board abstraction

firmware/src/board/halfbridge.cpp

@@ -0,0 +1,68 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "mcu/mcu_hal.h"
+#include "halfbridge.h"
+
+using namespace board;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+board::Hafbridge::Hafbridge(uint8_t hs_pwm_ch, uint8_t ls_gpio_ch, uint8_t max_dc)
+{
+	this->pwm_ch  = hs_pwm_ch;	
+	this->gpio_ch = ls_gpio_ch;
+	
+	if(max_dc>100) this->max_dc = 100;
+	else this->max_dc = max_dc;
+	this->disable();
+}
+
+board::Hafbridge::~Hafbridge(void)
+{
+	this->last_duty = 0;
+	this->disable();
+}
+
+void board::Hafbridge::write(uint8_t duty)
+{
+	// Limit duty
+	if(duty > this->max_dc) duty = this->max_dc;
+	this->last_duty = duty;
+	
+	if(this->enabled == 0) return;
+	
+	// Convert percent to 16b duty cycle
+	uint16_t dc = util::percent_to_16b(duty);
+	// Set PWM
+	mcu::pwm_write(this->pwm_ch, dc);
+}
+
+void board::Hafbridge::enable(void)
+{
+	mcu::gpio_write(this->gpio_ch, mcu::LEVEL_HIGH);
+	this->enabled = 1;
+	this->write(this->last_duty);
+}
+
+void board::Hafbridge::disable(void)
+{
+	mcu::pwm_write(this->pwm_ch, 0);
+	mcu::gpio_write(this->gpio_ch, mcu::LEVEL_LOW);
+	this->enabled = 0;
+}
+
+uint8_t board::Hafbridge::get_set_duty(void)
+{
+	return this->last_duty;
+}
+
+uint8_t board::Hafbridge::is_enabled(void)
+{
+	return this->enabled;
+}
+
+/**** Private function definitions ****/