diff --git a/src/shared/drivers/timer/GeneralPurposeTimer.h b/src/shared/drivers/timer/GeneralPurposeTimer.h
index de22562375a598275a56c8231ed9e8e5752cb5c7..3f30bb23e512650d9914d926408bf966ebe6555a 100644
--- a/src/shared/drivers/timer/GeneralPurposeTimer.h
+++ b/src/shared/drivers/timer/GeneralPurposeTimer.h
@@ -186,9 +186,9 @@ public:
*/
void disableCaptureCompareComplementaryOutput(TimerUtils::Channel channel);
- bool isCaptureComapreOutputEnabled(TimerUtils::Channel channel);
+ bool isCaptureCompareOutputEnabled(TimerUtils::Channel channel);
- bool isCaptureComapreComplementaryOutputEnabled(
+ bool isCaptureCompareComplementaryOutputEnabled(
TimerUtils::Channel channel);
void setCaptureComparePolarity(TimerUtils::Channel channel,
@@ -202,10 +202,9 @@ public:
T readCaptureCompareRegister(TimerUtils::Channel channel);
- static void clearTriggerInterruptFlag(TIM_TypeDef *timer);
+ void clearTriggerInterruptFlag();
- static void clearCaptureCompareInterruptFlag(TimerUtils::Channel channel,
- TIM_TypeDef *timer);
+ void clearCaptureCompareInterruptFlag(TimerUtils::Channel channel);
};
/**
@@ -500,14 +499,14 @@ inline void GeneralPurposeTimer<T>::disableCaptureCompareComplementaryOutput(
}
template <typename T>
-inline bool GeneralPurposeTimer<T>::isCaptureComapreOutputEnabled(
+inline bool GeneralPurposeTimer<T>::isCaptureCompareOutputEnabled(
TimerUtils::Channel channel)
{
return timer->CCER & (TIM_CCER_CC1E << (static_cast<int>(channel) * 4));
}
template <typename T>
-inline bool GeneralPurposeTimer<T>::isCaptureComapreComplementaryOutputEnabled(
+inline bool GeneralPurposeTimer<T>::isCaptureCompareComplementaryOutputEnabled(
TimerUtils::Channel channel)
{
return timer->CCER & (TIM_CCER_CC1NE << (static_cast<int>(channel) * 4));
@@ -570,15 +569,14 @@ inline T GeneralPurposeTimer<T>::readCaptureCompareRegister(
}
template <typename T>
-inline void GeneralPurposeTimer<T>::clearTriggerInterruptFlag(
- TIM_TypeDef *timer)
+inline void GeneralPurposeTimer<T>::clearTriggerInterruptFlag()
{
timer->SR &= ~TIM_SR_TIF;
}
template <typename T>
inline void GeneralPurposeTimer<T>::clearCaptureCompareInterruptFlag(
- TimerUtils::Channel channel, TIM_TypeDef *timer)
+ TimerUtils::Channel channel)
{
timer->SR &= ~(TIM_SR_CC1IF << static_cast<int>(channel));
}
diff --git a/src/shared/drivers/timer/PWM.cpp b/src/shared/drivers/timer/PWM.cpp
index e8b156b9643529f44a937898958b425e37649b45..27a3ba0faeaa61331e75138bb224aac6afee0d62 100644
--- a/src/shared/drivers/timer/PWM.cpp
+++ b/src/shared/drivers/timer/PWM.cpp
@@ -22,88 +22,86 @@
#include "PWM.h"
+using namespace Boardcore::TimerUtils;
+
namespace Boardcore
{
-PWM::PWM(TIM_TypeDef* const timer, unsigned int pwmFrequency,
- unsigned int dutyCycleResolution)
- : timer(timer), pwmFrequency(pwmFrequency),
- dutyCycleResolution(dutyCycleResolution)
+PWM::PWM(TIM_TypeDef* const pulseTimer, uint16_t pulseFrequency)
+ : pulseTimer(pulseTimer), pulseFrequency(pulseFrequency)
{
// Erase the previous timer configuration
- this->timer.reset();
+ this->pulseTimer.reset();
+
+ configureTimer();
- // Set up and enable the timer
- setTimerConfiguration();
+ // Keep the timer always enabled
+ this->pulseTimer.enable();
}
-PWM::~PWM() { timer.reset(); }
+PWM::~PWM() { pulseTimer.reset(); }
-void PWM::setFrequency(unsigned int pwmFrequency)
+void PWM::setFrequency(uint16_t pulseFrequency)
{
- this->pwmFrequency = pwmFrequency;
- setTimerConfiguration();
+ this->pulseFrequency = pulseFrequency;
+ configureTimer();
}
-void PWM::setDutyCycleResolution(unsigned int dutyCycleResolution)
+void PWM::setDutyCycleResolution(uint16_t dutyCycleResolution)
{
this->dutyCycleResolution = dutyCycleResolution;
- setTimerConfiguration();
+ configureTimer();
}
-void PWM::enableChannel(TimerUtils::Channel channel, Polarity polarity)
+void PWM::enableChannel(Channel channel, Polarity polarity)
{
- timer.setOutputCompareMode(channel,
- TimerUtils::OutputCompareMode::PWM_MODE_1);
- timer.setCaptureComparePolarity(
- channel, static_cast<TimerUtils::OutputComparePolarity>(polarity));
+ pulseTimer.setOutputCompareMode(channel, OutputCompareMode::PWM_MODE_1);
