the raw acceleration value is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getRawVelocity()

ret_status_t NCoder::getRawVelocity(float *velocity_raw)

Description

Get the raw velocity value.

Parameters

Datatype	Variable	Description
float *	velocity_raw	Pointer to the variable where the raw velocity value is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getScaledAcceleration()

ret_status_t NCoder::getScaledAcceleration(float *acceleration_scaled)

Description

Get the scaled acceleration value.

Parameters

Datatype	Variable	Description
float *	acceleration_scaled	Pointer to the variable where the scaled acceleration value is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getScaledFilteredAcceleration()

ret_status_t NCoder::getScaledFilteredAcceleration(float *acceleration_scaled_filtered)

Description

Get the scaled and filtered acceleration value.

Parameters

Datatype	Variable	Description
float *	acceleration_scaled_filtered	Pointer to the variable where the scaled and filtered acceleration value is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getScaledFilteredVelocity()

ret_status_t NCoder::getScaledFilteredVelocity(float *velocity_scaled_filtered)

Description

Get the scaled and filtered velocity value.

Parameters

Datatype	Variable	Description
float *	velocity_scaled_filtered	Pointer to the variable where the scaled and filtered velocity value is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getScaledVelocity()

ret_status_t NCoder::getScaledVelocity(float *velocity_scaled)

Description

Get the scaled velocity value.

Parameters

Datatype	Variable	Description
float *	velocity_scaled	Pointer to the variable where the scaled velocity value is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getScalingFactor()

ret_status_t NCoder::getScalingFactor(float *scaling_factor)

Description

Get the scaling factor for the encoder.

Parameters

Datatype	Variable	Description
float *	scaling_factor	Pointer to the variable where the scaling factor is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.getZeroPosition()

ret_status_t NCoder::getZeroPosition(float *zero_position)

Description

Get the zero position of the encoder.

Parameters

Datatype	Variable	Description
float *	zero_position	Pointer to the variable where the zero position value is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.isConnected()

bool NCoder::isConnected()

Description

Check if the device is still connected or not.

Returns

Datatype	Description
bool	true

NCoder.rebootNCoder()

ret_status_t NCoder::rebootNCoder()

Description

Reboot the NCoder device.

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.saveConfigurations()

ret_status_t NCoder::saveConfigurations()

Description

Save the current configurations to non-volatile memory.

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.setCurrentPositionToZero()

ret_status_t NCoder::setCurrentPositionToZero()

Description

Set the current position of the encoder to zero.

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.setEncoderDirection()

ret_status_t NCoder::setEncoderDirection(uint8_t direction)

Description

Set the encoder direction.

Parameters

Datatype	Variable	Description
uint8_t	direction	Encoder direction to be set

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.setFilterWindowLength()

ret_status_t NCoder::setFilterWindowLength(uint32_t filter_window_length)

Description

Set the filter window length for the encoder.

Parameters

Datatype	Variable	Description
uint32_t	filter_window_length	Filter window length value to be set

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.setLinearCount()

ret_status_t NCoder::setLinearCount(uint32_t count)

Description

Set the linear count for the encoder.

Parameters

Datatype	Variable	Description
uint32_t	count	Linear count value to be set

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.setMAxxxSPIRegister()

ret_status_t NCoder::setMAxxxSPIRegister(uint8_t register_address, uint8_t data)

Description

Set a value in the MAxxx SPI register.

Parameters

Datatype	Variable	Description
uint8_t	register_address	Address of the register to be set
uint8_t	data	Data to be written to the register

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.setNodeId()

ret_status_t NCoder::setNodeId(uint32_t id)

Description

Set the node id for the NCoder device.

Parameters

Datatype	Variable	Description
uint32_t	id	CAN Node ID of the NCoder device

Returns

Datatype	Description
ret_status_t	Return Status

NCoder.setScalingFactor()

ret_status_t NCoder::setScalingFactor(float scaling_factor)

Description

Set the scaling factor for the encoder.

Parameters

Datatype	Variable	Description
float	scaling_factor	Scaling factor to be set

Returns

Datatype	Description
ret_status_t	Return Status

Python API Reference

NCoder.__init__()

__init__(id: int = -1, interface: USBInterface = None) 

Description

NCoder class constructor.

