Add dual center PWM and revert changes to phased config

Author: jmaralo

Inc/HALAL/HALAL.hpp

@@ -10,6 +10,7 @@
 #include "HALAL/Services/ADC/ADC.hpp"
 #include "HALAL/Services/PWM/PWM/PWM.hpp"
 #include "HALAL/Services/PWM/DualPWM/DualPWM.hpp"
+#include "HALAL/Services/PWM/DualCenterPWM/DualCenterPWM.hpp"
 #include "HALAL/Services/PWM/PhasedPWM/PhasedPWM.hpp"
 #include "HALAL/Services/PWM/DualPhasedPWM/DualPhasedPWM.hpp"
 #include "HALAL/Services/Time/Time.hpp"

Inc/HALAL/Services/PWM/DualCenterPWM/DualCenterPWM.hpp

@@ -0,0 +1,10 @@
+#pragma once
+
+#include "HALAL/Services/PWM/DualPWM/DualPWM.hpp"
+
+class DualCenterPWM : public DualPWM {
+   public:
+    DualCenterPWM(Pin& pin, Pin& pin_negated);
+
+    void set_frequency(uint32_t freq_in_hz);
+};

Src/HALAL/Models/TimerPeripheral/TimerPeripheral.cpp

@@ -47,18 +47,20 @@ void TimerPeripheral::init() {
 		handle->Instance = handle_to_timer[handle];
 		handle->Init.Prescaler = init_data.prescaler;
 		handle->Init.CounterMode = TIM_COUNTERMODE_UP;
-    	handle->Init.Period = init_data.period;
-        handle->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-        handle->Init.RepetitionCounter = 0;
-        handle->Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+		handle->Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
         for (PWMData pwm_data : init_data.pwm_channels) {
 			if (pwm_data.mode == PHASED) {
+				handle->Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
+			    break;
+			} else if (pwm_data.mode == CENTER_ALIGNED) {
 				handle->Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
 				handle->Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
-			    break;
+				break;
 			}
 		}
-		
+		handle->Init.Period = init_data.period;
+        handle->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+        handle->Init.RepetitionCounter = 0;
 
 		if (init_data.type == BASE) {
 			if (HAL_TIM_Base_Init(handle) != HAL_OK){
@@ -113,7 +115,8 @@ void TimerPeripheral::init() {
 			sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
 
 			if (pwm_data.mode == PHASED) {
-				sConfigOC.OCMode = TIM_OCMODE_PWM1;
+				//ASSYMETRIC_MODE_1 means one output per pair of registers (CCR1 - CCR2) for example
+				sConfigOC.OCMode = TIM_OCMODE_ASSYMETRIC_PWM1;
 				if (HAL_TIM_PWM_ConfigChannel(handle, &sConfigOC, pwm_data.channel) != HAL_OK) {
 					ErrorHandler("Unable to configure a PWM channel on %d", name.c_str());
 				}

Src/HALAL/Services/PWM/DualCenterPWM/DualCenterPWM.cpp

@@ -0,0 +1,37 @@
+#include "HALAL/Services/PWM/DualCenterPWM/DualCenterPWM.hpp"
+
+DualCenterPWM::DualCenterPWM(Pin& pin, Pin& pin_negated) {
+    if (not TimerPeripheral::available_dual_pwms.contains({pin, pin_negated})) {
+        ErrorHandler(
+            "Pins %s and %s are not registered as an available Dual PWM",
+            pin.to_string(), pin_negated.to_string());
+    }
+
+    TimerPeripheral& timer =
+        TimerPeripheral::available_dual_pwms.at({pin, pin_negated}).first;
+    TimerPeripheral::PWMData& pwm_data =
+        TimerPeripheral::available_dual_pwms.at({pin, pin_negated}).second;
+
+    peripheral = &timer;
+    channel = pwm_data.channel;
+
+    if (pwm_data.mode != TimerPeripheral::PWM_MODE::CENTER_ALIGNED) {
+        ErrorHandler(
+            "Pins %s and %s are not registered as a CENTER ALIGNED PWM",
+            pin.to_string(), pin_negated.to_string());
+    }
+
+    Pin::inscribe(pin, TIMER_ALTERNATE_FUNCTION);
+    Pin::inscribe(pin_negated, TIMER_ALTERNATE_FUNCTION);
+    timer.init_data.pwm_channels.push_back(pwm_data);
+
+    duty_cycle = 0;
+}
+
+void DualCenterPWM::set_frequency(uint32_t freq_in_hz) {
+    this->frequency = freq_in_hz;
+    TIM_TypeDef& timer = *peripheral->handle->Instance;
+    timer.ARR =
+        (HAL_RCC_GetPCLK1Freq() * 2 / (timer.PSC + 1)) / (frequency * 2);
+    set_duty_cycle(duty_cycle);
+}