File content as of revision 1:786897114846:

#include "mbed.h"
#include "RateLimiter.h"

class BLDCmotorDriver {
    public:
        BLDCmotorDriver(PinName pGH_A, PinName pGH_B, PinName pGH_C, PinName pGL_A, PinName pGL_B, PinName pGL_C, PinName pH1, PinName pH2, PinName pH3, PinName pfault);    
        void configure(float sampleTime, float switchingFrequency, float rampUpSlope, float rampDownSlope);
        void setDutyCycle(float dutyCycle);
        void coast();
        float getDutyCycle();
        int getSector();
    private:
        PwmOut GH_A, GH_B, GH_C;
        DigitalOut GL_A, GL_B, GL_C; // Low-side gates are never PWM driven
        InterruptIn H1; // InterruptIn can be used on all pins except p19 and p20
        InterruptIn H2; 
        InterruptIn H3;
        DigitalOut fault;
        RateLimiter rl;
        Ticker ticker;
        float switchingPeriod, dutyCycle, tempDutyCycle, sampleTime;
        void commutation();
        void adjustDutyCycle();
        int currentSector, previousSector;      
};