MotorPWM.h

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/*
 * MotorPWM.h
 *
 *  Created on: Mar 29, 2020
 *      Author: Yannick
 */
 
#ifndef MOTORPWM_H_
#define MOTORPWM_H_
 
#include <MotorDriver.h>
#include "cppmain.h"
#include "CommandHandler.h"
#include "TimerHandler.h"
#include "target_constants.h"
//#include "cpp_target_config.h"
#include "PersistentStorage.h"
 
extern TIM_HandleTypeDef TIM_PWM;
 
void pwmInitTimer(TIM_HandleTypeDef* timer,uint32_t channel,uint32_t period,uint32_t prescaler);
void setPWM_HAL(uint32_t value,TIM_HandleTypeDef* timer,uint32_t channel,uint32_t period);
 
enum class ModePWM_DRV : uint8_t {RC_PWM=0,CENTERED_PWM=1,PWM_DIR=2,PWM_DUAL=3};
enum class SpeedPWM_DRV : uint8_t {LOW=0,MID=1,HIGH=2,VERYHIGH=3};
 
struct PWMConfig{
        uint32_t channel_1 = TIM_CHANNEL_1;
        uint32_t channel_2 = TIM_CHANNEL_2;
        uint32_t channel_3 = TIM_CHANNEL_3;
        uint32_t channel_4 = TIM_CHANNEL_4;
 
        uint8_t pwm_chan = 1;
        uint8_t dir_chan = 3;
        uint8_t dir_chan_n = 4;
 
        uint8_t centerpwm_chan = 1;
 
        uint8_t rcpwm_chan = 1;
 
        uint8_t dualpwm1 = 1;
        uint8_t dualpwm2 = 2;
 
        TIM_HandleTypeDef* timer = &TIM_PWM;
        uint32_t timerFreq = 168000000;
    };
 
class MotorPWM: public MotorDriver,public CommandHandler,public PersistentStorage{
    enum class MotorPWM_commands : uint32_t {
        mode,freq,dir
    };
public:
    MotorPWM();
    virtual ~MotorPWM();
 
    static ClassIdentifier info;
    const ClassIdentifier getInfo();
    static bool isCreatable();
 
    void turn(int16_t power);
    void stopMotor();
    void startMotor();
 
    void setPwmSpeed(SpeedPWM_DRV spd);
    SpeedPWM_DRV getPwmSpeed();
 
    void setMode(ModePWM_DRV mode);
    ModePWM_DRV getMode();
 
    void saveFlash();       // Write to flash here
    void restoreFlash();    // Load from flash
 
    CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies);
    virtual std::string getHelpstring(){return "PWM output motor driver";}
 
    void setPWM(uint32_t value,uint8_t ccr);
 
    static bool pwmDriverInUse;
 
    static PWMConfig& config;
private:
    float tFreq = 1; // Frequency scaling. Timer freq in MHz
    int32_t period = 20000;
    int32_t prescaler = 95;
 
    bool invertDir = false;
 
 
    SpeedPWM_DRV pwmspeed = SpeedPWM_DRV::LOW;
    ModePWM_DRV mode = ModePWM_DRV::CENTERED_PWM;
    bool active = false;
 
    static const PWMConfig timerConfig;
    static std::pair<uint16_t,uint16_t> freqToPeriodPsc(uint32_t freq);
};
 
 
#endif /* MOTORPWM_H_ */