// © 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 SynchronizeQuadratureCounter_h

#define SynchronizeQuadratureCounter_h


#include "Energia.h"

#include <Pause.h>


class DRV8305Axis;

class QuadratureFeedback;

class BLDC3;


class SynchronizeQuadratureCounter : public Pause {

     static const char myName[29];


     char                    axisName;


     uint32_t               phase;

     uint32_t               torque;

     uint32_t               delay;


     bool                    success;

     DRV8305Axis*          axis8305;

     BLDC3*                    motor;

     QuadratureFeedback*     quadratureFeedback;

     uint32_t               startTime;


     enum SetHallState {

          SyncQuadratureINIT,

          SyncQuadratureWait,

          SyncQuadratureEND } syncQuadratureState;


     void

          restart();


     public:

     SynchronizeQuadratureCounter(

          char*     data );

//     ~SynchronizeQuadratureCounter();


     virtual const char*

          name();


     bool

          execute(

               Machine*     machine );

    

     void

          report(

               Machine*     machine,

               String*          msgPtr );


     void

          reportInterpolationStatus(

               Machine*     machine,

               String*          msgPtr );

};


#endif