// Quadrature Encoder Truth Table
// ÀüÁ¦Á¶°Ç: A»óÀÌ B»óº¸´Ù 90µµ ¾Õ¼­´Â °ÍÀÌ ÀüÁø(CW,Áõ°¡)ÀÌ´Ù.
// ------+-------------------------------------------------
// (A:B) |                  Curr.
// Prev. | (0:0)      (0:1)      (1:0)      (1:1)
// ------+-------------------------------------------------
// (0:0) | No_Change  Backward   Forward    Error
// (0:1) | Forward    No_Change  Error      Backward
// (1:0) | Backward   Error      No_Change  Forward
// (1:1) | Error      Forward    Backward   No_Change
// ------+--------------------------------------------------

// Ȧ¼¾¼­ °¢µµ °è»ê
// 2 N ±Ø ÀÚ¼® => (N = Total_Number)
// Ȧ¼¾¼­°¡ ÇÑ ÃøÁ¤ °¡´ÉÇÑ Æø Áß ÇÏÀ̱¸°£ÀÇ Percent
// 360/N * (Proportion ¡¾ 0.5 * Percent)

// 24±Ø ÀÚ¼® (N = 12)
void __ISR(_INPUT_CAPTURE_1_VECTOR, ipl5) IC1_Interrupt_ISR(void)
{
	mIC1ClearIntFlag();
	if ((bPrevEncLeftPhaseA == bPrevEncLeftPhaseB) && (IN_ENC_LEFT_A != IN_ENC_LEFT_B))
	{
		if (bPrevEncLeftPhaseA == IN_ENC_LEFT_A)
			u16EncoderLeft++;
		else
			u16EncoderLeft--;
	}
	else if ((bPrevEncLeftPhaseA != bPrevEncLeftPhaseB) && (IN_ENC_LEFT_A == IN_ENC_LEFT_B))
	{
		if (bPrevEncLeftPhaseA == IN_ENC_LEFT_A)
			u16EncoderLeft--;
		else
			u16EncoderLeft++;
	}

	// update previous phase
	bPrevEncLeftPhaseA = IN_ENC_LEFT_A;
	bPrevEncLeftPhaseB = IN_ENC_LEFT_B;
}

void __ISR(_INPUT_CAPTURE_2_VECTOR, ipl5) IC2_Interrupt_ISR(void)
{
	mIC2ClearIntFlag();
	if ((bPrevEncLeftPhaseA == bPrevEncLeftPhaseB) && (IN_ENC_LEFT_A != IN_ENC_LEFT_B))
	{
		if (bPrevEncLeftPhaseA == IN_ENC_LEFT_A)
			u16EncoderLeft++;
		else
			u16EncoderLeft--;
	}
	else if ((bPrevEncLeftPhaseA != bPrevEncLeftPhaseB) && (IN_ENC_LEFT_A == IN_ENC_LEFT_B))
	{
		if (bPrevEncLeftPhaseA == IN_ENC_LEFT_A)
			u16EncoderLeft--;
		else
			u16EncoderLeft++;
	}

	// update previous phase
	bPrevEncLeftPhaseA = IN_ENC_LEFT_A;
	bPrevEncLeftPhaseB = IN_ENC_LEFT_B;
}

void __ISR(_INPUT_CAPTURE_3_VECTOR, ipl5) IC3_Interrupt_ISR(void)
{
	mIC3ClearIntFlag();

	if ((bPrevEncRightPhaseA == bPrevEncRightPhaseB) && (IN_ENC_RIGHT_A != IN_ENC_RIGHT_B))
	{
		if (bPrevEncRightPhaseA == IN_ENC_RIGHT_A)
			u16EncoderRight--;
		else
			u16EncoderRight++;
	}
	else if ((bPrevEncRightPhaseA != bPrevEncRightPhaseB) && (IN_ENC_RIGHT_A == IN_ENC_RIGHT_B))
	{
		if (bPrevEncRightPhaseA == IN_ENC_RIGHT_A)
			u16EncoderRight++;
		else
			u16EncoderRight--;
	}

	// update previous phase
	bPrevEncRightPhaseA = IN_ENC_RIGHT_A;
	bPrevEncRightPhaseB = IN_ENC_RIGHT_B;
}

void __ISR(_INPUT_CAPTURE_4_VECTOR, ipl5) IC4_Interrupt_ISR(void)
{
	mIC4ClearIntFlag();

	if ((bPrevEncRightPhaseA == bPrevEncRightPhaseB) && (IN_ENC_RIGHT_A != IN_ENC_RIGHT_B))
	{
		if (bPrevEncRightPhaseA == IN_ENC_RIGHT_A)
			u16EncoderRight--;
		else
			u16EncoderRight++;
	}
	else if ((bPrevEncRightPhaseA != bPrevEncRightPhaseB) && (IN_ENC_RIGHT_A == IN_ENC_RIGHT_B))
	{
		if (bPrevEncRightPhaseA == IN_ENC_RIGHT_A)
			u16EncoderRight++;
		else
			u16EncoderRight--;
	}

	// update previous phase
	bPrevEncRightPhaseA = IN_ENC_RIGHT_A;
	bPrevEncRightPhaseB = IN_ENC_RIGHT_B;
}