MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/drivers/InterruptIn.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_INTERRUPTIN_H
sahilmgandhi 18:6a4db94011d3 17 #define MBED_INTERRUPTIN_H
sahilmgandhi 18:6a4db94011d3 18
sahilmgandhi 18:6a4db94011d3 19 #include "platform/platform.h"
sahilmgandhi 18:6a4db94011d3 20
sahilmgandhi 18:6a4db94011d3 21 #if DEVICE_INTERRUPTIN
sahilmgandhi 18:6a4db94011d3 22
sahilmgandhi 18:6a4db94011d3 23 #include "hal/gpio_api.h"
sahilmgandhi 18:6a4db94011d3 24 #include "hal/gpio_irq_api.h"
sahilmgandhi 18:6a4db94011d3 25 #include "platform/Callback.h"
sahilmgandhi 18:6a4db94011d3 26 #include "platform/mbed_critical.h"
sahilmgandhi 18:6a4db94011d3 27 #include "platform/mbed_toolchain.h"
sahilmgandhi 18:6a4db94011d3 28
sahilmgandhi 18:6a4db94011d3 29 namespace mbed {
sahilmgandhi 18:6a4db94011d3 30 /** \addtogroup drivers */
sahilmgandhi 18:6a4db94011d3 31 /** @{*/
sahilmgandhi 18:6a4db94011d3 32
sahilmgandhi 18:6a4db94011d3 33 /** A digital interrupt input, used to call a function on a rising or falling edge
sahilmgandhi 18:6a4db94011d3 34 *
sahilmgandhi 18:6a4db94011d3 35 * @Note Synchronization level: Interrupt safe
sahilmgandhi 18:6a4db94011d3 36 *
sahilmgandhi 18:6a4db94011d3 37 * Example:
sahilmgandhi 18:6a4db94011d3 38 * @code
sahilmgandhi 18:6a4db94011d3 39 * // Flash an LED while waiting for events
sahilmgandhi 18:6a4db94011d3 40 *
sahilmgandhi 18:6a4db94011d3 41 * #include "mbed.h"
sahilmgandhi 18:6a4db94011d3 42 *
sahilmgandhi 18:6a4db94011d3 43 * InterruptIn event(p16);
sahilmgandhi 18:6a4db94011d3 44 * DigitalOut led(LED1);
sahilmgandhi 18:6a4db94011d3 45 *
sahilmgandhi 18:6a4db94011d3 46 * void trigger() {
sahilmgandhi 18:6a4db94011d3 47 * printf("triggered!\n");
sahilmgandhi 18:6a4db94011d3 48 * }
sahilmgandhi 18:6a4db94011d3 49 *
sahilmgandhi 18:6a4db94011d3 50 * int main() {
sahilmgandhi 18:6a4db94011d3 51 * event.rise(&trigger);
sahilmgandhi 18:6a4db94011d3 52 * while(1) {
sahilmgandhi 18:6a4db94011d3 53 * led = !led;
sahilmgandhi 18:6a4db94011d3 54 * wait(0.25);
sahilmgandhi 18:6a4db94011d3 55 * }
sahilmgandhi 18:6a4db94011d3 56 * }
sahilmgandhi 18:6a4db94011d3 57 * @endcode
sahilmgandhi 18:6a4db94011d3 58 */
sahilmgandhi 18:6a4db94011d3 59 class InterruptIn {
sahilmgandhi 18:6a4db94011d3 60
sahilmgandhi 18:6a4db94011d3 61 public:
sahilmgandhi 18:6a4db94011d3 62
sahilmgandhi 18:6a4db94011d3 63 /** Create an InterruptIn connected to the specified pin
sahilmgandhi 18:6a4db94011d3 64 *
sahilmgandhi 18:6a4db94011d3 65 * @param pin InterruptIn pin to connect to
sahilmgandhi 18:6a4db94011d3 66 * @param name (optional) A string to identify the object
sahilmgandhi 18:6a4db94011d3 67 */
sahilmgandhi 18:6a4db94011d3 68 InterruptIn(PinName pin);
sahilmgandhi 18:6a4db94011d3 69 virtual ~InterruptIn();
sahilmgandhi 18:6a4db94011d3 70
sahilmgandhi 18:6a4db94011d3 71 /** Read the input, represented as 0 or 1 (int)
sahilmgandhi 18:6a4db94011d3 72 *
sahilmgandhi 18:6a4db94011d3 73 * @returns
