/**
 * @file StepperDrv8833.hpp
 * @author Gustice
 * @brief Software-driver for Stepper driver DRV8833
 * @details https://www.ti.com/lit/ds/symlink/drv8833.pdf?ts=1726872460958&ref_url=https%253A%252F%252Fwww.ti.com%252Fproduct%252Fde-de%252FDRV8833
 *
 * @copyright Copyright (c) 2024
 */
#pragma once

#include "stepperDrv.hpp"
#include <array>
#include <vector>

class StepperDriverDrv8833 : public StepperDriver {
  public:
    struct Pins {
        ledc_timer_t timer;
        std::array<ledc_channel_t, 4> channels;
        std::array<gpio_num_t, 4> pins;
    };

    StepperDriverDrv8833(Pins pins, int resolution);
    StepCplx fullStep(int8_t cnt) override;
    StepCplx step(int8_t cnt) override;
    StepCplx setPos(uint8_t pos) override;
    uint8_t getSubPos() {
        return _position;
    }

  private:
    PwmPort _pwmA1;
    PwmPort _pwmA2;
    PwmPort _pwmB1;
    PwmPort _pwmB2;

    std::vector<uint8_t> _outA1;
    std::vector<uint8_t> _outA2;
    std::vector<uint8_t> _outB1;
    std::vector<uint8_t> _outB2;
    void setOutput(uint8_t pos) override;
};