From 6f90ee27a594626f8c9401b8fe2083783796c88c Mon Sep 17 00:00:00 2001
From: Richard Unger <richard.unger@nexum.com>
Date: Sat, 27 Aug 2022 22:32:43 +0200
Subject: [PATCH] add routines for 1-pwm in driver code

---
 src/BLDCMotor.cpp                             |  2 +-
 src/drivers/hardware_api.h                    | 22 +++++++++++++++++++
 src/drivers/hardware_specific/generic_mcu.cpp | 21 ++++++++++++++++++
 3 files changed, 44 insertions(+), 1 deletion(-)

diff --git a/src/BLDCMotor.cpp b/src/BLDCMotor.cpp
index 21b43faa..f6b5ef38 100644
--- a/src/BLDCMotor.cpp
+++ b/src/BLDCMotor.cpp
@@ -345,7 +345,7 @@ void BLDCMotor::move(float new_target) {
   //                        when switching to a 2-component representation.
   if( controller!=MotionControlType::angle_openloop && controller!=MotionControlType::velocity_openloop ) 
     shaft_angle = shaftAngle(); // read value even if motor is disabled to keep the monitoring updated but not in openloop mode
-  // get angular velocity 
+  // get angular velocity  TODO the velocity reading probably also shouldn't happen in open loop modes?
   shaft_velocity = shaftVelocity(); // read value even if motor is disabled to keep the monitoring updated
 
   // if disabled do nothing
diff --git a/src/drivers/hardware_api.h b/src/drivers/hardware_api.h
index cb2385b7..a1ca885a 100644
--- a/src/drivers/hardware_api.h
+++ b/src/drivers/hardware_api.h
@@ -19,6 +19,17 @@ typedef struct GenericDriverParams {
   float dead_zone;
 } GenericDriverParams;
 
+/** 
+ * Configuring PWM frequency, resolution and alignment
+ * - Stepper driver - 2PWM setting
+ * - hardware specific
+ * 
+ * @param pwm_frequency - frequency in hertz - if applicable
+ * @param pinA pinA pwm pin
+ * 
+ * @return -1 if failed, or pointer to internal driver parameters struct if successful
+ */
+void* _configure1PWM(long pwm_frequency, const int pinA);
 
 /** 
  * Configuring PWM frequency, resolution and alignment
@@ -80,6 +91,17 @@ void* _configure4PWM(long pwm_frequency, const int pin1A, const int pin1B, const
  */
 void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l,  const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l);
 
+/** 
+ * Function setting the duty cycle to the pwm pin (ex. analogWrite())
+ * - Stepper driver - 2PWM setting
+ * - hardware specific
+ * 
+ * @param dc_a  duty cycle phase A [0, 1]
+ * @param dc_b  duty cycle phase B [0, 1]
+ * @param params  the driver parameters
+ */ 
+void _writeDutyCycle1PWM(float dc_a, void* params);
+
 /** 
  * Function setting the duty cycle to the pwm pin (ex. analogWrite())
  * - Stepper driver - 2PWM setting
diff --git a/src/drivers/hardware_specific/generic_mcu.cpp b/src/drivers/hardware_specific/generic_mcu.cpp
index cb3bfd34..fe6e65a4 100644
--- a/src/drivers/hardware_specific/generic_mcu.cpp
+++ b/src/drivers/hardware_specific/generic_mcu.cpp
@@ -5,6 +5,18 @@
   __attribute__((weak)) void analogWrite(uint8_t pin, int value){ };
 #endif
 
+// function setting the high pwm frequency to the supplied pin
+// - Stepper motor - 1PWM setting
+// - hardware speciffic
+// in generic case dont do anything
+__attribute__((weak)) void* _configure1PWM(long pwm_frequency, const int pinA) {
+  GenericDriverParams* params = new GenericDriverParams {
+    .pins = { pinA },
+    .pwm_frequency = pwm_frequency
+  };
+  return params;
+}
+
 // function setting the high pwm frequency to the supplied pins
 // - Stepper motor - 2PWM setting
 // - hardware speciffic
@@ -59,6 +71,15 @@ __attribute__((weak)) void* _configure6PWM(long pwm_frequency, float dead_zone,
 }
 
 
+// function setting the pwm duty cycle to the hardware
+// - Stepper motor - 1PWM setting
+// - hardware speciffic
+__attribute__((weak)) void _writeDutyCycle1PWM(float dc_a, void* params){
+  // transform duty cycle from [0,1] to [0,255]
+  analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a);
+}
+
+
 // function setting the pwm duty cycle to the hardware
 // - Stepper motor - 2PWM setting
 // - hardware speciffic