What the encoder send to the odrive?

1

Since I want to change the encoder from incremental mode to hall mode ,I began to seek what is sent to odrive firstly when the encoder is in incremental mode .Finally I find out something like this but not a register interface. I didnt know what does it mean…is there anyone who can help?

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As the picture shows ,delta_enc_16 comes from hw_config_.timer->Instance->CNT ,and all other variables such as shadow_count_ , count_in_cpr_ , pos_estimate_ , pos_cpr_ are all relation to delta_enc_16 .

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2

Please note we already have a HALL feedback mode implemented. So you don’t need to dig into the code to use that.
Of course you are welcome to if you want to learn.