cs_PWM.h

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#pragma once
 
#include <modules/nrfx/hal/nrf_gpiote.h>
#include <modules/nrfx/hal/nrf_ppi.h>
#include <modules/nrfx/hal/nrf_timer.h>
#include <nrf_gpiote.h>
 
#include <cstdint>
 
#include "ble/cs_Nordic.h"
#include "cfg/cs_Config.h"
 
#define ERR_PWM_NOT_ENABLED 1
 
typedef struct {
    uint16_t pin;
    bool inverted;
} pwm_channel_config_t;
 
typedef struct {
    uint32_t period_us;
    uint8_t channelCount;
    pwm_channel_config_t channels[CS_PWM_MAX_CHANNELS];
} pwm_config_t;
 
class PWM {
public:
    static PWM& getInstance() {
        static PWM instance;
        return instance;
    }
 
    static const uint8_t _maxValue = 100;
 
    uint32_t init(const pwm_config_t& config);
 
    uint32_t deinit();
 
    uint32_t start(bool onZeroCrossing);
 
    void setValue(uint8_t channel, uint8_t value, uint8_t speed);
 
    uint8_t getValue(uint8_t channel);
 
    void onPeriodEnd();
 
    void onZeroCrossingInterrupt();
 
    void _handleInterrupt();
 
private:
    PWM();
 
    PWM(PWM const&);
 
    void operator=(PWM const&);
 
    pwm_config_t _config;
 
    uint8_t _values[CS_PWM_MAX_CHANNELS] = {0};
 
    bool _initialized;
 
    bool _started;
 
    bool _startOnZeroCrossing;
 
    uint32_t initChannel(uint8_t index, pwm_channel_config_t& config);
 
    void start();
 
    void updateValues();
 
    void setValue(uint8_t channel, uint8_t newValue);
 
    uint32_t _maxTickVal;
 
    uint32_t _adjustedMaxTickVal;
 
    uint8_t _targetValues[CS_PWM_MAX_CHANNELS]       = {0};
 
    uint8_t _stepSize[CS_PWM_MAX_CHANNELS]           = {0};
 
    static const uint8_t numPeriodsBeforeValueUpdate = 3;
 
    uint8_t _updateValuesCountdown                   = 0;
 
    uint32_t _tickValues[CS_PWM_MAX_CHANNELS]        = {0};
 
    nrf_ppi_channel_t _ppiChannelsOn[CS_PWM_MAX_CHANNELS];
 
    nrf_ppi_channel_t _ppiChannelsOff[CS_PWM_MAX_CHANNELS];
 
    nrf_ppi_channel_t _ppiTransitionChannel;
 
    nrf_gpiote_outinit_t _gpioteInitStatesOn[CS_PWM_MAX_CHANNELS];
    nrf_gpiote_outinit_t _gpioteInitStatesOff[CS_PWM_MAX_CHANNELS];
 
    bool _isPwmEnabled[CS_PWM_MAX_CHANNELS];
 
    uint32_t _zeroCrossingCounter;
 
    int64_t _zeroCrossTicksDeviationAvg;
 
    int64_t _zeroCrossDeviationIntegral;
 
    void gpioteConfig(uint8_t channel, bool initOn);
    void gpioteUnconfig(uint8_t channel);
    void gpioteEnable(uint8_t channel);
    void gpioteDisable(uint8_t channel);
    void gpioteForce(uint8_t channel, bool initOn);
    void gpioOn(uint8_t channel);
    void gpioOff(uint8_t channel);
    void writeCC(uint8_t channelIdx, uint32_t ticks);
    uint32_t readCC(uint8_t channelIdx);
 
    void enableInterrupt();
 
    nrf_timer_cc_channel_t getTimerChannel(uint8_t index);
    nrf_gpiote_tasks_t getGpioteTaskOut(uint8_t index);
    nrf_gpiote_tasks_t getGpioteTaskSet(uint8_t index);
    nrf_gpiote_tasks_t getGpioteTaskClear(uint8_t index);
    nrf_ppi_channel_t getPpiChannel(uint8_t index);
    nrf_ppi_channel_group_t getPpiGroup(uint8_t index);
    nrf_ppi_task_t getPpiTaskEnable(uint8_t index);
    nrf_ppi_task_t getPpiTaskDisable(uint8_t index);
};