Implement PIO-Pulser as Class for two channels Channel

motor-control/firmware/include/tmc2209/step.hpp

@@ -0,0 +1,62 @@
+#pragma once
+#include "hardware/pio.h"
+#include "pulser.pio.h"
+
+class TMC2209_step_dual {
+private:
+    uint step0_pin;
+    uint step1_pin;
+    uint dir0_pin;
+    uint dir1_pin;
+    uint enable0_pin;
+    uint enable1_pin;
+
+    const int sm_num_divider0 = 0;
+    const int sm_num_divider1 = 1;
+    const int sm_num_counter0 = 2;
+    const int sm_num_counter1 = 3;
+
+    PIO pio_core;
+
+    pio_sm_config sm_config_divider0;
+    pio_sm_config sm_config_counter0;
+    pio_sm_config sm_config_divider1;
+    pio_sm_config sm_config_counter1;
+
+    uint pulser_program_offset;
+    const uint subprogram_offset_divider = 0;
+    const uint subprogram_offset_counter = 6;
+
+    const float base_clock_freq_khz = 500.0;
+
+    const uint32_t sleep_time_us = 1000;
+    bool done_flag0;
+    bool done_flag1;
+
+protected:
+    void init_pio();
+    void init_gpio();
+
+    void irq_handler0();
+    void irq_handler1();
+
+public:
+    TMC2209_step_dual(
+        uint step0_pin, 
+        uint step1_pin, 
+        uint dir0_pin, 
+        uint dir1_pin, 
+        uint enable0_pin, 
+        uint enable1_pin, 
+        PIO pio_core
+    );
+
+    void set_conf0(uint frequency, bool dir);
+    void set_conf1(uint frequency, bool dir);
+
+    void pulse0(uint n);
+    void pulse1(uint n);
+
+    bool wait0(int timeout_ms);
+    bool wait1(int timeout_ms);
+};