#ifndef INCLUDED_DRIVER_ALLEGRO_4988
#define INCLUDED_DRIVER_ALLEGRO_4988

#define CFG_SAMPLE_RATE_US      5
#define CFG_PERIPHERAL_SRC_PCM  1
#define CFG_DEPRECATED_ARG      0

#include <queue>

namespace simon {

  typedef struct
  {
      const unsigned gpio_en;
      const unsigned gpio_step;
      const unsigned gpio_dir;
      const bool gpio_microsteps[3];
    } a4988_settings_t;

  typedef struct
  {
    unsigned steps;
    bool dir;
    unsigned period_us;
  } move_t;


  class c_allegro_4988
  {
    public:
      c_allegro_4988(a4988_settings_t* set);
      int enable(void);
      int disable(void);
      void post(move_t move);
      void run(void);
    private:
      a4988_settings_t* m_pset;
      bool m_initialized;
      std::queue<move_t> m_queue;
      unsigned m_pwm_freq;
      bool m_alive;
    private:
      void initialize(void);
      int set_pwm_freq(const unsigned pwm_freq);
  };

} // namespace simon

#endif /*INCLUDED_DRIVER_ALLEGRO_4988*/