PWM.h

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/* Copyright (c) 2017-2021 Skyward Experimental Rocketry
 * Authors: Andrea Palumbo, Luca Erbetta, 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/GeneralPurposeTimer.h>
 
namespace Boardcore
{
 
class PWM
{
public:
    enum class Polarity : uint16_t
    {
        NORMAL   = 0,   
        REVERSED = 0x1  
    };
 
    explicit PWM(TIM_TypeDef* const pulseTimer, uint16_t pulseFrequency = 50);
 
    ~PWM();
 
    void setFrequency(uint16_t pulseFrequency);
 
    void setDutyCycleResolution(uint16_t dutyCycleResolution);
 
    void enableChannel(TimerUtils::Channel channel,
                       Polarity polarity = Polarity::NORMAL);
 
    void disableChannel(TimerUtils::Channel channel);
 
    bool isChannelEnabled(TimerUtils::Channel channel);
 
    void setDutyCycle(TimerUtils::Channel channel, float dutyCycle);
 
    float getDutyCycle(TimerUtils::Channel channel);
 
    GP16bitTimer& getTimer();
 
private:
    // This class is not copyable!
    PWM& operator=(const PWM&) = delete;
    PWM(const PWM& p)          = delete;
 
    void configureTimer();
 
    GP16bitTimer pulseTimer;
 
    uint16_t pulseFrequency;
    uint16_t dutyCycleResolution = 10000;
};
 
}  // namespace Boardcore