Stepper.h

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//
// Created by noeel on 04-02-20.
//

#ifndef ARUNA_STEPPER_H
#define ARUNA_STEPPER_H

#include <stdint.h>
#include "aruna/movement/Actuator.h"
#include "aruna/log.h"
#include "freertos/FreeRTOS.h"
#include <freertos/task.h>
#include <freertos/semphr.h>

namespace aruna {
    namespace driver {

    class Stepper : public movement::Actuator {
        private:
            SemaphoreHandle_t asked_set_mutex = NULL;
            uint16_t asked_speed;
            movement::axis_mask_t asked_direction;
            size_t active_pin_index = 0;
            TaskHandle_t timer_task_handle;
            const uint8_t* pins;
            const size_t pins_count = 0;
            const bool active_high;
            log::channel_t *log;

            err_t init_pins();

            err_t clear_pins();

            virtual err_t init_pin(uint8_t pin_nr) = 0;

            virtual err_t set_pin(uint8_t pin_nr, bool value) = 0;

            virtual err_t clear_pin(uint8_t pin_nr) {
                return err_t::OK;
            }

            err_t do_step(movement::axis_mask_t direction);

            uint8_t get_pin(movement::axis_mask_t direction, uint8_t n = 0);

            void timer_task();
            static void _timer_task_wrapper(void* _this);

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

        public:
            Stepper(uint8_t *pins, size_t pins_count, movement::axis_mask_t axis, bool active_high);

            void set_speed(int16_t speed);

            void do_steps(int32_t steps);

            ~Stepper();



            };
    }
}
#endif //ARUNA_STEPPER_H