wd_pulsegen.h

//
// Created by alexey on 31-8-18.
//
 
#ifndef MOTORCORTEX_CORE_WD_PULSEGEN_H
#define MOTORCORTEX_CORE_WD_PULSEGEN_H
 
namespace mcx {
 
namespace watchdog {
 
class PulseGenerator {
public:
 
  PulseGenerator() = default;
  virtual ~PulseGenerator() = default;
 
  bool update(bool do_no_estop, unsigned int pulse_nr_of_cycles) {
    // invert pulse, after N cycles
    if (pulse_counter_++ >= pulse_nr_of_cycles) {
      pulse_counter_ = 0;
      pulse_ = !pulse_;
    }
    // apply flag do no estop to the ouput pulse
    return pulse_ & do_no_estop;
  }
 
private:
  bool pulse_{};
  unsigned int pulse_counter_{};
 
};
 
}
 
}
 
#endif //MOTORCORTEX_CORE_WD_PULSEGEN_H