HBridge.h

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/* Copyright (c) 2020 Skyward Experimental Rocketry
 * Authors: Luca Conterio, 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 <drivers/timer/PWM.h>
#include <drivers/timer/TimestampTimer.h>
#include <miosix.h>
 
namespace Boardcore
{
 
class HBridge
{
public:
    HBridge(miosix::GpioPin inhibitPin, TIM_TypeDef* timer,
            TimerUtils::Channel channel, unsigned int frequency,
            float dutyCycle = 0, unsigned int disableDelayMs = 50);
 
    ~HBridge();
 
    void enable();
 
    void disable();
 
    bool isEnabled();
 
    void setDutyCycle(float dutyCycle);
 
    void testDutyCycle(float dutyCycle);
 
    void resetDutyCycle();
 
private:
    // This class is not copyable!
    HBridge& operator=(const HBridge&) = delete;
    HBridge(const HBridge& hb)         = delete;
 
    miosix::GpioPin inhibitPin;
    PWM pwm;
    TimerUtils::Channel channel;
 
    unsigned int frequency;
    float dutyCycle;
    unsigned int disableDelayMs;
};
 
}  // namespace Boardcore