Added axis cpr command

Author: Ultrawipf

Firmware/FFBoard/Inc/Axis.h

@@ -83,7 +83,7 @@ struct GearRatio_t{
 enum class Axis_commands : uint32_t{
 	power=0x00,degrees=0x01,esgain,zeroenc,invert,idlespring,axisdamper,enctype,drvtype,
 	pos,maxspeed,maxtorquerate,fxratio,curtorque,curpos,curspd,curaccel,reductionScaler,
-	filterSpeed, filterAccel, filterProfileId
+	filterSpeed, filterAccel, filterProfileId,cpr
 };
 
 class Axis : public PersistentStorage, public CommandHandler, public ErrorHandler

Firmware/FFBoard/Inc/constants.h

@@ -8,7 +8,7 @@
  * For more settings see target_constants.h in a target specific folder
  */
 
-static const uint8_t SW_VERSION_INT[3] = {1,9,3}; // Version as array. 8 bit each!
+static const uint8_t SW_VERSION_INT[3] = {1,9,4}; // Version as array. 8 bit each!
 #define MAX_AXIS 2 // ONLY USE 2 for now else screws HID Reports
 
 //#define DEBUGLOG // Uncomment to enable some debug printouts

Firmware/FFBoard/Src/Axis.cpp

@@ -89,6 +89,8 @@ void Axis::registerCommands(){
 	//Can only read exact filter settings
 	registerCommand("filterSpeed", Axis_commands::filterSpeed, "Biquad filter freq and q*100 for speed", CMDFLAG_GET);
 	registerCommand("filterAccel", Axis_commands::filterAccel, "Biquad filter freq and q*100 for accel", CMDFLAG_GET);
+
+	registerCommand("cpr", Axis_commands::cpr, "Reported encoder CPR",CMDFLAG_GET);
 }
 
 /*
@@ -719,7 +721,7 @@ CommandStatus Axis::command(const ParsedCommand& cmd,std::vector<CommandReply>&
 		break;
 
 	case Axis_commands::pos:
-		if (cmd.type == CMDtype::get)
+		if (cmd.type == CMDtype::get && this->drv->getEncoder() != nullptr)
 		{
 			replies.emplace_back(this->drv->getEncoder()->getPos());
 		}
@@ -799,6 +801,21 @@ CommandStatus Axis::command(const ParsedCommand& cmd,std::vector<CommandReply>&
 		}
 		break;
 
+	case Axis_commands::cpr:
+		if (cmd.type == CMDtype::get && this->drv->getEncoder() != nullptr)
+		{
+			uint32_t cpr = this->drv->getEncoder()->getCpr();
+			TMC4671 *tmcdrv = dynamic_cast<TMC4671 *>(this->drv.get()); // Special case for TMC. Get the actual encoder resolution
+			if (tmcdrv)
+			{
+				cpr = tmcdrv->getEncCpr();
+			}
+			replies.emplace_back(cpr);
+		}else{
+			return CommandStatus::ERR;
+		}
+		break;
+
 	default:
 		return CommandStatus::NOT_FOUND;
 	}