// © 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 CurrentFeedback_h

#define CurrentFeedback_h


#include "Energia.h"

#include <Axis.h>


class AnalogPin;

class BLDC3;


class CurrentFeedback {

     public:

          CurrentFeedback(

               char*          data,

               String*          msgPtr );


          ~CurrentFeedback();


          AnalogPin*     csa;

          AnalogPin*     csb;

          AnalogPin*     csc;


          // Additional data not stored in 8305 registers

          union {

               struct {

                    uint8_t holdCurrent;

                    uint8_t constantCurrent;

                    uint8_t acceleratingCurrent;

                    uint8_t deceleratingCurrent; } st;

               uint32_t     powerLevels; } powerLevelsU;


          uint32_t

               maxCurrentScale;


          uint32_t

               maxCurrentCompare;


          bool

               valid();


          bool

               currentLimitExceeded( BLDC3* motor );


          uint32_t

               motorCurrent( BLDC3* motor );


          void

               motorStateChanged( Axis::MotorState motorState );

     };


#endif