PWM based motor driver added from other project

components/board_io/include/gpioPort.hpp

@@ -0,0 +1,95 @@
+/**
+ * @file gpioPort.hpp
+ * @author Gustice
+ * @brief GPIO-Port classes
+ * @details C++ Wrapper for GPIO port
+ *
+ * @copyright Copyright (c) 2024
+ */
+#pragma once
+
+#include "driver/gpio.h"
+#include "portBase.hpp"
+
+/**
+ * @brief Digital-Port BaseClass
+ */
+class GpioPort : public PortBase {
+  public:
+    enum PullResistor {
+        Floating = 0,
+        PullUp,
+        PullDown,
+    };
+
+    enum Logic {
+        Normal = 0, // Normal logic
+        Inverted,   // Inverted logic -> Set low on active state
+    };
+
+    enum Interrupt {
+        PositiveEdge = gpio_int_type_t::GPIO_INTR_POSEDGE,
+        NegativeEdge = gpio_int_type_t::GPIO_INTR_NEGEDGE,
+        AnyEdge = gpio_int_type_t::GPIO_INTR_ANYEDGE
+    };
+
+    GpioPort(gpio_num_t port);
+    ~GpioPort();
+
+    uint64_t GetReserved(void) { return _reservedPorts; }
+
+  protected:
+    const gpio_num_t _port;
+
+  private:
+    static uint64_t _reservedPorts;
+};
+
+/**
+ * @brief Input-Port
+ * @details Provides abstract reading functionality
+ */
+class InputPort : public GpioPort {
+  public:
+    InputPort(gpio_num_t port, GpioPort::PullResistor resistor = PullResistor::Floating);
+    void setLogic(GpioPort::Logic logic) {
+      _logic = logic;
+    }
+    ~InputPort() = default;
+
+    bool read(void);
+
+    private:
+      GpioPort::Logic _logic = GpioPort::Logic::Normal;
+};
+
+/**
+ * @brief Output-Port
+ * @details Provides abstract setting functionality
+ */
+class OutputPort : public GpioPort {
+  public:
+    OutputPort(gpio_num_t port, GpioPort::Logic mode = Logic::Normal);
+    ~OutputPort(){};
+
+    void write(int active);
+
+  private:
+    const GpioPort::Logic _mode = Normal;
+};
+
+/**
+ * @brief Interrupt-Port
+ */
+class TriggeredInput : public InputPort {
+  public:
+    TriggeredInput(gpio_num_t port,
+                   GpioPort::PullResistor resistor = GpioPort::PullResistor::Floating,
+                   TriggeredInput::Interrupt edge = TriggeredInput::Interrupt::AnyEdge);
+    ~TriggeredInput(){};
+
+    void RegisterIsr(gpio_isr_t pIsrHandle);
+
+  private:
+    static bool _isrServiceInitiated;
+};