Parameters

Datatype	Variable	Description
int	id	CAN Node ID of the NCoder device
USBInterface	interface	Initialised CANInterface or USBInterface object

NCoder.configureEncoder()

configureEncoder(encoder_type: int, resolution_param: int = 4096) -> int

Description

Configure the encoder parameters.

encoder_type value	Encoder Type	Description
0	TYPE_NONE	Using no encoder
2	TYPE_INCREMENTAL	Using incremental Encoder (Tested)
3	TYPE_SPI_ABS_AMS	Using AS5047P absolute encoder from AMS (Tested)
4	TYPE_SPI_ABS_MAXXX	Using MAXXX series absolute encoders from Monolith Power Systems (Tested with MA732, MA702)
5	TYPE_SPI_ABS_MUXXX	Using MU series absolute encoders from iC-Haus (Tested with MU150, MU200)
6	TYPE_SPI_ABS_CUI	Using AMT 203 absolute encoder from CUI
7	TYPE_SPI_ABS_AEAT	Using AEAT absolute encoders from Broadcomm
8	TYPE_SPI_ABS_RLS	Using RLS absolute encoders from Renishaw
9	TYPE_SPI_ABS_MA600	Using MA600 absolute encoder from Monolith Power Systems

Parameters

Datatype	Variable	Description
int	encoder_type	Type of encoder used
int	resolution_param	Encoder resolution (in bit)

Returns

Datatype	Description
int	Return status

NCoder.enterDFUMode()

enterDFUMode() -> int

Description

Enter Device Firmware Update Mode.

Returns

Datatype	Description
int	Return Status.

NCoder.eraseConfigurations()

eraseConfigurations() -> int

Description

Erase the saved configurations from the non-volatile memory.

Returns

Datatype	Description
int	Return Status.

NCoder.getAbsoluteAngle()

getAbsoluteAngle() ->  'tuple[int, float]'

Description

Get the current absolute angle measurement from the encoder (in degrees)

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the absolute angle value

NCoder.getEncoderConfiguration()

getEncoderConfiguration() ->  'tuple[int, int, int]'

Description

Retrieve the current encoder configuration parameters.

encoder_type value	Encoder Type	Description
0	TYPE_NONE	Using no encoder
4	TYPE_SPI_ABS_MA732	Using MA732 absolute encoder from Monolith Power Systems
9	TYPE_SPI_ABS_MA600	Using MA600 absolute encoder from Monolith Power Systems

Returns

Datatype	Description
'tuple[int,int,int]'	Tuple containing return status, encoder type and resolution parameter (bits)

NCoder.getEncoderCount()

getEncoderCount() ->  'tuple[int, int]'

Description

Get the current encoder count (angular Increment)

Returns

Datatype	Description
'tuple[int,int]'	Tuple containing return status and the encoder count value

NCoder.getEncoderDirection()

getEncoderDirection() ->  'tuple[int, int]'

Description

Get the current encoder direction.

Returns

Datatype	Description
'tuple[int,int]'	Tuple containing return status and the current encoder direction (0 for normal, 1 for inverted)

NCoder.getEncoderRawData()

getEncoderRawData() ->  'tuple[int, int]'

Description

Get the raw absolute position data directly from encoder hardware.

Returns

Datatype	Description
'tuple[int,int]'	Tuple containing return status and the raw data value from the encoder

NCoder.getFilterWindowLength()

getFilterWindowLength() ->  'tuple[int, int]'

Description

Get the filter window length of the NCoder.

Returns

Datatype	Description
'tuple[int,int]'	Tuple containing return status and the filter window length value

NCoder.getFilteredAcceleration()

getFilteredAcceleration() ->  'tuple[int, float]'

Description

Get the filtered acceleration of the NCoder.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the filtered acceleration value (in degrees per second squared)

NCoder.getFilteredVelocity()

getFilteredVelocity() ->  'tuple[int, float]'

Description

Get the filtered velocity of the NCoder.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the filtered velocity value (in degrees per second)

NCoder.getFirmwareCommit()

getFirmwareCommit() ->  'tuple[int, str]'

Description

Get the NCoder firmware's commit hash.

Returns

Datatype	Description
'tuple[int,str]'	Tuple containing return status and the commit hash string.

NCoder.getFirmwareVersion()

getFirmwareVersion() ->  'tuple[int, int, int, int]'

Description

Get the NCoder firmware's major, minor and revision information.

Returns

Datatype	Description
'tuple[int,int,int,int]'	Tuple containing return status, major, minor and revision information.

NCoder.getHardwareVersion()

getHardwareVersion() ->  'tuple[int, int, int, int, int]'

Description

Get the NCoder hardware's current tag, major, minor and variant information.

Returns

Datatype	Description
'tuple[int,int,int,int,int]'	Tuple containing return status, tag, major, minor and variant information.

