Tinymovr

#include <string.h>
#include <src/system/system.h>
#include <src/encoder/hall.h>

#define AIO6789_IO_MODE                 0x00
#define AIO_INPUT                       0x00

static HallConfig config = { 0 };
static HAllState state = { 0 };

void hall_init(void)
{
    pac5xxx_tile_register_write(ADDR_CFGAIO7, AIO6789_IO_MODE | AIO_INPUT);
    pac5xxx_tile_register_write(ADDR_CFGAIO8, AIO6789_IO_MODE | AIO_INPUT);
    pac5xxx_tile_register_write(ADDR_CFGAIO9, AIO6789_IO_MODE | AIO_INPUT);
}

PAC5XXX_RAMFUNC int16_t hall_get_angle(void)
{
    return state.angle;
}

PAC5XXX_RAMFUNC void hall_update_angle(bool check_error)
{
    const uint8_t sector = (pac5xxx_tile_register_read(ADDR_DINSIG1) >> 1) & 0x07;
    state.sector = sector;
    if (check_error)
    {
    	// add_error_flag(ERROR_ENCODER_READING_UNSTABLE);
    }
    state.angle = config.sector_map[state.sector];
}

PAC5XXX_RAMFUNC uint8_t hall_get_sector(void)
{
    return state.sector;
}

void hall_clear_sector_map(void)
{
    (void)memset(config.sector_map, 0, sizeof(config.sector_map));
	config.sector_map_calibrated = false;
}

void hall_set_sector_map_calibrated(void)
{
    config.sector_map_calibrated = true;
}

bool hall_sector_map_is_calibrated(void)
{
    return config.sector_map_calibrated;
}

uint8_t *hall_get_sector_map_ptr(void)
{
    return config.sector_map;
}

HallConfig* hall_get_config(void)
{
    return &config;
}

void hall_restore_config(HallConfig* config_)
{
    config = *config_;
}