/*
  Platine mit H-Bridge IFX9201SG und PCA8574D
*/

#pragma once

#include <MyPCA8574.h> 
#include <AVRxDB_Pin.h>
#include <AVRxDB_TCAn_FreqGen.h>

class HBridge
{
  private:
    OutputPin <pinPB0> pwmTakt; // PB0 TCA1 WO0
    OutputPin <pinPB1> direction;
    OutputPin <pinPB2> en;
    InputPin  <pinPB3> fault;
    OutputPin <pinPB4> cs;
    InputPin  <pinPB5> eFuse; 
    TCAnFreqGen <1> tca1;
    MyPCA8574 icGleis;
    enum class State : uint8_t { IDLE, CW, CCW, SLOW, HALT, STOP };
    State lokState     {State::IDLE};            
    State requestState {State::IDLE}; 
    uint8_t duty {0};
    uint16_t frequency {0};
    uint8_t dutyTarget {0};  
        
  public:
    HBridge(uint8_t a, TwoWire &w) :
      icGleis (a, w, 0b11111111)      // I2C Addr, wire0/wire1, I/O Config
      {}
        
    void init (void) 
    {
      pwmTakt.init();
      pwmTakt.setOff();
      direction.init();
      en.enableInvertIO();
      en.setOff();
      en.init();
      fault.init();
      cs.enableInvertIO();
      cs.setOff();
      cs.init();
      eFuse.init();
      tca1.init();                 // Dual-Slope Mode
      tca1.setFrequency(200);
      tca1.setDuty(30);
      tca1.update(); 
      icGleis.init();
    }
    
    void setFrequency (const uint16_t f) { frequency = f; tca1.setFrequency(f); tca1.update(); } 
    uint16_t getFrequency         (void) { return frequency; } 
    void setDuty      (const uint8_t  d) { duty = d;      tca1.setDuty(d);      tca1.update(); } 
    uint8_t getDuty               (void) { return duty; } 
    
    void stop  (void) { tca1.stop(); } 
    void run   (void) { tca1.run();  } 
        
    void disable (void) { en.setOff(); }  
    void enable  (void) { en.setOn();  } 
    
    void dirCW  (void) { direction.setOn(); } 
    void dirCCW (void) { direction.setOff();  } 
    
    void gleisOn  (const uint8_t g) { icGleis.setPin(g);   } 
    void gleisOff (const uint8_t g) { icGleis.clearPin(g); } 
    
    void gleisAllOff (void)
    { 
      for (uint8_t i=0; i<8; i++) {
        icGleis.clearPin(i);
      }  
    } 
};