MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/drivers/AnalogOut.h@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

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 #ifndef MBED_ANALOGOUT_H
sahilmgandhi 18:6a4db94011d3 17 #define MBED_ANALOGOUT_H
sahilmgandhi 18:6a4db94011d3 18
sahilmgandhi 18:6a4db94011d3 19 #include "platform/platform.h"
sahilmgandhi 18:6a4db94011d3 20
sahilmgandhi 18:6a4db94011d3 21 #if DEVICE_ANALOGOUT
sahilmgandhi 18:6a4db94011d3 22
sahilmgandhi 18:6a4db94011d3 23 #include "hal/analogout_api.h"
sahilmgandhi 18:6a4db94011d3 24 #include "platform/PlatformMutex.h"
sahilmgandhi 18:6a4db94011d3 25
sahilmgandhi 18:6a4db94011d3 26 namespace mbed {
sahilmgandhi 18:6a4db94011d3 27 /** \addtogroup drivers */
sahilmgandhi 18:6a4db94011d3 28 /** @{*/
sahilmgandhi 18:6a4db94011d3 29
sahilmgandhi 18:6a4db94011d3 30 /** An analog output, used for setting the voltage on a pin
sahilmgandhi 18:6a4db94011d3 31 *
sahilmgandhi 18:6a4db94011d3 32 * @Note Synchronization level: Thread safe
sahilmgandhi 18:6a4db94011d3 33 *
sahilmgandhi 18:6a4db94011d3 34 * Example:
sahilmgandhi 18:6a4db94011d3 35 * @code
sahilmgandhi 18:6a4db94011d3 36 * // Make a sawtooth output
sahilmgandhi 18:6a4db94011d3 37 *
sahilmgandhi 18:6a4db94011d3 38 * #include "mbed.h"
sahilmgandhi 18:6a4db94011d3 39 *
sahilmgandhi 18:6a4db94011d3 40 * AnalogOut tri(p18);
sahilmgandhi 18:6a4db94011d3 41 * int main() {
sahilmgandhi 18:6a4db94011d3 42 * while(1) {
sahilmgandhi 18:6a4db94011d3 43 * tri = tri + 0.01;
sahilmgandhi 18:6a4db94011d3 44 * wait_us(1);
sahilmgandhi 18:6a4db94011d3 45 * if(tri == 1) {
sahilmgandhi 18:6a4db94011d3 46 * tri = 0;
sahilmgandhi 18:6a4db94011d3 47 * }
sahilmgandhi 18:6a4db94011d3 48 * }
sahilmgandhi 18:6a4db94011d3 49 * }
sahilmgandhi 18:6a4db94011d3 50 * @endcode
sahilmgandhi 18:6a4db94011d3 51 */
sahilmgandhi 18:6a4db94011d3 52 class AnalogOut {
sahilmgandhi 18:6a4db94011d3 53
sahilmgandhi 18:6a4db94011d3 54 public:
sahilmgandhi 18:6a4db94011d3 55
sahilmgandhi 18:6a4db94011d3 56 /** Create an AnalogOut connected to the specified pin
sahilmgandhi 18:6a4db94011d3 57 *
sahilmgandhi 18:6a4db94011d3 58 * @param AnalogOut pin to connect to (18)
sahilmgandhi 18:6a4db94011d3 59 */
sahilmgandhi 18:6a4db94011d3 60 AnalogOut(PinName pin) {
sahilmgandhi 18:6a4db94011d3 61 analogout_init(&_dac, pin);
sahilmgandhi 18:6a4db94011d3 62 }
sahilmgandhi 18:6a4db94011d3 63
sahilmgandhi 18:6a4db94011d3 64 /** Set the output voltage, specified as a percentage (float)
sahilmgandhi 18:6a4db94011d3 65 *
sahilmgandhi 18:6a4db94011d3 66 * @param value A floating-point value representing the output voltage,
sahilmgandhi 18:6a4db94011d3 67 * specified as a percentage. The value should lie between
sahilmgandhi 18:6a4db94011d3 68 * 0.0f (representing 0v / 0%) and 1.0f (representing 3.3v / 100%).
sahilmgandhi 18:6a4db94011d3 69 * Values outside this range will be saturated to 0.0f or 1.0f.
