pimoroni-pico/drivers/servo/multi_pwm.hpp

#pragma once

#include "pico/stdlib.h"
#include "hardware/pio.h"
#include "hardware/dma.h"
#include "hardware/irq.h"
#include "multi_pwm.pio.h"

namespace servo {

  struct TransitionData {
    uint8_t servo;
    uint32_t level;
    bool state;

    TransitionData() : servo(0), level(0), state(false) {};
    TransitionData(uint8_t servo, uint32_t level, bool new_state) : servo(servo), level(level), state(new_state) {};

    bool compare(const TransitionData& other) const {
      return level <= other.level;
    }
  };

  class MultiPWM {
  public:
    MultiPWM(PIO pio, uint sm, uint channel_mask);
    ~MultiPWM();
    uint get_chan_mask() const;
    void set_wrap(uint32_t wrap, bool load = true);
    void set_chan_level(uint8_t channel, uint32_t level, bool load = true);
    void set_chan_offset(uint8_t channel, uint32_t offset, bool load = true);
    void set_chan_polarity(uint8_t channel, bool polarity, bool load = true);
    void set_clkdiv(float divider);
    void set_clkdiv_int_frac(uint16_t integer, uint8_t fract);
    //void set_phase_correct(bool phase_correct);
    //void set_enabled(bool enabled);
    void load_pwm();
  private:
    static bool bit_in_mask(uint bit, uint mask);
    static void sorted_insert(TransitionData array[], uint &size, const TransitionData &data);
  private:
    PIO pio;
    uint sm;
    uint pio_program_offset;
    uint channel_mask;
    uint channel_levels[NUM_BANK0_GPIOS];
    uint channel_offsets[NUM_BANK0_GPIOS];
    uint channel_polarities;
    uint wrap_level;
  };
}