+ pulseTimer.setCaptureComparePolarity(
+ channel, static_cast<OutputComparePolarity>(polarity));
// This will ensure that the duty cycle will change only at the next period
- timer.enableCaptureComparePreload(channel);
+ pulseTimer.enableCaptureComparePreload(channel);
- timer.enableCaptureCompareOutput(channel);
+ pulseTimer.enableCaptureCompareOutput(channel);
}
-void PWM::disableChannel(TimerUtils::Channel channel)
+void PWM::disableChannel(Channel channel)
{
- timer.disableCaptureCompareOutput(channel);
+ pulseTimer.disableCaptureCompareOutput(channel);
}
-bool PWM::isChannelEnabled(TimerUtils::Channel channel)
+bool PWM::isChannelEnabled(Channel channel)
{
- return timer.isCaptureComapreOutputEnabled(channel);
+ return pulseTimer.isCaptureCompareOutputEnabled(channel);
}
-void PWM::setDutyCycle(TimerUtils::Channel channel, float dutyCycle)
+void PWM::setDutyCycle(Channel channel, float dutyCycle)
{
if (dutyCycle >= 0 && dutyCycle <= 1)
- timer.setCaptureCompareRegister(
- channel, static_cast<uint16_t>(
- dutyCycle * timer.readAutoReloadRegister() + 0.5));
+ {
+ pulseTimer.setCaptureCompareRegister(
+ channel,
+ static_cast<uint16_t>(
+ dutyCycle * pulseTimer.readAutoReloadRegister() + 0.5));
+ }
}
float PWM::getDutyCycle(TimerUtils::Channel channel)
{
- return static_cast<float>(timer.readCaptureCompareRegister(channel)) /
- static_cast<float>(timer.readAutoReloadRegister());
+ return static_cast<float>(pulseTimer.readCaptureCompareRegister(channel)) /
+ static_cast<float>(pulseTimer.readAutoReloadRegister());
}
-GP16bitTimer& PWM::getTimer() { return timer; }
+GP16bitTimer& PWM::getTimer() { return pulseTimer; }
-void PWM::setTimerConfiguration()
+void PWM::configureTimer()
{
- timer.disable();
- timer.setCounter(0);
-
- timer.setFrequency(dutyCycleResolution * pwmFrequency);
-
- timer.setAutoReloadRegister(TimerUtils::getFrequency(timer.getTimer()) /
- pwmFrequency);
+ pulseTimer.setFrequency(dutyCycleResolution * pulseFrequency);
+ pulseTimer.setAutoReloadRegister(getFrequency(pulseTimer.getTimer()) /
+ pulseFrequency);
// Force the timer to update its configuration
- timer.generateUpdate();
-
- timer.enable();
+ pulseTimer.generateUpdate();
}
} // namespace Boardcore
diff --git a/src/shared/drivers/timer/PWM.h b/src/shared/drivers/timer/PWM.h
index 085be48f6bc55ad0f589f31bc6ed25bc788fe713..84d3d8127599f89091e197f2124b74c39994a6d4 100644
--- a/src/shared/drivers/timer/PWM.h
+++ b/src/shared/drivers/timer/PWM.h
@@ -60,18 +60,17 @@ public:
/**
* @brief Sets up and enables the PWM timer.
*
- * @param timer Pointer to the timer's peripheral registers.
- * @param pwmFrequency Frequency of the PWM signal.
- * @param dutyCycleResolution Duty cycle levels.
+ * @param pulseTimer Timer used for the generation of the PWM signal.
+ * @param pulseFrequency Frequency of the PWM signal.
+
*/
- explicit PWM(TIM_TypeDef* const timer, unsigned int pwmFrequency = 50,
- unsigned int dutyCycleResolution = 20000);
+ explicit PWM(TIM_TypeDef* const pulseTimer, uint16_t pulseFrequency = 50);
~PWM();
- void setFrequency(unsigned int pwmFrequency);
+ void setFrequency(uint16_t pulseFrequency);
- void setDutyCycleResolution(unsigned int dutyCycleResolution);
+ void setDutyCycleResolution(uint16_t dutyCycleResolution);
void enableChannel(TimerUtils::Channel channel,
Polarity polarity = Polarity::NORMAL);
@@ -85,8 +84,8 @@ public:
*
* Changes the duty cycle only if the specified value is in the range [0,1].
*
- * @param channel Channel to change the duty cycle
- * @param dutyCycle Relative duty cycle, ranges from 0 to 1
+ * @param channel Channel to change the duty cycle.
+ * @param dutyCycle Relative duty cycle, ranges from 0 to 1.
*/
void setDutyCycle(TimerUtils::Channel channel, float dutyCycle);
@@ -105,11 +104,12 @@ private:
PWM& operator=(const PWM&) = delete;
PWM(const PWM& p) = delete;
- void setTimerConfiguration();
+ void configureTimer();
+
+ GP16bitTimer pulseTimer;
- GP16bitTimer timer;
- unsigned int pwmFrequency;
- unsigned int dutyCycleResolution;
+ uint16_t pulseFrequency;
+ uint16_t dutyCycleResolution = 10000;
};
} // namespace Boardcore