// © 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 QuadratureFeedback_h

#define QuadratureFeedback_h


#include "Energia.h"

#include <Axis.h>


class DRV8305Axis;

class BLDC3;

class StepCounter;

class Machine;


class QuadratureFeedback {

     DRV8305Axis*          drv8305axis;

     BLDC3*                    bldc3;


     public:

          QuadratureFeedback(

               char*               data,

               String*               msgPtr,

               DRV8305Axis*     drv8305axis,

               char               counterType );


          ~QuadratureFeedback();


          StepCounter*     stepCounter;


          uint32_t     ppr;     // pulses per revolution per phase

          uint32_t     adaptAngle;

          uint32_t     stallDetectVoltage;     // 100% = 4096

          float          voltageProportion;

          float          voltageIntegral;

          float          voltageDerivative;


          float          priorError;

          float          integralError;

          bool          synchronized;

          float          fractionalCount;

     

          bool          leading;

          int32_t          stepAdjustment;


          bool

               valid();


          bool     // called on interpolation interrupt

               calculateFeedback(

                    Machine*     machine );

     };


#endif