PWM based motor driver added from other project

components/movement/include/gpTimer.hpp

@@ -0,0 +1,82 @@
+/**
+ * @file gpTimer.hpp
+ * @author Gustice
+ * @brief ESP-hardware-timer class
+ *
+ * @copyright Copyright (c) 2024
+ */
+
+#pragma once
+
+#include "driver/gptimer.h"
+#include "esp_attr.h"
+#include "esp_log.h"
+#include "portBase.hpp"
+
+/**
+ * @brief Base class for tasks
+ */
+class HwTimerBase : public PortBase {
+  public:
+    enum Mode {
+        OneShot = 0,
+        Periodic
+    };
+
+    void setup(int thresh, Mode mode);
+    void start();
+    void stop();
+
+  protected:
+    gptimer_handle_t gpTimer{};
+
+    HwTimerBase(gptimer_alarm_cb_t callback);
+    ~HwTimerBase();
+};
+
+/**
+ * @brief Simple Timer without callback
+ */
+class HwTimer : public HwTimerBase {
+  public:
+    using CallSignature = bool (*)(HwTimer &);
+
+    HwTimer(CallSignature call)
+        : HwTimerBase(CallFrame), _call{call} {
+    }
+
+  private:
+    CallSignature _call;
+
+    static bool IRAM_ATTR CallFrame(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *_this) {
+        auto &tmr = *reinterpret_cast<HwTimer *>(_this);
+        return tmr._call(tmr);
+    }
+};
+
+/**
+ * @brief Timer with callback parameter
+ * @tparam T Type of task parameter on call
+ */
+template <typename T>
+class HwTimerT : public HwTimerBase {
+    using CallSignatureT = bool (*)(HwTimerT<T> &, T);
+
+  public:
+    HwTimerT(CallSignatureT call, const T &param)
+        : HwTimerBase(CallFrame), _param(call, param) {
+    }
+
+  private:
+    template <typename TS>
+    struct Param {
+        CallSignatureT call;
+        const TS &arg;
+    };
+    static bool IRAM_ATTR CallFrame(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *_this) {
+        auto &tmr = *reinterpret_cast<HwTimerT *>(_this);
+        auto &param = tmr._param;
+        return param.call(tmr, param.arg);
+    }
+    Param<T> _param;
+};