sahilmgandhi 18:6a4db94011d3 74 * An integer representing the state of the input pin,
sahilmgandhi 18:6a4db94011d3 75 * 0 for logical 0, 1 for logical 1
sahilmgandhi 18:6a4db94011d3 76 */
sahilmgandhi 18:6a4db94011d3 77 int read();
sahilmgandhi 18:6a4db94011d3 78
sahilmgandhi 18:6a4db94011d3 79 /** An operator shorthand for read()
sahilmgandhi 18:6a4db94011d3 80 */
sahilmgandhi 18:6a4db94011d3 81 operator int();
sahilmgandhi 18:6a4db94011d3 82
sahilmgandhi 18:6a4db94011d3 83
sahilmgandhi 18:6a4db94011d3 84 /** Attach a function to call when a rising edge occurs on the input
sahilmgandhi 18:6a4db94011d3 85 *
sahilmgandhi 18:6a4db94011d3 86 * @param func A pointer to a void function, or 0 to set as none
sahilmgandhi 18:6a4db94011d3 87 */
sahilmgandhi 18:6a4db94011d3 88 void rise(Callback<void()> func);
sahilmgandhi 18:6a4db94011d3 89
sahilmgandhi 18:6a4db94011d3 90 /** Attach a member function to call when a rising edge occurs on the input
sahilmgandhi 18:6a4db94011d3 91 *
sahilmgandhi 18:6a4db94011d3 92 * @param obj pointer to the object to call the member function on
sahilmgandhi 18:6a4db94011d3 93 * @param method pointer to the member function to be called
sahilmgandhi 18:6a4db94011d3 94 * @deprecated
sahilmgandhi 18:6a4db94011d3 95 * The rise function does not support cv-qualifiers. Replaced by
sahilmgandhi 18:6a4db94011d3 96 * rise(callback(obj, method)).
sahilmgandhi 18:6a4db94011d3 97 */
sahilmgandhi 18:6a4db94011d3 98 template<typename T, typename M>
sahilmgandhi 18:6a4db94011d3 99 MBED_DEPRECATED_SINCE("mbed-os-5.1",
sahilmgandhi 18:6a4db94011d3 100 "The rise function does not support cv-qualifiers. Replaced by "
sahilmgandhi 18:6a4db94011d3 101 "rise(callback(obj, method)).")
sahilmgandhi 18:6a4db94011d3 102 void rise(T *obj, M method) {
sahilmgandhi 18:6a4db94011d3 103 core_util_critical_section_enter();
sahilmgandhi 18:6a4db94011d3 104 rise(callback(obj, method));
sahilmgandhi 18:6a4db94011d3 105 core_util_critical_section_exit();
sahilmgandhi 18:6a4db94011d3 106 }
sahilmgandhi 18:6a4db94011d3 107
sahilmgandhi 18:6a4db94011d3 108 /** Attach a function to call when a falling edge occurs on the input
sahilmgandhi 18:6a4db94011d3 109 *
sahilmgandhi 18:6a4db94011d3 110 * @param func A pointer to a void function, or 0 to set as none
sahilmgandhi 18:6a4db94011d3 111 */
sahilmgandhi 18:6a4db94011d3 112 void fall(Callback<void()> func);
sahilmgandhi 18:6a4db94011d3 113
sahilmgandhi 18:6a4db94011d3 114 /** Attach a member function to call when a falling edge occurs on the input
sahilmgandhi 18:6a4db94011d3 115 *
sahilmgandhi 18:6a4db94011d3 116 * @param obj pointer to the object to call the member function on
sahilmgandhi 18:6a4db94011d3 117 * @param method pointer to the member function to be called
sahilmgandhi 18:6a4db94011d3 118 * @deprecated
sahilmgandhi 18:6a4db94011d3 119 * The rise function does not support cv-qualifiers. Replaced by
sahilmgandhi 18:6a4db94011d3 120 * rise(callback(obj, method)).
