#pragma once

#include <stdint.h>

class Stepper
{
private:
    volatile uint8_t * const _port;
    const uint8_t _pinA;
    const uint8_t _pinB;
    const uint8_t _pinC;
	const uint8_t _pinD;
    
    static constexpr uint8_t acceleration = 1;
	static constexpr uint16_t speedFloor = 0xEF00;
	
	bool endlessMove = false;
    bool endlessDriection = true;
	bool halfCurrent = false;
	
    uint16_t _speed = speedFloor;
    uint16_t _targetSpeed = 220;
	uint8_t _stepInterval = 0;
    
    uint16_t _tickCounter = 0;
    
    int32_t _currentStep = 0;
    int32_t _targetStep = 0;
    
    void step(bool direction);
	void setOutputs();
	void disableOutputs();
	
public:
    
    Stepper( volatile uint8_t * const port, const uint8_t pinA, const uint8_t pinB, const uint8_t pinC, const uint8_t pinD): _port(port), _pinA(pinA), _pinB(pinB), _pinC(pinC), _pinD(pinD){}
    void tick();
    void moveTo(const int32_t step);
    void moveRelative(const int16_t dist);
    void setSpeed(const uint16_t speed);
    uint32_t isAt();
	void setHalfCurrent(bool current);
    bool isStoped();
	void setEndlesMove(bool endless, bool direction = true);
	void shutdown();
};