/home/travis/build/lis-epfl/MAVRIC_Library/hal/avr32/pwm_avr32.hpp

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/*******************************************************************************
 * \file pwm_avr32.hpp
 *
 * \author MAV'RIC Team
 * \author Felix Schill
 * \author Julien Lecoeur
 * \author Nicolas Dousse
 *
 * \brief   This file is the driver for pwm servos
 *
 ******************************************************************************/


#ifndef PWM_SERVOS_AVR32_HPP_
#define PWM_SERVOS_AVR32_HPP_

#include <cstdbool>
#include <cstdint>

#include "hal/common/pwm.hpp"


class Pwm_avr32: public Pwm
{
public:
    Pwm_avr32(uint8_t id);


    bool init(void);


    bool set_pulse_width_us(uint16_t pulse_us);


    bool set_period_us(uint16_t period_us);


private:
    void write_channel(void);


    uint8_t id_;            
    uint8_t channel_id_;    

    // this is static because each channel controls 2 pwm lines and is thus
    // shared by two objects
    static uint32_t pulse_us_[8];
    static uint32_t period_us_[8];
};

#endif /* PWM_AVR32_HPP_ */