allow to convert 2 rudder instances

lib/spitask/GWDMS22B.cpp

@@ -89,6 +89,7 @@
 
 class GWDMS22B : public SSISensor{
     int zero=2047;
+    bool invt=false;
     public:
     using SSISensor::SSISensor;
     virtual bool preinit(GwApi * api){
@@ -105,7 +106,8 @@ class GWDMS22B : public SSISensor{
             LOG_DEBUG(GwLog::ERROR,"unable to measure %s: %d",prefix.c_str(),(int)res);
         }
         double resolved=(((int)value-zero)*360.0/mask);
-        LOG_DEBUG(GwLog::LOG,"measure %s : %d, resolved: %f",prefix.c_str(),value,(float)resolved);
+        if (invt) resolved=-resolved;
+        LOG_DEBUG(GwLog::DEBUG,"measure %s : %d, resolved: %f",prefix.c_str(),value,(float)resolved);
         tN2kMsg msg;
         SetN2kRudder(msg,DegToRad(resolved),iid);
         api->sendN2kMessage(msg);
@@ -116,6 +118,7 @@ class GWDMS22B : public SSISensor{
             CFG_GET(iid,PRFX); \
             CFG_GET(fintv,PRFX); \
             CFG_GET(zero,PRFX); \
+            CFG_GET(invt,PRFX); \
             bits=12; \
             clock=500000; \
             cs=GW ## PRFX ## _CS; \

lib/spitask/GwSpiSensor.h

@@ -12,6 +12,7 @@
   License along with this library; if not, write to the Free Software
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
+//for SSI refer to https://www.posital.com/media/posital_media/documents/AbsoluteEncoders_Context_Technology_SSI_AppNote.pdf
 #ifndef _GWSPISENSOR_H
 #define _GWSPISENSOR_H
 #include <driver/spi_master.h>

lib/spitask/config.json

@@ -6,12 +6,12 @@
             {
                 "b": "1",
                 "i": "11",
-                "n": "11"
+                "n": "0"
             },
             {
                 "b": "1",
                 "i": "12",
-                "n": "12"
+                "n": "1"
             },
             {
                 "b": "1",
@@ -86,6 +86,17 @@
                 "capabilities": {
                     "DMS22B$i": "true"
                 }
+            },
+            {
+                "name": "DMS22B$iinvt",
+                "label": "DMS22BX$i invert",
+                "type": "boolean",
+                "default": "false",
+                "description": "Invert the direction of the $i. SSI DMS22B rotary encoder (bus $b)",
+                "category": "spisensors$b",
+                "capabilities": {
+                    "DMS22B$i": "true"
+                }
             }
         ]
     }