AX12 control pince
Fork of command_AX12 by
mbed/InterruptIn.h@5:740eb0f606c1, 2017-05-11 (annotated)
- Committer:
- SquirrelGod
- Date:
- Thu May 11 12:59:23 2017 +0000
- Revision:
- 5:740eb0f606c1
- Parent:
- 2:99b1cb0d9f5e
code AX12 gros robots
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
SquirrelGod | 2:99b1cb0d9f5e | 1 | /* mbed Microcontroller Library - InterruptIn |
SquirrelGod | 2:99b1cb0d9f5e | 2 | * Copyright (c) 2006-2011 ARM Limited. All rights reserved. |
SquirrelGod | 2:99b1cb0d9f5e | 3 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 4 | |
SquirrelGod | 2:99b1cb0d9f5e | 5 | #ifndef MBED_INTERRUPTIN_H |
SquirrelGod | 2:99b1cb0d9f5e | 6 | #define MBED_INTERRUPTIN_H |
SquirrelGod | 2:99b1cb0d9f5e | 7 | |
SquirrelGod | 2:99b1cb0d9f5e | 8 | #include "device.h" |
SquirrelGod | 2:99b1cb0d9f5e | 9 | |
SquirrelGod | 2:99b1cb0d9f5e | 10 | #if DEVICE_INTERRUPTIN |
SquirrelGod | 2:99b1cb0d9f5e | 11 | |
SquirrelGod | 2:99b1cb0d9f5e | 12 | #include "platform.h" |
SquirrelGod | 2:99b1cb0d9f5e | 13 | #include "PinNames.h" |
SquirrelGod | 2:99b1cb0d9f5e | 14 | #include "PeripheralNames.h" |
SquirrelGod | 2:99b1cb0d9f5e | 15 | #include "Base.h" |
SquirrelGod | 2:99b1cb0d9f5e | 16 | #include "FunctionPointer.h" |
SquirrelGod | 2:99b1cb0d9f5e | 17 | |
SquirrelGod | 2:99b1cb0d9f5e | 18 | #if defined(TARGET_LPC1768) || defined(TARGET_LPC2368) |
SquirrelGod | 2:99b1cb0d9f5e | 19 | #define CHANNEL_NUM 48 |
SquirrelGod | 2:99b1cb0d9f5e | 20 | #elif defined(TARGET_LPC11U24) |
SquirrelGod | 2:99b1cb0d9f5e | 21 | #define CHANNEL_NUM 8 |
SquirrelGod | 2:99b1cb0d9f5e | 22 | #endif |
SquirrelGod | 2:99b1cb0d9f5e | 23 | |
SquirrelGod | 2:99b1cb0d9f5e | 24 | namespace mbed { |
SquirrelGod | 2:99b1cb0d9f5e | 25 | |
SquirrelGod | 2:99b1cb0d9f5e | 26 | /* Class: InterruptIn |
SquirrelGod | 2:99b1cb0d9f5e | 27 | * A digital interrupt input, used to call a function on a rising or falling edge |
SquirrelGod | 2:99b1cb0d9f5e | 28 | * |
SquirrelGod | 2:99b1cb0d9f5e | 29 | * Example: |
SquirrelGod | 2:99b1cb0d9f5e | 30 | * > // Flash an LED while waiting for events |
SquirrelGod | 2:99b1cb0d9f5e | 31 | * > |
SquirrelGod | 2:99b1cb0d9f5e | 32 | * > #include "mbed.h" |
SquirrelGod | 2:99b1cb0d9f5e | 33 | * > |
SquirrelGod | 2:99b1cb0d9f5e | 34 | * > InterruptIn event(p16); |
SquirrelGod | 2:99b1cb0d9f5e | 35 | * > DigitalOut led(LED1); |
SquirrelGod | 2:99b1cb0d9f5e | 36 | * > |
SquirrelGod | 2:99b1cb0d9f5e | 37 | * > void trigger() { |
SquirrelGod | 2:99b1cb0d9f5e | 38 | * > printf("triggered!\n"); |
SquirrelGod | 2:99b1cb0d9f5e | 39 | * > } |
SquirrelGod | 2:99b1cb0d9f5e | 40 | * > |
SquirrelGod | 2:99b1cb0d9f5e | 41 | * > int main() { |
SquirrelGod | 2:99b1cb0d9f5e | 42 | * > event.rise(&trigger); |
SquirrelGod | 2:99b1cb0d9f5e | 43 | * > while(1) { |
SquirrelGod | 2:99b1cb0d9f5e | 44 | * > led = !led; |
SquirrelGod | 2:99b1cb0d9f5e | 45 | * > wait(0.25); |
SquirrelGod | 2:99b1cb0d9f5e | 46 | * > } |
SquirrelGod | 2:99b1cb0d9f5e | 47 | * > } |
SquirrelGod | 2:99b1cb0d9f5e | 48 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 49 | class InterruptIn : public Base { |
