pwm.hpp

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/*****************************************************************************/
/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
/*****************************************************************************/
 
/*
 * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_PWM_HPP_
#define TAPROOT_PWM_HPP_
 
#include <cstdint>
 
#include "tap/util_macros.hpp"
 
namespace tap
{
namespace gpio
{
class Pwm
{
public:
 
    static constexpr uint32_t DEFAULT_TIMER1_FREQUENCY = 2000;
 
    static constexpr uint32_t DEFAULT_TIMER8_FREQUENCY = 2000;
 
    static constexpr uint32_t DEFAULT_TIMER4_FREQUENCY = 2000;
 
    static constexpr uint32_t DEFAULT_TIMER10_FREQUENCY = 2000;
 
    Pwm() = default;
    DISALLOW_COPY_AND_ASSIGN(Pwm)
    mockable ~Pwm() = default;
 
    enum Pin
    {
        C1,
        C2,
        C3,
        C4,
        C5,
        C6,
        C7,
        Buzzer,
        ImuHeater,
    };
 
    enum Timer
    {
        TIMER1,
        TIMER8,
        TIMER4,
        TIMER10,
    };
 
    mockable void init();
 
    mockable void writeAllZeros();
 
    mockable void write(float duty, Pwm::Pin pin);
 
    mockable void setTimerFrequency(Timer timer, uint32_t frequency);
 
    mockable void pause(Timer timer);
 
    mockable void start(Timer timer);
 
private:
    static constexpr int BUZZER_CHANNEL = 1;
    static constexpr int HEATER_CHANNEL = 2;
 
    enum Ch
    {
        Ch1 = 1,
        Ch2 = 2,
        Ch3 = 3,
        Ch4 = 4,
    };
 
    uint16_t timer1CalculatedOverflow;
    uint16_t timer8CalculatedOverflow;
    uint16_t timer4CalculatedOverflow;
    uint16_t timer10CalculatedOverflow;
};  // class Pwm
 
}  // namespace gpio
 
}  // namespace tap
 
#endif  // TAPROOT_PWM_HPP_