From 13dcb08f94a311235abe1e7a7fa0f888c2d8bd6d Mon Sep 17 00:00:00 2001
From: Erki <erki.meinberg@gmail.com>
Date: Fri, 5 Mar 2021 15:21:30 +0200
Subject: [PATCH] Add SetCompare method to PWM channel

---
 Inc/peripherals_io.hpp          |  2 +-
 Inc/peripherals_pwm_channel.hpp |  4 +++-
 Src/peripherals_motors.cpp      | 24 ++++++++++++------------
 Src/peripherals_pwm_channel.cpp |  5 +++++
 4 files changed, 21 insertions(+), 14 deletions(-)

diff --git a/Inc/peripherals_io.hpp b/Inc/peripherals_io.hpp
index c6df7ad..de285f3 100644
--- a/Inc/peripherals_io.hpp
+++ b/Inc/peripherals_io.hpp
@@ -21,7 +21,7 @@ struct IO
 	GPIO_TypeDef* port;
 	std::uint16_t pin;
 
-	IO() = default;
+	IO() = delete;
 	IO(GPIO_TypeDef* port, const unsigned short pin);
 
 	void Set(const bool state);
diff --git a/Inc/peripherals_pwm_channel.hpp b/Inc/peripherals_pwm_channel.hpp
index d2baf8e..48da844 100644
--- a/Inc/peripherals_pwm_channel.hpp
+++ b/Inc/peripherals_pwm_channel.hpp
@@ -24,7 +24,7 @@ struct PwmChannel
 	std::uint32_t timer_code;
 	IO pin;
 
-	PwmChannel() = default;
+	PwmChannel() = delete;
 
 	PwmChannel(TIM_HandleTypeDef* timer,
 		const std::uint32_t channel,
@@ -36,6 +36,8 @@ struct PwmChannel
 
 	void Enable();
 	void Disable();
+
+	void SetCompare(const std::uint32_t compare);
 };
 
 }
diff --git a/Src/peripherals_motors.cpp b/Src/peripherals_motors.cpp
index f4475e6..e0b751c 100644
--- a/Src/peripherals_motors.cpp
+++ b/Src/peripherals_motors.cpp
@@ -28,34 +28,34 @@ void DualDrvMotors::Set(const std::int16_t left, const std::int16_t right)
 {
 	if (left > 0)
 	{
-		__HAL_TIM_SET_COMPARE(_left.forward.timer, _left.forward.channel, left);
-		__HAL_TIM_SET_COMPARE(_left.backward.timer, _left.backward.channel, 0);
+		_left.forward.SetCompare(left);
+		_left.backward.SetCompare(0);
 	}
 	else
 	{
-		__HAL_TIM_SET_COMPARE(_left.forward.timer, _left.forward.channel, 0);
-		__HAL_TIM_SET_COMPARE(_left.backward.timer, _left.backward.channel, (-1 * left));
+		_left.forward.SetCompare(0);
+		_left.backward.SetCompare(-1 * left);
 	}
 
 	if (right > 0)
 	{
-		__HAL_TIM_SET_COMPARE(_right.forward.timer, _right.forward.channel, right);
-		__HAL_TIM_SET_COMPARE(_right.backward.timer, _right.backward.channel, 0);
+		_right.forward.SetCompare(right);
+		_right.backward.SetCompare(0);
 	}
 	else
 	{
-		__HAL_TIM_SET_COMPARE(_right.forward.timer, _right.forward.channel, 0);
-		__HAL_TIM_SET_COMPARE(_right.backward.timer, _right.backward.channel, (-1 * right));
+		_right.forward.SetCompare(0);
+		_right.backward.SetCompare(-1 * right);
 	}
 }
 
 void DualDrvMotors::Coast()
 {
-	__HAL_TIM_SET_COMPARE(_left.forward.timer, _left.forward.channel, 0);
-	__HAL_TIM_SET_COMPARE(_left.backward.timer, _left.backward.channel, 0);
+	_left.forward.SetCompare(0);
+	_left.backward.SetCompare(0);
 
-	__HAL_TIM_SET_COMPARE(_right.forward.timer, _right.forward.channel, 0);
-	__HAL_TIM_SET_COMPARE(_right.backward.timer, _right.backward.channel, 0);
+	_right.forward.SetCompare(0);
+	_right.backward.SetCompare(0);
 }
 
 void DualDrvMotors::Break()
diff --git a/Src/peripherals_pwm_channel.cpp b/Src/peripherals_pwm_channel.cpp
index 988f653..ddd4f41 100644
--- a/Src/peripherals_pwm_channel.cpp
+++ b/Src/peripherals_pwm_channel.cpp
@@ -55,4 +55,9 @@ void PwmChannel::Disable()
 	HAL_TIM_PWM_Stop(timer, channel);
 }
 
+void PwmChannel::SetCompare(const std::uint32_t compare)
+{
+	__HAL_TIM_SET_COMPARE(timer, channel, compare);
+}
+
 }