NCoder.getMAxxxSPIRegister()

getMAxxxSPIRegister(register_address: int) ->  'tuple[int, int, bool]'

Description

Get the data from the maxxx encoder spi register.

Parameters

Datatype	Variable	Description
int	register_address	register address from which the data needs to be read

Returns

Datatype	Description
'tuple[int,int,bool]'	-

NCoder.getMultiturnAngle()

getMultiturnAngle() ->  'tuple[int, float]'

Description

Get the current multiturn angle of the NCoder.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the multiturn angle value (in degrees)

NCoder.getNodeId()

getNodeId() ->  'tuple[int, int]'

Description

Get current Node ID of the NCoder.

Returns

Datatype	Description
'tuple[int,int]'	Tuple containing return status and the current Node ID.

NCoder.getRawAcceleration()

getRawAcceleration() ->  'tuple[int, float]'

Description

Get the acceleration of the NCoder.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the acceleration value (in degrees per second squared)

NCoder.getRawVelocity()

getRawVelocity() ->  'tuple[int, float]'

Description

Get the raw velocity of the NCoder.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the raw velocity value (in degrees per second)

NCoder.getScaledAcceleration()

getScaledAcceleration() ->  'tuple[int, float]'

Description

Get the scaled acceleration of the NCoder.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the scaled acceleration value (in degrees per second squared)

NCoder.getScaledFilteredAcceleration()

getScaledFilteredAcceleration() ->  'tuple[int, float]'

Description

Get the scaled filtered acceleration of the NCoder.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the scaled filtered acceleration value (in degrees per second squared)

NCoder.getScaledFilteredVelocity()

getScaledFilteredVelocity() ->  'tuple[int, float]'

Description

Get the scaled filtered velocity of the NCoder.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the scaled filtered velocity value (in degrees per second)

NCoder.getScaledVelocity()

getScaledVelocity() ->  'tuple[int, float]'

Description

Get the scaled velocity of the NCoder.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the scaled velocity value (in degrees per second)

NCoder.getScalingFactor()

getScalingFactor() ->  'tuple[int, float]'

Description

Get the scaling factor of the NCoder.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the scaling factor value

NCoder.getZeroPosition()

getZeroPosition() ->  'tuple[int, float]'

Description

Get the zero position of the NCoder.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the zero position value

NCoder.rebootNCoder()

rebootNCoder() -> int

Description

Reboot the NCoder device.

Returns

Datatype	Description
int	Return status

NCoder.saveConfigurations()

saveConfigurations() -> int

Description

Save the current configurations to non-volatile memory.

Returns

Datatype	Description
int	Return Status .

NCoder.setCurrentPositionToZero()

setCurrentPositionToZero() -> int

Description

Set the current position of the NCoder to zero.

Returns

Datatype	Description
int	Return status

NCoder.setEncoderDirection()

setEncoderDirection(direction: int) -> int

Description

Set the encoder direction for the NCoder.

Parameters

Datatype	Variable	Description
int	direction	Encoder direction to be set (0 for normal, 1 for inverted)

Returns

Datatype	Description
int	Return status

NCoder.setFilterWindowLength()

setFilterWindowLength(filter_window_length: int) -> int

Description

Set the filter window length for the NCoder.

Parameters

Datatype	Variable	Description
int	filter_window_length	Filter window length value to be set

Returns

Datatype	Description
int	Return status

NCoder.setLinearCount()

setLinearCount(count: int) -> int

Description

Set the linear count for the NCoder.

Parameters

Datatype	Variable	Description
int	count	Linear count value to be set

Returns

Datatype	Description
int	Return status

NCoder.setMAxxxSPIRegister()

setMAxxxSPIRegister(register_address: int, data: int) -> int

Description

Set the maxxx encoder spi register.

Parameters

Datatype	Variable	Description
int	register_address	register_addres value to be which needs to be modified
int	data	-

Returns

Datatype	Description
int	Tuple containing return status and the spi register data value value.

NCoder.setNodeId()

setNodeId(id: int) -> int

Description

Set the node id for the NCoder.

Parameters

Datatype	Variable	Description
int	id	Device ID of the NCoder

Returns

Datatype	Description
int	Return Status

NCoder.setScalingFactor()

setScalingFactor(scaling_factor: float) -> int

Description

Set the scaling factor for the NCoder.

Parameters

Datatype	Variable	Description
float	scaling_factor	Scaling factor value to be set

Returns

Datatype	Description
int	Return status