Cooper Liu
/
Eurobot2013_IR
Eurobot 2013 IR testbench
Revision 1:818904abef3d, committed 2012-11-14
- Comitter:
- xiaxia686
- Date:
- Wed Nov 14 18:44:03 2012 +0000
- Parent:
- 0:5ebe36076172
- Commit message:
- Working PWM;
Changed in this revision
--- a/PwmIn/PwmIn.cpp Wed Nov 14 16:53:28 2012 +0000 +++ b/PwmIn/PwmIn.cpp Wed Nov 14 18:44:03 2012 +0000 @@ -1,52 +1,76 @@ -/* mbed PwmIn Library - * Copyright (c) 2008-2010, sford - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include "PwmIn.h" - -PwmIn::PwmIn(PinName p) : _p(p) { - _p.rise(this, &PwmIn::rise); - _p.fall(this, &PwmIn::fall); - _period = 0.0; - _pulsewidth = 0.0; - _t.start(); -} - -float PwmIn::period() { - return _period; -} - -float PwmIn::pulsewidth() { - return _pulsewidth; -} - -float PwmIn::dutycycle() { - return _pulsewidth / _period; -} - -void PwmIn::rise() { - _period = _t.read(); - _t.reset(); -} - -void PwmIn::fall() { - _pulsewidth = _t.read(); -} +/* mbed PwmIn Library + * Copyright (c) 2008-2010, sford + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "PwmIn.h" +#include "globals.h" + +PwmIn::PwmIn(PinName p) : _p(p) { + #ifdef PWM_INVERT + _p.rise(this, &PwmIn::fall); + _p.fall(this, &PwmIn::rise); + #else + _p.rise(this, &PwmIn::rise); + _p.fall(this, &PwmIn::fall); + #endif + + _period = 0.0; + _pulsewidth = 0.0; + _t.start(); + + //init callabck function + callbackfunc = NULL; + callbackobj = NULL; + mcallbackfunc = NULL; + +} + +float PwmIn::period() { + return _period; +} + +float PwmIn::pulsewidth() { + return _pulsewidth; +} + +float PwmIn::dutycycle() { + return _pulsewidth / _period; +} + +void PwmIn::rise() { + _period = _t.read(); + _t.reset(); + + + + +} + +void PwmIn::fall() { + _pulsewidth = _t.read(); + + if (callbackfunc) + (*callbackfunc)(_pulsewidth / _period); + + if (callbackobj && mcallbackfunc) + (callbackobj->*mcallbackfunc)(_pulsewidth / _period); + +}
--- a/PwmIn/PwmIn.h Wed Nov 14 16:53:28 2012 +0000 +++ b/PwmIn/PwmIn.h Wed Nov 14 18:44:03 2012 +0000 @@ -1,70 +1,78 @@ -/* mbed PwmIn Library - * Copyright (c) 2008-2010, sford - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#ifndef MBED_PWMIN_H -#define MBED_PWMIN_H - -#include "mbed.h" - -/** PwmIn class to read PWM inputs - * - * Uses InterruptIn to measure the changes on the input - * and record the time they occur - * - * @note uses InterruptIn, so not available on p19/p20 - */ -class PwmIn { -public: - /** Create a PwmIn - * - * @param p The pwm input pin (must support InterruptIn) - */ - PwmIn(PinName p); - - /** Read the current period - * - * @returns the period in seconds - */ - float period(); - - /** Read the current pulsewidth - * - * @returns the pulsewidth in seconds - */ - float pulsewidth(); - - /** Read the current dutycycle - * - * @returns the dutycycle as a percentage, represented between 0.0-1.0 - */ - float dutycycle(); - -protected: - void rise(); - void fall(); - - InterruptIn _p; - Timer _t; - float _pulsewidth, _period; -}; - -#endif +/* mbed PwmIn Library + * Copyright (c) 2008-2010, sford + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#ifndef MBED_PWMIN_H +#define MBED_PWMIN_H + +#include "mbed.h" + +/** PwmIn class to read PWM inputs + * + * Uses InterruptIn to measure the changes on the input + * and record the time they occur + * + * @note uses InterruptIn, so not available on p19/p20 + */ +class DummyCT; + +class PwmIn { +public: + /** Create a PwmIn + * + * @param p The pwm input pin (must support InterruptIn) + */ + PwmIn(PinName p); + + /** Read the current period + * + * @returns the period in seconds + */ + float period(); + + /** Read the current pulsewidth + * + * @returns the pulsewidth in seconds + */ + float pulsewidth(); + + /** Read the current dutycycle + * + * @returns the dutycycle as a percentage, represented between 0.0-1.0 + */ + float dutycycle(); + + /** A assigns a callback function when a new reading is available **/ + void (*callbackfunc)(float dutycycle); + DummyCT* callbackobj; + void (DummyCT::*mcallbackfunc)(float dutycycle); + + +protected: + void rise(); + void fall(); + + InterruptIn _p; + Timer _t; + float _pulsewidth, _period; +}; + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/globals.h Wed Nov 14 18:44:03 2012 +0000 @@ -0,0 +1,9 @@ +#ifndef GLOBALS_H +#define GLOBALS_H + +#include "mbed.h" +#define PI 3.14159265 + +#define PWM_INVERT + +#endif \ No newline at end of file
--- a/main.cpp Wed Nov 14 16:53:28 2012 +0000 +++ b/main.cpp Wed Nov 14 18:44:03 2012 +0000 @@ -0,0 +1,42 @@ +#include "mbed.h" +#include "PwmIn.h" +#include "globals.h" +#include "rtos.h" + +#define PWM_INVERT + +DigitalOut led1(LED1); +DigitalOut led2(LED2); +Serial pc(USBTX, USBRX); // tx, rx + +PwmIn My_PWM(p30); +float my_dutycycle; +Semaphore serial_sema(1); + +void PWM_Callback(float dutycycle) { + led1 = !led1; + my_dutycycle = dutycycle; + serial_sema.release(); + +} + + +void serial_thread(void const *argument) { + while (true) { + serial_sema.wait(); + printf("dutycycle: %0.4f \n\r", my_dutycycle); + } +} + +int main() { + pc.baud(19200); + pc.printf("Hello from mbed\n"); + + My_PWM.callbackfunc = PWM_Callback; + + Thread thread(serial_thread); + + while (true) { + Thread::wait(osWaitForever); + } +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Wed Nov 14 18:44:03 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#9654a71f5a90
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Nov 14 18:44:03 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ed12d17f06 \ No newline at end of file