MotorManager.h

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/*
 * Copyright (c) 2020 Teknic, Inc.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */
 
#ifndef __MOTORMANAGER_H__
#define __MOTORMANAGER_H__
 
#include <stdint.h>
#include "HardwareMapping.h"
#include "MotorDriver.h"
 
namespace ClearCore {
 
class MotorManager {
public:
    typedef enum {
        CLOCK_RATE_LOW,
        CLOCK_RATE_NORMAL,
        CLOCK_RATE_HIGH
    } MotorClockRates;
 
    typedef enum {
        MOTOR_M0M1 = 0,
        MOTOR_M2M3 = 1,
        NUM_MOTOR_PAIRS = 2,
        MOTOR_ALL = NUM_MOTOR_PAIRS,
    } MotorPair;
 
#ifndef HIDE_FROM_DOXYGEN
    static MotorManager &Instance();
 
    void Initialize();
#endif
 
    bool MotorInputClocking(MotorClockRates newRate);
 
    bool MotorModeSet(MotorPair motorPair, Connector::ConnectorModes newMode);
 
protected:
    uint8_t m_gclkIndex;
    MotorClockRates m_clockRate;
    ClearCorePorts m_stepPorts[NUM_MOTOR_PAIRS];
    uint32_t m_stepDataBits[NUM_MOTOR_PAIRS];
    Connector::ConnectorModes m_motorModes[NUM_MOTOR_PAIRS];
 
private:
#define CPM_CLOCK_RATE_LOW_HZ \
    (100000 / _CLEARCORE_SAMPLE_RATE_HZ * _CLEARCORE_SAMPLE_RATE_HZ)
#define CPM_CLOCK_RATE_NORMAL_HZ \
    (500000 / _CLEARCORE_SAMPLE_RATE_HZ * _CLEARCORE_SAMPLE_RATE_HZ)
#define CPM_CLOCK_RATE_HIGH_HZ \
    (2000000 / _CLEARCORE_SAMPLE_RATE_HZ * _CLEARCORE_SAMPLE_RATE_HZ)
 
    bool m_initialized;
 
    MotorManager();
 
    void PinMuxSet();
};
 
} // ClearCore namespace
 
#endif  // __MOTORMANAGER_H__