Added some pulse-setting functionality

CM7/Core/Inc/gatedriver.h

@@ -14,9 +14,11 @@ enum phase{
 
 typedef struct {
 	I2C_HandleTypeDef* hi2c;
+	TIM_HandleTypeDef* tim;	// timer associated with this PWM in this driver
+	uint32_t[] pulses;
 } gatedriver_t;
 
-gatedriver_t* gatedrv_init(/*TODO: Pass hardware interfaces*/);
+gatedriver_t* gatedrv_init();
 
 int16_t gatedrv_read_dc_voltage(gatedriver_t* drv);
 
@@ -28,4 +30,4 @@ int16_t gatedrv_write_pwm(gatedriver_t* drv);
 
 int16_t gatedrv_read_igbt_temp(gatedriver_t* drv);
 
-#endif /* GATEDRIVER_H */
+#endif /* GATEDRIVER_H */

CM7/Core/Src/gatedriver.c

@@ -82,9 +82,56 @@ int16_t gatedrv_read_dc_current(gatedriver_t* drv)
 
 /* Note: This has to atomically write to ALL PWM registers */
 //TODO: mechanism for PWM synchronization
-int16_t gatedrv_write_pwm(gatedriver_t* drv)
+int16_t gatedrv_write_pwm(gatedriver_t* drv, uint32_t[] pulses)
 {
-
+	// Common configuration for all channels
+	TIM_OC_InitTypeDef PWMConfig;
+	PWMConfig.OCMode       = TIM_OCMODE_PWM1;
+	PWMConfig.OCPolarity   = TIM_OCPOLARITY_HIGH;
+	PWMConfig.OCNPolarity  = TIM_OCNPOLARITY_HIGH;
+	PWMConfig.OCIdleState  = TIM_OCIDLESTATE_SET;
+	PWMConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+	PWMConfig.OCFastMode   = TIM_OCFAST_DISABLE;
+
+	// Attempting to set channel 1
+	PWMConfig.Pulse = pulse[0];
+	if(HAL_TIM_PWM_ConfigChannel(drv->tim, &PWMConfig, TIM_CHANNEL_1) != HAL_OK)
+	{
+		// do nothing and return
+		return;
+	}
+
+	// Attempting to set channel 2
+	PWMConfig.Pulse = pulse[1];
+	if(HAL_TIM_PWM_ConfigChannel(drv->tim, &PWMConfig, TIM_CHANNEL_2) != HAL_OK)
+	{
+		// attempt to revert last channel change and return
+		PWMConfig.Pulse = drv->pulses[0];
+		HAL_TIM_PWM_ConfigChannel(drv->tim, &PWMConfig, TIM_CHANNEL_1);
+
+		return;
+	}
+
+	// Attempting to set channel 3
+	PWMConfig.Pulse = pulse[2];
+	if(HAL_TIM_PWM_ConfigChannel(drv->tim, &PWMConfig, TIM_CHANNEL_3) != HAL_OK)
+	{
+		// attempt to revert previous channel changes and return
+		PWMConfig.Pulse = drv->pulses[0];
+		HAL_TIM_PWM_ConfigChannel(drv->tim, &PWMConfig, TIM_CHANNEL_1);
+
+		PWMConfig.Pulse = drv->pulses[1];
+		HAL_TIM_PWM_ConfigChannel(drv->tim, &PWMConfig, TIM_CHANNEL_2);
+
+		return;
+	}
+
+	// successful PWM modifications - save configuration and return
+	drv->pulses[0] = pulses[0];
+	drv->pulses[1] = pulses[1];
+	drv->pulses[2] = pulses[2];
+
+	return;
 }
 
 int16_t gatedrv_read_igbt_temp(gatedriver_t* drv)