counters.h

/*
  probe.h - code pertaining to encoders and pulse counting
  Part of Grbl

  Copyright (c) 2014 Adam Shelly

  Grbl is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.

  Grbl is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef counters_h
#define counters_h

typedef int32_t count_t;

typedef struct  counters {
  count_t counts[N_AXIS];
  int16_t idx; //encoder index counts
  uint8_t state;
  uint8_t anew; //new a encode
  uint8_t bold; //old b encoder
} counters_t;

extern counters_t counters;

// Counters pin initialization routine.
void counters_init();

//enable/disable encoder reading
void counters_enable(int enable);

// Returns counts for a given axis
count_t counters_get_count(uint8_t axis);

void  counters_reset(uint8_t axis);

// Monitors counters pin state and records the system position when detected. Called by the
// stepper ISR per ISR tick.
void counters_state_monitor();

#endif