#include "pwm.h"

void pwm_init_for_motors(uint16_t period) {
    P2->DIR |= 0xc0;
    P2->SEL0 |= 0xc0;
    P2->SEL1 &= ~0xc0;

    // 전체 주기 설정
    TIMER_A0->CCTL[0] = 0x0080;
    TIMER_A0->CCR[0] = period;
    TIMER_A0->EX0 = 0x00000;
    // 세부 주기 및 출력 설정
    TIMER_A0->CCTL[3] = 0x0040;
    TIMER_A0->CCR[3] = 0; // set duty left
    TIMER_A0->CCTL[4] = 0x0040;
    TIMER_A0->CCR[4] = 0; // set duty right
    // 모드
    TIMER_A0->CTL = 0x02f0;
    // SMCLK 12MHz, divide by 8, up-down mode
}

void pwm_set_duty_right(uint16_t duty) {
    if (duty > TIMER_A0->CCR[0]) duty = TIMER_A0->CCR[0];
    TIMER_A0->CCR[3] = duty;
}

void pwm_set_duty_left(uint16_t duty) {
    if (duty > TIMER_A0->CCR[0]) duty = TIMER_A0->CCR[0];
    TIMER_A0->CCR[4] = duty;
}