CountedPWM.h

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/* Copyright (c) 2023 Skyward Experimental Rocketry
 * Authors: Emilio Corigliano, Alberto Nidasio
 *
 * 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.
 */
 
#pragma once
 
#include <assert.h>
#include <drivers/timer/GeneralPurposeTimer.h>
 
#include "PWM.h"
#include "utils/Debug.h"
 
namespace Boardcore
{
 
class CountedPWM
{
public:
    CountedPWM(TIM_TypeDef* const pulseTimer,
               TimerUtils::Channel const pulseChannel,
               TimerUtils::TriggerSource const pulseTriggerSource,
               TIM_TypeDef* const counterTimer,
               TimerUtils::Channel const counterChannel,
               TimerUtils::TriggerSource const counterTriggerSource);
 
    ~CountedPWM();
 
    void setFrequency(unsigned int pulseFrequency);
 
    void setDutyCycle(float dutyCycle);
 
    void setDutyCycleResolution(unsigned int dutyCycleResolution);
 
    void generatePulses(uint16_t pulses);
 
    bool isGenerating();
 
    void updateTargetCount(uint16_t pulses);
 
    uint16_t getTargetCount();
 
    void updateCurrentCount(uint16_t count);
 
    uint16_t getCurrentCount();
 
    void stop();
 
private:
    // This class is not copyable!
    CountedPWM& operator=(const CountedPWM&) = delete;
    CountedPWM(const CountedPWM& p)          = delete;
 
    void configureTimers();
 
    GP16bitTimer pulseTimer;
    TimerUtils::Channel pulseChannel;
    TimerUtils::TriggerSource pulseTriggerSource;
 
    GP16bitTimer counterTimer;
    TimerUtils::Channel counterChannel;
    TimerUtils::TriggerSource counterTriggerSource;
 
    unsigned int pulseFrequency = 50;   
    float dutyCycle             = 0.5;  
    unsigned int dutyCycleResolution =
        20000;  
};
 
inline void CountedPWM::updateTargetCount(uint16_t pulses)
{
    counterTimer.setCaptureCompareRegister(counterChannel, pulses);
}
 
inline uint16_t CountedPWM::getTargetCount()
{
    return counterTimer.readCaptureCompareRegister(counterChannel);
}
 
inline void CountedPWM::updateCurrentCount(uint16_t count)
{
    return counterTimer.setCounter(count);
}
 
inline uint16_t CountedPWM::getCurrentCount()
{
    return counterTimer.readCounter();
}
 
inline void CountedPWM::stop()
{
    counterTimer.setCaptureCompareRegister(counterChannel, getCurrentCount());
}
 
}  // namespace Boardcore