SaMcam_sw/include/a4988.h

#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
#define PI_PWM_0		12
#define PI_PWM_1		13
#define PI_SW_PWM_RANGE		255

#include <queue>
#include <string>
#include <memory>

namespace simon {
  namespace a4988 {
    typedef struct
    {
        const unsigned gpio_en;
        const unsigned gpio_step;
        const unsigned gpio_dir;
        const unsigned gpio_microsteps;
      } a4988_settings_t;

    class c_cmd
    {
      public:
        explicit c_cmd(const std::string cmd) : m_cmd(cmd) {}
        bool operator==(const std::string& vgl) {
          return (vgl==m_cmd ? true : false);
        }
        virtual ~c_cmd(void) noexcept {}
      private:
        const std::string m_cmd;
    };

    class c_move : public c_cmd
    {
      public:
        const unsigned steps;
        const bool dir;
        const unsigned period_us;
        c_move(const unsigned isteps, const bool idir,
                        const unsigned iperiod_us)
          : c_cmd("move"), steps(isteps), dir(idir), period_us(iperiod_us){}
    };

    class c_enable : public c_cmd
    {
      public:
        const bool enabled;
        explicit c_enable(const bool ienabled)
          : c_cmd("enable"), enabled(ienabled) {}
    };

    class c_kill : public c_cmd
    {
      public:
        c_kill(void)
          : c_cmd("kill") {}
    };

    class c_allegro_4988
    {
      public:
        explicit c_allegro_4988(std::unique_ptr<a4988_settings_t> ptr_set);
        int enable(void);
        int disable(void);
        void kill(void);
        void post(std::shared_ptr<c_cmd> cmd);
        void post_move(const unsigned steps, const bool dir,
                       const unsigned period_us);
        void run(void);
        unsigned get_microsteps(void);
      private:
        std::unique_ptr<a4988_settings_t> m_ptr_set;
        bool m_initialized;
        std::queue<std::shared_ptr<c_cmd>> m_queue;
        unsigned m_pwm_freq;
        bool m_alive;
	bool m_hw_pwm_possible;
      private:
        void initialize(void);
        int set_pwm_freq(const unsigned pwm_freq);
    };
  } // namespace a4988
} // namespace simon

#endif /*INCLUDED_DRIVER_ALLEGRO_4988*/