bissc_position_info Struct Reference

Detailed Description

Structure defining BiSS-C Position data results.

Contains position data received from encoder(s), including raw position value, calculated angle, number of turns (multi-turn), error/warning flags, and CRC values for data integrity verification. This structure is populated by bissc_get_pos API after a successful encoder transaction.

Data Fields
uint64_t	position [BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]
float	angle [BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]
uint32_t	num_of_turns [BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]
uint8_t	ew [BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]
uint8_t	rcv_crc [BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]
uint8_t	otf_crc [BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Field Documentation

position

uint64_t bissc_position_info::position[BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Raw position data (combined single-turn and multi-turn bits) from each encoder

angle

float bissc_position_info::angle[BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Single turn angle for each encoder

num_of_turns

uint32_t bissc_position_info::num_of_turns[BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Multi turn count for each encoder

ew

uint8_t bissc_position_info::ew[BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Error and Warning bits (2 bits) for each encoder

rcv_crc

uint8_t bissc_position_info::rcv_crc[BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Received 6-bit CRC from encoder for position data

otf_crc

uint8_t bissc_position_info::otf_crc[BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Calculated on-the-fly 6-bit CRC for position data verification