SquirrelGod | 2:99b1cb0d9f5e | 50 | |
SquirrelGod | 2:99b1cb0d9f5e | 51 | public: |
SquirrelGod | 2:99b1cb0d9f5e | 52 | |
SquirrelGod | 2:99b1cb0d9f5e | 53 | /* Constructor: InterruptIn |
SquirrelGod | 2:99b1cb0d9f5e | 54 | * Create an InterruptIn connected to the specified pin |
SquirrelGod | 2:99b1cb0d9f5e | 55 | * |
SquirrelGod | 2:99b1cb0d9f5e | 56 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 57 | * pin - InterruptIn pin to connect to |
SquirrelGod | 2:99b1cb0d9f5e | 58 | * name - (optional) A string to identify the object |
SquirrelGod | 2:99b1cb0d9f5e | 59 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 60 | InterruptIn(PinName pin, const char *name = NULL); |
SquirrelGod | 2:99b1cb0d9f5e | 61 | #if defined(TARGET_LPC11U24) |
SquirrelGod | 2:99b1cb0d9f5e | 62 | virtual ~InterruptIn(); |
SquirrelGod | 2:99b1cb0d9f5e | 63 | #endif |
SquirrelGod | 2:99b1cb0d9f5e | 64 | |
SquirrelGod | 2:99b1cb0d9f5e | 65 | int read(); |
SquirrelGod | 2:99b1cb0d9f5e | 66 | #ifdef MBED_OPERATORS |
SquirrelGod | 2:99b1cb0d9f5e | 67 | operator int(); |
SquirrelGod | 2:99b1cb0d9f5e | 68 | |
SquirrelGod | 2:99b1cb0d9f5e | 69 | #endif |
SquirrelGod | 2:99b1cb0d9f5e | 70 | |
SquirrelGod | 2:99b1cb0d9f5e | 71 | /* Function: rise |
SquirrelGod | 2:99b1cb0d9f5e | 72 | * Attach a function to call when a rising edge occurs on the input |
SquirrelGod | 2:99b1cb0d9f5e | 73 | * |
SquirrelGod | 2:99b1cb0d9f5e | 74 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 75 | * fptr - A pointer to a void function, or 0 to set as none |
SquirrelGod | 2:99b1cb0d9f5e | 76 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 77 | void rise(void (*fptr)(void)); |
SquirrelGod | 2:99b1cb0d9f5e | 78 | |
SquirrelGod | 2:99b1cb0d9f5e | 79 | /* Function: rise |
SquirrelGod | 2:99b1cb0d9f5e | 80 | * Attach a member function to call when a rising edge occurs on the input |
SquirrelGod | 2:99b1cb0d9f5e | 81 | * |
SquirrelGod | 2:99b1cb0d9f5e | 82 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 83 | * tptr - pointer to the object to call the member function on |
SquirrelGod | 2:99b1cb0d9f5e | 84 | * mptr - pointer to the member function to be called |
SquirrelGod | 2:99b1cb0d9f5e | 85 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 86 | template<typename T> |
SquirrelGod | 2:99b1cb0d9f5e | 87 | void rise(T* tptr, void (T::*mptr)(void)) { |
SquirrelGod | 2:99b1cb0d9f5e | 88 | _rise.attach(tptr, mptr); |
SquirrelGod | 2:99b1cb0d9f5e | 89 | setup_interrupt(1, 1); |
SquirrelGod | 2:99b1cb0d9f5e | 90 | } |
SquirrelGod | 2:99b1cb0d9f5e | 91 | |
SquirrelGod | 2:99b1cb0d9f5e | 92 | /* Function: fall |
SquirrelGod | 2:99b1cb0d9f5e | 93 | * Attach a function to call when a falling edge occurs on the input |
SquirrelGod | 2:99b1cb0d9f5e | 94 | * |
SquirrelGod | 2:99b1cb0d9f5e | 95 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 96 | * fptr - A pointer to a void function, or 0 to set as none |
SquirrelGod | 2:99b1cb0d9f5e | 97 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 98 | void fall(void (*fptr)(void)); |
