51 lines
1.5 KiB
C++
51 lines
1.5 KiB
C++
#pragma once
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#include "pico/stdlib.h"
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#include "hardware/pio.h"
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#include "hardware/dma.h"
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#include "hardware/irq.h"
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#include "multi_pwm.pio.h"
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namespace servo {
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struct TransitionData {
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uint8_t servo;
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uint32_t level;
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bool state;
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TransitionData() : servo(0), level(0), state(false) {};
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TransitionData(uint8_t servo, uint32_t level, bool new_state) : servo(servo), level(level), state(new_state) {};
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bool compare(const TransitionData& other) const {
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return level <= other.level;
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}
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};
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class MultiPWM {
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public:
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MultiPWM(PIO pio, uint sm, uint channel_mask);
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~MultiPWM();
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uint get_chan_mask() const;
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void set_wrap(uint32_t wrap, bool load = true);
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void set_chan_level(uint8_t channel, uint32_t level, bool load = true);
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void set_chan_offset(uint8_t channel, uint32_t offset, bool load = true);
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void set_chan_polarity(uint8_t channel, bool polarity, bool load = true);
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void set_clkdiv(float divider);
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void set_clkdiv_int_frac(uint16_t integer, uint8_t fract);
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//void set_phase_correct(bool phase_correct);
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//void set_enabled(bool enabled);
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void load_pwm();
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private:
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static bool bit_in_mask(uint bit, uint mask);
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static void sorted_insert(TransitionData array[], uint &size, const TransitionData &data);
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private:
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PIO pio;
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uint sm;
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uint pio_program_offset;
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uint channel_mask;
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uint channel_levels[NUM_BANK0_GPIOS];
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uint channel_offsets[NUM_BANK0_GPIOS];
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uint channel_polarities;
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uint wrap_level;
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};
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} |