sahilmgandhi 18:6a4db94011d3 121 */
sahilmgandhi 18:6a4db94011d3 122 template<typename T, typename M>
sahilmgandhi 18:6a4db94011d3 123 MBED_DEPRECATED_SINCE("mbed-os-5.1",
sahilmgandhi 18:6a4db94011d3 124 "The fall function does not support cv-qualifiers. Replaced by "
sahilmgandhi 18:6a4db94011d3 125 "fall(callback(obj, method)).")
sahilmgandhi 18:6a4db94011d3 126 void fall(T *obj, M method) {
sahilmgandhi 18:6a4db94011d3 127 core_util_critical_section_enter();
sahilmgandhi 18:6a4db94011d3 128 fall(callback(obj, method));
sahilmgandhi 18:6a4db94011d3 129 core_util_critical_section_exit();
sahilmgandhi 18:6a4db94011d3 130 }
sahilmgandhi 18:6a4db94011d3 131
sahilmgandhi 18:6a4db94011d3 132 /** Set the input pin mode
sahilmgandhi 18:6a4db94011d3 133 *
sahilmgandhi 18:6a4db94011d3 134 * @param mode PullUp, PullDown, PullNone
sahilmgandhi 18:6a4db94011d3 135 */
sahilmgandhi 18:6a4db94011d3 136 void mode(PinMode pull);
sahilmgandhi 18:6a4db94011d3 137
sahilmgandhi 18:6a4db94011d3 138 /** Enable IRQ. This method depends on hw implementation, might enable one
sahilmgandhi 18:6a4db94011d3 139 * port interrupts. For further information, check gpio_irq_enable().
sahilmgandhi 18:6a4db94011d3 140 */
sahilmgandhi 18:6a4db94011d3 141 void enable_irq();
sahilmgandhi 18:6a4db94011d3 142
sahilmgandhi 18:6a4db94011d3 143 /** Disable IRQ. This method depends on hw implementation, might disable one
sahilmgandhi 18:6a4db94011d3 144 * port interrupts. For further information, check gpio_irq_disable().
sahilmgandhi 18:6a4db94011d3 145 */
sahilmgandhi 18:6a4db94011d3 146 void disable_irq();
sahilmgandhi 18:6a4db94011d3 147
sahilmgandhi 18:6a4db94011d3 148 static void _irq_handler(uint32_t id, gpio_irq_event event);
sahilmgandhi 18:6a4db94011d3 149
sahilmgandhi 18:6a4db94011d3 150 protected:
sahilmgandhi 18:6a4db94011d3 151 gpio_t gpio;
sahilmgandhi 18:6a4db94011d3 152 gpio_irq_t gpio_irq;
sahilmgandhi 18:6a4db94011d3 153
sahilmgandhi 18:6a4db94011d3 154 Callback<void()> _rise;
sahilmgandhi 18:6a4db94011d3 155 Callback<void()> _fall;
sahilmgandhi 18:6a4db94011d3 156 };
sahilmgandhi 18:6a4db94011d3 157
sahilmgandhi 18:6a4db94011d3 158 } // namespace mbed
sahilmgandhi 18:6a4db94011d3 159
sahilmgandhi 18:6a4db94011d3 160 #endif
sahilmgandhi 18:6a4db94011d3 161
sahilmgandhi 18:6a4db94011d3 162 #endif
sahilmgandhi 18:6a4db94011d3 163
sahilmgandhi 18:6a4db94011d3 164 /** @}*/