/home/travis/build/lis-epfl/MAVRIC_Library/hal/chibios/pwm_chibios.hpp

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/*******************************************************************************
 * \file pwm_chibios.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief Wrapper class for PWM using ChibiOS/HAL
 *
 ******************************************************************************/


#ifndef PWM_CHIBIOS_HPP_
#define PWM_CHIBIOS_HPP_

#include "hal/common/pwm.hpp"

extern "C"
{
    #include "libs/ChibiOS/os/hal/include/hal.h"
}

class Pwm_chibios: public Pwm
{
public:

    enum channel_id_t
    {
        CHANNEL_1 = 0,      
        CHANNEL_2 = 1,      
        CHANNEL_3 = 2,      
        CHANNEL_4 = 3,      
    };


    struct conf_t
    {
        PWMDriver*      driver;                 
        PWMConfig       config;                 
        channel_id_t    channel;                
    };

    static inline conf_t default_config(void);

    Pwm_chibios(conf_t config = default_config());

    bool init(void);


    bool set_pulse_width_us(uint16_t pulse_us);


    bool set_period_us(uint16_t period_us);

private:
    PWMDriver*      driver_;                 
    PWMConfig       config_;                 
    channel_id_t    channel_;                
};


Pwm_chibios::conf_t Pwm_chibios::default_config(void)
{
    conf_t conf = {};

    conf.driver = &PWMD1;
    conf.config =
    {
        1000000,                                  // 1MHz PWM clock frequency
        20000,                                    // Initial PWM period 20ms
        NULL,
        {
            {PWM_OUTPUT_ACTIVE_HIGH, NULL},
            {PWM_OUTPUT_ACTIVE_HIGH, NULL},
            {PWM_OUTPUT_ACTIVE_HIGH, NULL},
            {PWM_OUTPUT_ACTIVE_HIGH, NULL}
        },
        0,
        0
    };
    conf.channel            = CHANNEL_1;

    return conf;
}


#endif /* PWM_CHIBIOS_HPP_ */