// © 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 BLDC3PWM_h

#define BLDC3PWM_h


#include "Energia.h"

#include <BLDC3.h>



class PwmOutputPin;

class DRV8305Axis;



class BLDC3PWM : public BLDC3 {

     PwmOutputPin*     phaseApin;

     PwmOutputPin*     phaseBpin;

     PwmOutputPin*     phaseCpin;


     bool

          configurePin(

               PwmOutputPin*     phasePin,

               String*               msgPtr,

               uint32_t          period );


     bool

          valid();


     void

          assertTorque(

               uint32_t     torqueA,

               uint32_t     torqueB,

               uint32_t     torqueC );


     void

          activeFreewheel();


     public:

          BLDC3PWM(

               char*               data,

               String*               msgPtr,

               DRV8305Axis*     aaxis );


          ~BLDC3PWM();

     };


#endif