// © RiceMotion ( Robert Carl Rice ) 2012-2016 - All rights reserved


// This software makes use of tools and libraries obtained from open source projects or released for

// use by relevant hardware manufactures. However, this software is NOT a part of any open source project.

// It is released only on a "need to know" basis for beta testers of the "RiceCNC Interpolation Engine".

// Recipents of this source code must respect the confidential nature of this software and prevent any

// distribution that could result in counterfeit copies of the "RiceCNC Interpolation Engine".


// © RiceMotion ( Robert Carl Rice ) 2012-2016 - All rights reserved

#ifndef StepDirectionAxis_h

#define StepDirectionAxis_h


#include "Energia.h"

#include "Axis.h"


class OutputPin;



class StepDirectionAxis : public Axis { // Step/Direction interface axis  

     public:


    StepDirectionAxis( char* data, String* msgPtr );


    virtual          ~StepDirectionAxis();


    void          motorStepIsr();

    bool          isConfigured();

    

     protected: // make available to DRV8711Axis

    OutputPin*     directionPin;        // ACTIVE_HIGH is left to right, front to back, down or clockwise

    OutputPin*     stepPin;             // ACTIVE_HIGH is low to high transition


     private:

    volatile enum PulseState {

          Quiescent,

          StateStepPositive,

          StateStepNegative,

          NeedsPulseReset } phaseAngle;

};


#endif