// © 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 SetHallSensorPhasing_h

#define SetHallSensorPhasing_h


#include "Energia.h"

#include <Pause.h>


class DRV8305Axis;

class HallFeedback;


class SetHallSensorPhasing : public Pause {

     static const char myName[21];


     char               axisName;

     bool               success;

     DRV8305Axis*     axis8305;

     HallFeedback*     hallFeedback;

     float               setSpeed;

     uint32_t          startTime;

     int                    retryCount;


     enum SetHallState {

          SetHallINIT,

          SetHallWAIT_FOR_CW,

          SetHallWAIT_FOR_CCW,

          SetHallEND } setHallState;


     void

          restart();


     public:

     SetHallSensorPhasing(

          char*     data );

//     ~SetHallSensorPhasing();


     virtual const char*

          name();


     bool

          execute(

               Machine*     machine );

    

     void

          report(

               Machine*     machine,

               String*          msgPtr );


     void

          reportInterpolationStatus(

               Machine*     machine,

               String*          msgPtr );

};


#endif