SquirrelGod | 2:99b1cb0d9f5e | 99 | |
SquirrelGod | 2:99b1cb0d9f5e | 100 | /* Function: fall |
SquirrelGod | 2:99b1cb0d9f5e | 101 | * Attach a member function to call when a falling edge occurs on the input |
SquirrelGod | 2:99b1cb0d9f5e | 102 | * |
SquirrelGod | 2:99b1cb0d9f5e | 103 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 104 | * tptr - pointer to the object to call the member function on |
SquirrelGod | 2:99b1cb0d9f5e | 105 | * mptr - pointer to the member function to be called |
SquirrelGod | 2:99b1cb0d9f5e | 106 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 107 | template<typename T> |
SquirrelGod | 2:99b1cb0d9f5e | 108 | void fall(T* tptr, void (T::*mptr)(void)) { |
SquirrelGod | 2:99b1cb0d9f5e | 109 | _fall.attach(tptr, mptr); |
SquirrelGod | 2:99b1cb0d9f5e | 110 | setup_interrupt(0, 1); |
SquirrelGod | 2:99b1cb0d9f5e | 111 | } |
SquirrelGod | 2:99b1cb0d9f5e | 112 | |
SquirrelGod | 2:99b1cb0d9f5e | 113 | /* Function: mode |
SquirrelGod | 2:99b1cb0d9f5e | 114 | * Set the input pin mode |
SquirrelGod | 2:99b1cb0d9f5e | 115 | * |
SquirrelGod | 2:99b1cb0d9f5e | 116 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 117 | * mode - PullUp, PullDown, PullNone |
SquirrelGod | 2:99b1cb0d9f5e | 118 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 119 | void mode(PinMode pull); |
SquirrelGod | 2:99b1cb0d9f5e | 120 | |
SquirrelGod | 2:99b1cb0d9f5e | 121 | static InterruptIn *_irq_objects[CHANNEL_NUM]; |
SquirrelGod | 2:99b1cb0d9f5e | 122 | |
SquirrelGod | 2:99b1cb0d9f5e | 123 | #if defined(TARGET_LPC1768) || defined(TARGET_LPC2368) |
SquirrelGod | 2:99b1cb0d9f5e | 124 | static void _irq(); |
SquirrelGod | 2:99b1cb0d9f5e | 125 | #elif defined(TARGET_LPC11U24) |
SquirrelGod | 2:99b1cb0d9f5e | 126 | static void handle_interrupt_in(unsigned int channel); |
SquirrelGod | 2:99b1cb0d9f5e | 127 | static void _irq0(); static void _irq1(); |
SquirrelGod | 2:99b1cb0d9f5e | 128 | static void _irq2(); static void _irq3(); |
SquirrelGod | 2:99b1cb0d9f5e | 129 | static void _irq4(); static void _irq5(); |
SquirrelGod | 2:99b1cb0d9f5e | 130 | static void _irq6(); static void _irq7(); |
SquirrelGod | 2:99b1cb0d9f5e | 131 | #endif |
SquirrelGod | 2:99b1cb0d9f5e | 132 | |
SquirrelGod | 2:99b1cb0d9f5e | 133 | protected: |
SquirrelGod | 2:99b1cb0d9f5e | 134 | PinName _pin; |
SquirrelGod | 2:99b1cb0d9f5e | 135 | #if defined(TARGET_LPC11U24) |
SquirrelGod | 2:99b1cb0d9f5e | 136 | Channel _channel; |
SquirrelGod | 2:99b1cb0d9f5e | 137 | #endif |
SquirrelGod | 2:99b1cb0d9f5e | 138 | FunctionPointer _rise; |
SquirrelGod | 2:99b1cb0d9f5e | 139 | FunctionPointer _fall; |
SquirrelGod | 2:99b1cb0d9f5e | 140 | |
SquirrelGod | 2:99b1cb0d9f5e | 141 | void setup_interrupt(int rising, int enable); |
SquirrelGod | 2:99b1cb0d9f5e | 142 | |
SquirrelGod | 2:99b1cb0d9f5e | 143 | }; |
SquirrelGod | 2:99b1cb0d9f5e | 144 | |
SquirrelGod | 2:99b1cb0d9f5e | 145 | } // namespace mbed |
SquirrelGod | 2:99b1cb0d9f5e | 146 | |
SquirrelGod | 2:99b1cb0d9f5e | 147 | #endif |
SquirrelGod | 2:99b1cb0d9f5e | 148 | |
SquirrelGod | 2:99b1cb0d9f5e | 149 | #endif |