add pwmoutput and analogoutput to stm32f767 mcal

firmware/mcal/stm32f767/periph/analog_output.h

@@ -0,0 +1,33 @@
+/// @author Tamara Xu
+/// @date 2024-10-13
+
+#pragma once
+
+#include <cstdint>
+
+#include "shared/periph/analog_output.h"
+#include "shared/util/mappers/clamper.h"
+#include "stm32f7xx_hal.h"
+
+namespace mcal::stm32f767::periph {
+
+class AnalogOutput : public shared::periph::AnalogOutput {
+public:
+    AnalogOutput(TIM_HandleTypeDef* htim, uint32_t channel)
+        : htim_(htim), channel_(channel) {}
+
+    void SetVoltage (float voltage) override {
+        voltage_ = shared::util::Clamper<float>::Evaluate(voltage, 0, 3.3);
+        uint32_t pulse = (voltage_ * float(__HAL_TIM_GetAutoreload(htim_))) /
+                 (3.3 * 100.0f);
+
+        __HAL_TIM_SetCompare(htim_, channel_, pulse);
+    }
+
+private:
+    TIM_HandleTypeDef* htim_;
+    uint32_t channel_;
+    float voltage_;
+};
+
+}  // namespace mcal::stm32f767::periph

firmware/mcal/stm32f767/periph/pwm.h

@@ -60,10 +60,22 @@ class PWMOutput : public shared::periph::PWMOutput {
         return float(pulse) / float(period) * 100.0f;
     }
 
+    void SetFrequency(float frequency) override {
+        frequency_ = std::max((float) 0, frequency);
+        uint32_t autoreload = 1/frequency_;
+
+        __HAL_TIM_SetAutoreload(htim, autoreload);
+    }
+
+    float GetFrequency() override {
+        return frequency_;
+    }
+
 private:
     TIM_HandleTypeDef* htim_;
     uint32_t channel_;
     float duty_cycle_ = 0;
+    float frequency_;
 };
 
 }  // namespace mcal::stm32f767::periph