bissc_enc_len Struct Reference

Detailed Description

Structure defining BiSS-C position data lengths of connected encoders.

Specifies number of encoders in daisy chain and resolution (data length in bits) for each encoder. Used by firmware to correctly parse incoming position data.

Data Fields
volatile uint8_t	num_encoders
volatile uint8_t	data_len [BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Field Documentation

num_encoders

volatile uint8_t bissc_enc_len::num_encoders

Number of encoders connected in daisy chain. Each encoder transmits its position data sequentially in the BiSS-C frame

data_len

volatile uint8_t bissc_enc_len::data_len[BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Position data length in bits for each encoder in the daisy chain. Includes single-turn + multi-turn resolution. Index corresponds to encoder position in chain (0=first, 1=second, 2=third)