// © 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 <QuadratureCounter4X.h>

#include <StepCounter.h>

#include <InputPin.h>

#include <Timers.h>


#include <inc/hw_gpio.h>

#include "driverlib/interrupt.h"



QuadratureCounter4X::QuadratureCounter4X(

     InputPin*          aPin1,

     InputPin*          aPin2,

     float               ascale ) {


     pin1               = aPin1;

     pin2               = aPin2;

     scale               = ascale;


     pinsU.bothPins     = 0;


     pin1->enableBothEdgeInterrupt();

     pin2->enableBothEdgeInterrupt();


     pin1->stepCounter = this;

     pin2->stepCounter = this; };



QuadratureCounter4X::~QuadratureCounter4X() {


#ifdef DebugDelete

     Serial.println( " delete QuadratureCounter4X" );

#endif


     delete pin1;

     delete pin2; };


void

     QuadratureCounter4X::pinISR( InputPin* pin ) {


     if ( pin == pin1 ) {

          pinsU.st.pin1     = pin1->readPin();


          switch ( pinsU.bothPins ) {

               case 1 :

               case 2 :

               adjust( 1 );

//               stepCount++;

               break;


               case 0 :

               case 3 :

               adjust( -1 );

//               stepCount--;

          }; }


     else {

          pinsU.st.pin2     = pin2->readPin();


          switch ( pinsU.bothPins ) {

               case 0 :

               case 3 :

               adjust( 1 );

//               stepCount++;

               break;

               

               case 1 :

               case 2 :

               adjust( -1 );

//               stepCount--;

          }; }; };