sahilmgandhi 18:6a4db94011d3 70 */
sahilmgandhi 18:6a4db94011d3 71 void write(float value) {
sahilmgandhi 18:6a4db94011d3 72 lock();
sahilmgandhi 18:6a4db94011d3 73 analogout_write(&_dac, value);
sahilmgandhi 18:6a4db94011d3 74 unlock();
sahilmgandhi 18:6a4db94011d3 75 }
sahilmgandhi 18:6a4db94011d3 76
sahilmgandhi 18:6a4db94011d3 77 /** Set the output voltage, represented as an unsigned short in the range [0x0, 0xFFFF]
sahilmgandhi 18:6a4db94011d3 78 *
sahilmgandhi 18:6a4db94011d3 79 * @param value 16-bit unsigned short representing the output voltage,
sahilmgandhi 18:6a4db94011d3 80 * normalised to a 16-bit value (0x0000 = 0v, 0xFFFF = 3.3v)
sahilmgandhi 18:6a4db94011d3 81 */
sahilmgandhi 18:6a4db94011d3 82 void write_u16(unsigned short value) {
sahilmgandhi 18:6a4db94011d3 83 lock();
sahilmgandhi 18:6a4db94011d3 84 analogout_write_u16(&_dac, value);
sahilmgandhi 18:6a4db94011d3 85 unlock();
sahilmgandhi 18:6a4db94011d3 86 }
sahilmgandhi 18:6a4db94011d3 87
sahilmgandhi 18:6a4db94011d3 88 /** Return the current output voltage setting, measured as a percentage (float)
sahilmgandhi 18:6a4db94011d3 89 *
sahilmgandhi 18:6a4db94011d3 90 * @returns
sahilmgandhi 18:6a4db94011d3 91 * A floating-point value representing the current voltage being output on the pin,
sahilmgandhi 18:6a4db94011d3 92 * measured as a percentage. The returned value will lie between
sahilmgandhi 18:6a4db94011d3 93 * 0.0f (representing 0v / 0%) and 1.0f (representing 3.3v / 100%).
sahilmgandhi 18:6a4db94011d3 94 *
sahilmgandhi 18:6a4db94011d3 95 * @note
sahilmgandhi 18:6a4db94011d3 96 * This value may not match exactly the value set by a previous write().
sahilmgandhi 18:6a4db94011d3 97 */
sahilmgandhi 18:6a4db94011d3 98 float read() {
sahilmgandhi 18:6a4db94011d3 99 lock();
sahilmgandhi 18:6a4db94011d3 100 float ret = analogout_read(&_dac);
sahilmgandhi 18:6a4db94011d3 101 unlock();
sahilmgandhi 18:6a4db94011d3 102 return ret;
sahilmgandhi 18:6a4db94011d3 103 }
sahilmgandhi 18:6a4db94011d3 104
sahilmgandhi 18:6a4db94011d3 105 /** An operator shorthand for write()
sahilmgandhi 18:6a4db94011d3 106 */
sahilmgandhi 18:6a4db94011d3 107 AnalogOut& operator= (float percent) {
sahilmgandhi 18:6a4db94011d3 108 // Underlying write call is thread safe
sahilmgandhi 18:6a4db94011d3 109 write(percent);
sahilmgandhi 18:6a4db94011d3 110 return *this;
sahilmgandhi 18:6a4db94011d3 111 }
sahilmgandhi 18:6a4db94011d3 112
sahilmgandhi 18:6a4db94011d3 113 AnalogOut& operator= (AnalogOut& rhs) {
sahilmgandhi 18:6a4db94011d3 114 // Underlying write call is thread safe
sahilmgandhi 18:6a4db94011d3 115 write(rhs.read());
sahilmgandhi 18:6a4db94011d3 116 return *this;
sahilmgandhi 18:6a4db94011d3 117 }
sahilmgandhi 18:6a4db94011d3 118
sahilmgandhi 18:6a4db94011d3 119 /** An operator shorthand for read()
sahilmgandhi 18:6a4db94011d3 120 */
sahilmgandhi 18:6a4db94011d3 121 operator float() {
sahilmgandhi 18:6a4db94011d3 122 // Underlying read call is thread safe
sahilmgandhi 18:6a4db94011d3 123 return read();
sahilmgandhi 18:6a4db94011d3 124 }
sahilmgandhi 18:6a4db94011d3 125
sahilmgandhi 18:6a4db94011d3 126 virtual ~AnalogOut() {
sahilmgandhi 18:6a4db94011d3 127 // Do nothing
sahilmgandhi 18:6a4db94011d3 128 }
sahilmgandhi 18:6a4db94011d3 129
sahilmgandhi 18:6a4db94011d3 130 protected:
sahilmgandhi 18:6a4db94011d3 131
sahilmgandhi 18:6a4db94011d3 132 virtual void lock() {
sahilmgandhi 18:6a4db94011d3 133 _mutex.lock();
sahilmgandhi 18:6a4db94011d3 134 }
sahilmgandhi 18:6a4db94011d3 135
sahilmgandhi 18:6a4db94011d3 136 virtual void unlock() {
sahilmgandhi 18:6a4db94011d3 137 _mutex.unlock();
sahilmgandhi 18:6a4db94011d3 138 }
sahilmgandhi 18:6a4db94011d3 139
sahilmgandhi 18:6a4db94011d3 140 dac_t _dac;
sahilmgandhi 18:6a4db94011d3 141 PlatformMutex _mutex;
sahilmgandhi 18:6a4db94011d3 142 };
sahilmgandhi 18:6a4db94011d3 143
sahilmgandhi 18:6a4db94011d3 144 } // namespace mbed
sahilmgandhi 18:6a4db94011d3 145
sahilmgandhi 18:6a4db94011d3 146 #endif
sahilmgandhi 18:6a4db94011d3 147
sahilmgandhi 18:6a4db94011d3 148 #endif
sahilmgandhi 18:6a4db94011d3 149
sahilmgandhi 18:6a4db94011d3 150 /** @}*/