File content as of revision 0:a129854eb4b6:

#include "ThreePhaseBridge.h"

int8_t ThreePhaseBridge::stateOrder[6] =  {3, 1, 5, 4, 6, 2};

ThreePhaseBridge::ThreePhaseBridge(
    PinName sw1PinName, PinName sw2PinName, PinName sw3PinName,
    PinName sw4PinName, PinName sw5PinName, PinName sw6PinName,
    ThreePhaseBridge::ActiveState activeState
) : sw1(sw1PinName), sw3(sw3PinName), sw5(sw5PinName),
    sw2(sw2PinName), sw4(sw4PinName), sw6(sw6PinName),
    activeState(activeState)
{
    highSide[0] = &sw1;
    highSide[1] = &sw3;
    highSide[2] = &sw5;
    lowSide[0] = &sw2;
    lowSide[1] = &sw4;
    lowSide[2] = &sw6;
    switchesState = 63;
    setSwitchesState(0);
    state = 0; stateIndex = 5;
}

void ThreePhaseBridge::setPwmPeriod_us(int32_t period_us)
{
    pwmPeriod_us = period_us;
    sw1.period_us(period_us);
    sw3.period_us(period_us);
    sw5.period_us(period_us);
}

void ThreePhaseBridge::setPwmPulseWidth_us(int32_t pulseWidth_us)
{
    pwmPulseWidth_us = pulseWidth_us;
    sw1.pulsewidth_us(pulseWidth_us);
    sw3.pulsewidth_us(pulseWidth_us);
    sw5.pulsewidth_us(pulseWidth_us);
}
void ThreePhaseBridge::setHighSideSwitchState(int8_t sw, ThreePhaseBridge::SwitchState state)
{
    state == on ? highSide[sw]->pulsewidth_us(activeState == activeLow ? pwmPeriod_us - pwmPulseWidth_us : pwmPeriod_us)
                : highSide[sw]->pulsewidth_us(activeState == activeLow ? 2 * pwmPeriod_us : 0);
}

void ThreePhaseBridge::setLowSideSwitchState(int8_t sw, ThreePhaseBridge::SwitchState state)
{
    state == on ? *lowSide[sw] = (activeState == activeLow ? 0 : 1)
                : *lowSide[sw] = (activeState == activeLow ? 1 : 0);
}

void ThreePhaseBridge::setSwitchesState(uint8_t newState)
{
    uint8_t turnOff = ~(newState & switchesState) & switchesState;
    uint8_t turnOffLow = turnOff & 7;
    uint8_t turnOffHigh = turnOff >> 3;
    uint8_t turnOn = newState & ~switchesState;
    uint8_t turnOnLow = turnOn & 7;
    uint8_t turnOnHigh = turnOn >> 3;
    for (uint8_t i = 0; i < 3; i++) {
        if (turnOffLow & (1 << i))
            setLowSideSwitchState(i, off);
        if (turnOffHigh & (1 << i))
            setHighSideSwitchState(i, off);
    }
    for (uint8_t i = 0; i < 3; i++) {
        if (turnOnLow & (1 << i))
        {
            setLowSideSwitchState(i, on);
        }
        if (turnOnHigh & (1 << i))
            setHighSideSwitchState(i, on);        
    }
    switchesState = newState;
}
    
void ThreePhaseBridge::setState(int8_t newState)
{
    switch (newState) {
        case 1:
            setSwitchesState(SW1 | SW6);
        break;
        case 2:
            setSwitchesState(SW3 | SW2);
        break;
        case 3:
            setSwitchesState(SW3 | SW6);
        break;
        case 4:
            setSwitchesState(SW5 | SW4);
        break;
        case 5:
            setSwitchesState(SW1 | SW4);
        break;
        case 6:
            setSwitchesState(SW5 | SW2);
        break;
        default:
            setSwitchesState(0);
        break;
    }
    state = newState;
}

void ThreePhaseBridge::spin(ThreePhaseBridge::SpinDirection dir)
{
    stateIndex = (6 + stateIndex + dir) % 6;
    setState(stateOrder[stateIndex]);        
}