73 lines
1.5 KiB
C++
73 lines
1.5 KiB
C++
#pragma once
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#include "hardware/pio.h"
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#include "pulser.pio.h"
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class TMC2209_step_dual {
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private:
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uint step0_pin;
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uint step1_pin;
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uint dir0_pin;
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uint dir1_pin;
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uint enable0_pin;
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uint enable1_pin;
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const int sm_num_divider0 = 0;
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const int sm_num_divider1 = 1;
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const int sm_num_counter0 = 2;
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const int sm_num_counter1 = 3;
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PIO pio_core;
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pio_sm_config sm_config_divider0;
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pio_sm_config sm_config_counter0;
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pio_sm_config sm_config_divider1;
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pio_sm_config sm_config_counter1;
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uint pulser_program_offset;
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const uint subprogram_offset_divider = 0;
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const uint subprogram_offset_counter = 6;
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const float base_clock_freq_khz = 500.0;
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const uint32_t sleep_time_us = 500;
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bool done_flag0;
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bool done_flag1;
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bool done_flag0_arm;
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bool done_flag1_arm;
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protected:
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void init_pio();
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void init_gpio();
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public:
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void irq_handler0();
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void irq_handler1();
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TMC2209_step_dual(
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uint step0_pin,
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uint step1_pin,
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uint dir0_pin,
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uint dir1_pin,
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uint enable0_pin,
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uint enable1_pin,
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PIO pio_core
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);
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void set_conf0(uint frequency, bool dir);
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void set_conf1(uint frequency, bool dir);
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void pulse0(uint n);
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void pulse1(uint n);
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void pulse0_int(int n);
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void pulse1_int(int n);
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bool wait0(int timeout_ms);
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bool wait1(int timeout_ms);
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};
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extern TMC2209_step_dual * g_step_driver_instance;
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void step_irq0_handler();
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void step_irq1_handler();
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