// © 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

#include <HallCounter.h>

#include <StepCounter.h>

#include <InputPin.h>

#include <Timers.h>


#include <inc/hw_gpio.h>

#include "driverlib/interrupt.h"



HallCounter::HallCounter(

     InputPin*          pin1,

     InputPin*          pin2,

     InputPin*          pin3,

     float               ascale ) {


     hallA               = pin1;

     hallB               = pin2;

     hallC               = pin3;

     scale               = ascale;


     pinsU.allPins     = 0;


     hallA->enableBothEdgeInterrupt();

     hallB->enableBothEdgeInterrupt();

     hallC->enableBothEdgeInterrupt();


     hallA->stepCounter = this;

     hallB->stepCounter = this;

     hallC->stepCounter = this; };



HallCounter::~HallCounter() {


#ifdef DebugDelete

     Serial.println( " delete HallCounter" );

#endif


     delete hallA;

     delete hallB;

     delete hallC; };


void

     HallCounter::pinISR( InputPin* pin ) {


     if          ( pin == hallA ) {

          pinsU.st.hallA     = hallA->readPin();


          switch ( pinsU.allPins ) {

               case 5 :

               case 2 :

               adjust( 1 );

//               stepCount++;

               break;


               case 4 :

               case 3 :

               adjust( -1 );

//               stepCount--;

               }; }


     else if ( pin == hallB ) {

          pinsU.st.hallB     = hallB->readPin();


          switch ( pinsU.allPins ) {

               case 4 :

               case 3 :

               adjust( 1 );

//               stepCount++;

               break;

               

               case 1 :

               case 6 :

               adjust( -1 );

//               stepCount--;

          }; }


     else {

          pinsU.st.hallC     = hallC->readPin();


          switch ( pinsU.allPins ) {

               case 6 :

               case 1 :

               adjust( 1 );

//               stepCount++;

               break;

               

               case 5 :

               case 2 :

               adjust( -1 );

//               stepCount--;

               }; }; };