Make pio number a settable parameter, so we can have multiple motor using the same PIO with different state machine, ans also be compatible with other library that uses other PIOs (encoder for example)

Author: thomasfla

src/current/rp2350/RP2350PIOCurrentSense.cpp

@@ -1,6 +1,7 @@
     #include "RP2350PIOCurrentSense.h"
 
-    RP2350PIOCurrentSense::RP2350PIOCurrentSense(float gain, uint32_t max_adc_value, int pinSCK, int pinCSB, int pinD0, int pinTRIG) : CurrentSense() {
+    RP2350PIOCurrentSense::RP2350PIOCurrentSense(PIO pio, float gain, uint32_t max_adc_value, int pinSCK, int pinCSB, int pinD0, int pinTRIG) : CurrentSense() {
+        this->pio = pio;
         this->pinSCK = pinSCK;
         this->pinCSB = pinCSB;
         this->pinD0 = pinD0;
@@ -28,12 +29,11 @@
         // TODO init timer to trigger PIO conversions at required frequency (check driver settings)
         //      TDB: do we need config input to know which timer slice and channel to use? or can we pick automatically?
         // TODO start everything up
-
+        // TODO implement offset and calibration like other current sensor classes.
         float sck_hz = 20e6;
-        PIO pio = pio0; 
-        int sm = pio_claim_unused_sm(pio0, true);
+        int sm = pio_claim_unused_sm(this->pio, true);
         //if (sm < 0) { pio = pio1; sm = pio_claim_unused_sm(pio1, true); } //For now, let say we have to use PIO0, this is simpler for quick DMA setup
-
+        
         // --- patch program instructions with chosen trigger pin ---
         size_t prog_len = bu79100g_parallel3_program.length;
         uint16_t insns[prog_len];
@@ -43,7 +43,7 @@
         struct pio_program prog = bu79100g_parallel3_program; // copy metadata
         prog.instructions = insns;
 
-        uint off = pio_add_program(pio, &prog);
+        uint off = pio_add_program(this->pio, &prog);
         pio_sm_config c = bu79100g_parallel3_program_get_default_config(off);
 
         // Map pins to the SM
@@ -52,11 +52,11 @@
         sm_config_set_sideset_pins(&c, this->pinSCK);          // SCK (sideset)
 
         // Put pins into PIO control
-        pio_gpio_init(pio, this->pinSCK);
-        pio_gpio_init(pio, this->pinCSB);
-        pio_gpio_init(pio, this->pinD0);
-        pio_gpio_init(pio, this->pinD1);
-        pio_gpio_init(pio, this->pinD2);
+        pio_gpio_init(this->pio, this->pinSCK);
+        pio_gpio_init(this->pio, this->pinCSB);
+        pio_gpio_init(this->pio, this->pinD0);
+        pio_gpio_init(this->pio, this->pinD1);
+        pio_gpio_init(this->pio, this->pinD2);
 
         // Directions (from the SM’s point of view)
         pio_sm_set_consecutive_pindirs(pio, sm, this->pinSCK, 1, true);   // SCK out

src/current/rp2350/RP2350PIOCurrentSense.h

@@ -8,7 +8,7 @@
 
 class RP2350PIOCurrentSense: public CurrentSense {
   public:
-    RP2350PIOCurrentSense(float gain, uint32_t max_adc_value, int pinSCK, int pinCSB, int pinD0, int pinTRIG);
+    RP2350PIOCurrentSense(PIO pio, float gain, uint32_t max_adc_value, int pinSCK, int pinCSB, int pinD0, int pinTRIG);
     ~RP2350PIOCurrentSense();
 
     int init() override;
@@ -27,15 +27,15 @@ class RP2350PIOCurrentSense: public CurrentSense {
     int dma_a = -1; // PIO RX -> ring (streamer)
     int dma_b = -1; // reloader 
 
+    PIO pio;
+
     uint32_t max_adc_value; //!< maximum ADC value (e.g. 4096 for 12 bit ADC)
     int pinCSB;
     int pinSCK;
     int pinD0;
     int pinD1;
     int pinD2;
     int pinTRIG;
-    float gain_a;
-    float gain_b;
-    float gain_c;
+
   protected: //For debug, all public
 };