MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/drivers/BusIn.cpp@32:69acb14778ea, 2017-05-26 (annotated)

Committer:
kyleliangus
Date:
Fri May 26 03:46:03 2017 +0000
Revision:
32:69acb14778ea
Parent:
18:6a4db94011d3 
PID values still wonky. IR PID vs Encoder PID also wonky

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2013 ARM Limited
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16 #include "drivers/BusIn.h"
sahilmgandhi 18:6a4db94011d3 17 #include "platform/mbed_assert.h"
sahilmgandhi 18:6a4db94011d3 18
sahilmgandhi 18:6a4db94011d3 19 namespace mbed {
sahilmgandhi 18:6a4db94011d3 20
sahilmgandhi 18:6a4db94011d3 21 BusIn::BusIn(PinName p0, PinName p1, PinName p2, PinName p3, PinName p4, PinName p5, PinName p6, PinName p7, PinName p8, PinName p9, PinName p10, PinName p11, PinName p12, PinName p13, PinName p14, PinName p15) {
sahilmgandhi 18:6a4db94011d3 22 PinName pins[16] = {p0, p1, p2, p3, p4, p5, p6, p7, p8, p9, p10, p11, p12, p13, p14, p15};
sahilmgandhi 18:6a4db94011d3 23
sahilmgandhi 18:6a4db94011d3 24 // No lock needed in the constructor
sahilmgandhi 18:6a4db94011d3 25 _nc_mask = 0;
sahilmgandhi 18:6a4db94011d3 26 for (int i=0; i<16; i++) {
sahilmgandhi 18:6a4db94011d3 27 _pin[i] = (pins[i] != NC) ? new DigitalIn(pins[i]) : 0;
sahilmgandhi 18:6a4db94011d3 28 if (pins[i] != NC) {
sahilmgandhi 18:6a4db94011d3 29 _nc_mask |= (1 << i);
sahilmgandhi 18:6a4db94011d3 30 }
sahilmgandhi 18:6a4db94011d3 31 }
sahilmgandhi 18:6a4db94011d3 32 }
sahilmgandhi 18:6a4db94011d3 33
sahilmgandhi 18:6a4db94011d3 34 BusIn::BusIn(PinName pins[16]) {
sahilmgandhi 18:6a4db94011d3 35 // No lock needed in the constructor
sahilmgandhi 18:6a4db94011d3 36 _nc_mask = 0;
sahilmgandhi 18:6a4db94011d3 37 for (int i=0; i<16; i++) {
sahilmgandhi 18:6a4db94011d3 38 _pin[i] = (pins[i] != NC) ? new DigitalIn(pins[i]) : 0;
sahilmgandhi 18:6a4db94011d3 39 if (pins[i] != NC) {
sahilmgandhi 18:6a4db94011d3 40 _nc_mask |= (1 << i);
sahilmgandhi 18:6a4db94011d3 41 }
sahilmgandhi 18:6a4db94011d3 42 }
sahilmgandhi 18:6a4db94011d3 43 }
sahilmgandhi 18:6a4db94011d3 44
sahilmgandhi 18:6a4db94011d3 45 BusIn::~BusIn() {
sahilmgandhi 18:6a4db94011d3 46 // No lock needed in the destructor
sahilmgandhi 18:6a4db94011d3 47 for (int i=0; i<16; i++) {
sahilmgandhi 18:6a4db94011d3 48 if (_pin[i] != 0) {
sahilmgandhi 18:6a4db94011d3 49 delete _pin[i];
sahilmgandhi 18:6a4db94011d3 50 }
sahilmgandhi 18:6a4db94011d3 51 }
sahilmgandhi 18:6a4db94011d3 52 }
sahilmgandhi 18:6a4db94011d3 53
sahilmgandhi 18:6a4db94011d3 54 int BusIn::read() {
sahilmgandhi 18:6a4db94011d3 55 int v = 0;
sahilmgandhi 18:6a4db94011d3 56 lock();
sahilmgandhi 18:6a4db94011d3 57 for (int i=0; i<16; i++) {
sahilmgandhi 18:6a4db94011d3 58 if (_pin[i] != 0) {
sahilmgandhi 18:6a4db94011d3 59 v |= _pin[i]->read() << i;
sahilmgandhi 18:6a4db94011d3 60 }
sahilmgandhi 18:6a4db94011d3 61 }
sahilmgandhi 18:6a4db94011d3 62 unlock();
sahilmgandhi 18:6a4db94011d3 63 return v;
sahilmgandhi 18:6a4db94011d3 64 }
sahilmgandhi 18:6a4db94011d3 65
sahilmgandhi 18:6a4db94011d3 66 void BusIn::mode(PinMode pull) {
sahilmgandhi 18:6a4db94011d3 67 lock();
sahilmgandhi 18:6a4db94011d3 68 for (int i=0; i<16; i++) {
sahilmgandhi 18:6a4db94011d3 69 if (_pin[i] != 0) {
sahilmgandhi 18:6a4db94011d3 70 _pin[i]->mode(pull);
sahilmgandhi 18:6a4db94011d3 71 }
sahilmgandhi 18:6a4db94011d3 72 }
sahilmgandhi 18:6a4db94011d3 73 unlock();
sahilmgandhi 18:6a4db94011d3 74 }
sahilmgandhi 18:6a4db94011d3 75
sahilmgandhi 18:6a4db94011d3 76 void BusIn::lock() {
sahilmgandhi 18:6a4db94011d3 77 _mutex.lock();
sahilmgandhi 18:6a4db94011d3 78 }
sahilmgandhi 18:6a4db94011d3 79
sahilmgandhi 18:6a4db94011d3 80 void BusIn::unlock() {
sahilmgandhi 18:6a4db94011d3 81 _mutex.unlock();
sahilmgandhi 18:6a4db94011d3 82 }
sahilmgandhi 18:6a4db94011d3 83
sahilmgandhi 18:6a4db94011d3 84 BusIn::operator int() {
sahilmgandhi 18:6a4db94011d3 85 // Underlying read is thread safe
sahilmgandhi 18:6a4db94011d3 86 return read();
sahilmgandhi 18:6a4db94011d3 87 }
sahilmgandhi 18:6a4db94011d3 88
sahilmgandhi 18:6a4db94011d3 89 DigitalIn& BusIn::operator[] (int index) {
sahilmgandhi 18:6a4db94011d3 90 // No lock needed since _pin is not modified outside the constructor
sahilmgandhi 18:6a4db94011d3 91 MBED_ASSERT(index >= 0 && index <= 16);
sahilmgandhi 18:6a4db94011d3 92 MBED_ASSERT(_pin[index]);
sahilmgandhi 18:6a4db94011d3 93 return *_pin[index];
sahilmgandhi 18:6a4db94011d3 94 }
sahilmgandhi 18:6a4db94011d3 95
sahilmgandhi 18:6a4db94011d3 96 } // namespace mbed