Simon's and Max' camera steering software.
https://stiefel.tech
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49 lines
980 B
49 lines
980 B
#ifndef INCLUDED_DRIVER_ALLEGRO_4988
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#define INCLUDED_DRIVER_ALLEGRO_4988
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#define CFG_SAMPLE_RATE_US 5
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#define CFG_PERIPHERAL_SRC_PCM 1
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#define CFG_DEPRECATED_ARG 0
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#include <queue>
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namespace simon {
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typedef struct
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{
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const unsigned gpio_en;
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const unsigned gpio_step;
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const unsigned gpio_dir;
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const bool gpio_microsteps[3];
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} a4988_settings_t;
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typedef struct
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{
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unsigned steps;
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bool dir;
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unsigned period_us;
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} move_t;
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class c_allegro_4988
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{
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public:
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c_allegro_4988(a4988_settings_t* set);
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int enable(void);
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int disable(void);
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void post(move_t move);
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void run(void);
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private:
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a4988_settings_t* m_pset;
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bool m_initialized;
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std::queue<move_t> m_queue;
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unsigned m_pwm_freq;
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bool m_alive;
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private:
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void initialize(void);
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int set_pwm_freq(const unsigned pwm_freq);
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};
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} // namespace simon
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#endif /*INCLUDED_DRIVER_ALLEGRO_4988*/
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