Dshot.h

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//
// Created by noeel on 22-03-20.
//

#ifndef ARUNA_DSHOT_H
#define ARUNA_DSHOT_H

#include "aruna/movement/Actuator.h"
#include "pthread.h"

namespace aruna {
    namespace driver {
        class Dshot: public movement::Actuator {
        private:
            bool _continues_write = false;
            pthread_mutex_t write_mut;
            const uint32_t frequency;
            bool bidirectional;


            void add_CRC(uint16_t &bits);


            uint16_t create_dshotFrame(uint16_t speed, uint8_t telemetry);

            err_t _set(movement::axis_mask_t axisMask, int16_t speed) override;

            err_t write_frame_continuous(uint16_t dshot_frame);
            
            virtual err_t _write_frame_continuous(uint16_t dshot_frame) = 0;

        protected:
            uint16_t T0H_ns;
            uint16_t T1H_ns;
            uint16_t T0L_ns;
            uint16_t T1L_ns;
        public:
            Dshot(uint32_t speed_hz = 150000, bool bidirectional = false);

            uint32_t get_frequency();

            err_t set_speed(int16_t speed);

            bool get_bidirectional();

            void set_bidirectional(bool is_bidirectional);

            void arm_ESC();

            ~Dshot();


        };
    }
}


#endif //ARUNA_DSHOT_H