#include "DCMotor.h"
#include "math.h"

const int MOTOR_PWM_FREQ = 50;

void DCMotor_conf(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpioPwm, int pinPwm, GPIO_TypeDef * gpioDirection, int pinDirection)
{
	// On regle la vitesse en valeur absolue, ici a 0
	Timer_pwmo_conf(timer, channel, MOTOR_PWM_FREQ, 0);

	// Configuration du GPIO
	GPIO_conf(gpioPwm, pinPwm, LL_GPIO_MODE_ALTERNATE, LL_GPIO_OUTPUT_PUSHPULL, LL_GPIO_PULL_UP);


	// On regle le sens du moteur
	GPIO_conf(gpioDirection, pinDirection, LL_GPIO_MODE_OUTPUT, LL_GPIO_OUTPUT_PUSHPULL, LL_GPIO_PULL_DOWN);
	GPIO_setPin(gpioDirection, pinDirection, 0);

	Timer_start(timer);
}



void DCMotor_setSpeed(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin, float speed)
{
	const int dir = speed > 0.0;
	Timer_pwmo_setDutyCycle(timer, channel, fabs(speed));
	GPIO_setPin(gpio, pin, dir);
}

float DCMotor_getSpeed(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin)
{
	const float speedAbs = Timer_pwmo_getDutyCycle(timer, channel);
	const int dir = GPIO_readPin(gpio, pin);
	return dir ? speedAbs : -speedAbs;
}