PWM & ICU Drivers for Motor/Sensor

/* PWM configuration: cooling fan (10 kHz) and fuel injector (200 Hz) */
#include "Pwm.h"

const Pwm_ChannelConfigType Pwm_ChannelConfig[] = {
    /* Cooling fan: 10 kHz PWM, 0-100% duty, active high */
    {
        .PwmChannelId          = PWM_CH_COOLING_FAN,
        .PwmChannelClass       = PWM_FIXED_PERIOD,
        .PwmHwChannel          = PWM_HW_GTM_TOM0_0, /* GTM timer output */
        .PwmPeriodDefault      = 10000u,  /* 10 kHz: 100 us period in ns */
        .PwmDutyCycleDefault   = 0x0000u, /* 0% = fan off */
        .PwmIdleState          = PWM_LOW, /* idle: output low = fan off */
        .PwmPolarity           = PWM_HIGH, /* high = active */
    },
    /* Fuel injector: 200 Hz max, variable duty (injection pulse width) */
    {
        .PwmChannelId          = PWM_CH_INJECTOR_1,
        .PwmChannelClass       = PWM_VARIABLE_PERIOD,
        .PwmHwChannel          = PWM_HW_GTM_TOM0_1,
        .PwmPeriodDefault      = 5000000u, /* 200 Hz: 5 ms in ns */
        .PwmDutyCycleDefault   = 0x0000u,  /* 0% = injector closed */
        .PwmIdleState          = PWM_LOW,
        .PwmPolarity           = PWM_HIGH,
    },
};

/* Usage: set fan speed */
void Fan_SetSpeed(uint8 speed_pct)  /* 0-100 */
{
    uint16 duty = (uint16)((uint32)speed_pct * 0x8000u / 100u);
    Pwm_SetDutyCycle(PWM_CH_COOLING_FAN, duty);
}

/* ICU: wheel speed sensor (48-tooth hall effect) */
#include "Icu.h"

const Icu_ChannelConfigType Icu_ChannelConfig[] = {
    {
        .IcuChannelId       = ICU_CH_WSS_FL,
        .IcuChannelMode     = ICU_MODE_EDGE_COUNTER,
        .IcuDefaultStartEdge= ICU_RISING_EDGE,
        .IcuHwChannel       = ICU_HW_GTM_TIM0_0,
        .IcuMeasurementMode = ICU_MODE_EDGE_COUNTER,
        .IcuSignalNotification = NULL_PTR,  /* polled, no interrupt */
    },
};

/* Read wheel speed every 10ms task */
#define WSS_TEETH_PER_REV  48u
#define WHEEL_CIRCUMFERENCE_MM 1950u  /* 195/65R15 */

float32 Icu_GetWheelSpeedKph(Icu_ChannelType ch)
{
    static Icu_EdgeNumberType prev_edges = 0u;
    Icu_EdgeNumberType current_edges = Icu_GetEdgeNumbers(ch);
    Icu_EdgeNumberType delta = current_edges - prev_edges; /* wraps OK */
    prev_edges = current_edges;

    /* edges in 10ms -> speed */
    /* revolutions/s = edges / teeth / 0.01s */
    float32 rev_per_s = (float32)delta / (float32)WSS_TEETH_PER_REV / 0.01f;
    float32 speed_mps = rev_per_s * (float32)WHEEL_CIRCUMFERENCE_MM / 1000.0f;
    return speed_mps * 3.6f;  /* m/s -> km/h */
}