From b5023d0af5bee1272fcc7217b5d1be23bd113430 Mon Sep 17 00:00:00 2001
From: Tero Kontkanen <tero.kontkanen@granitedevices.fi>
Date: Tue, 9 May 2017 21:59:33 +0300
Subject: Changed definition of SMP_SERIAL_ENC_BITS 574

---
 simplemotion_defs.h | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/simplemotion_defs.h b/simplemotion_defs.h
index fc8d8c0..15a749f 100644
--- a/simplemotion_defs.h
+++ b/simplemotion_defs.h
@@ -450,11 +450,21 @@
 
 /*for BiSS/SSI encoder
  * bits defined as (from LSB):
- * bits 0-7: single turn bits, accepted value range 4-24
+ * bits 0-7: single turn bits, accepted value range 4-32
  * bits 8-15: multi turn bits, accepted value range 0-16
- * bits 16-18: serial encoder mode: 000=BiSS, 001=SSI, 010=AMS SSI (SSI+CS+error monitoring), 011=SPI (SSI+CS) 100=GRAY SSI (i.e. SICK TTK70)
+ * ^^ sum of MT and ST must be max 32
+ * bits 16-19: serial encoder mode (see below)
  * rest: reserved for future use (always 0)
  */
+ /*
+ * Serial encoder read modes
+ * 0 BiSS C
+ * 1 BiSS C gray
+ * 2 BiSS B
+ * 3 SSI
+ * 4 SSI gray
+ * 5 AMS SSI
+ */
 #define SMP_SERIAL_ENC_BITS 574
 
 //primary feedback loop 200-299
-- 
cgit v1.2.3