Lab 4CHEL / BertlLib

Ultraschall Test Geschwindigkeitsregelung

Fork of BertlLib by michael hollegha

Bertl14.cpp@1:cb66be3bb78f, 2014-04-25 (annotated)

Committer:
hollegha2
Date:
Fri Apr 25 18:57:23 2014 +0000
Revision:
1:cb66be3bb78f
Parent:
0:e0131e671ea0 
Rev2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hollegha2 0:e0131e671ea0 1
hollegha2 0:e0131e671ea0 2 #include "mbed.h"
hollegha2 0:e0131e671ea0 3 #include "Bertl14.h"
hollegha2 0:e0131e671ea0 4
hollegha2 1:cb66be3bb78f 5 // Aenderung
hollegha2 1:cb66be3bb78f 6
hollegha2 0:e0131e671ea0 7 Motor::Motor(PinName pwm, PinName fwd, PinName rev) :
hollegha2 0:e0131e671ea0 8 _pwm(pwm), _fwd(fwd), _rev(rev)
hollegha2 0:e0131e671ea0 9 {
hollegha2 0:e0131e671ea0 10 _pwm.period(0.001); _pwm=0;
hollegha2 0:e0131e671ea0 11 _fwd=0; _rev=0;
hollegha2 0:e0131e671ea0 12 }
hollegha2 0:e0131e671ea0 13
hollegha2 0:e0131e671ea0 14 void Motor::SetPow(float aPow)
hollegha2 0:e0131e671ea0 15 {
hollegha2 0:e0131e671ea0 16 if( aPow>=0.0 ) {
hollegha2 0:e0131e671ea0 17 _fwd=1; _rev=0;
hollegha2 0:e0131e671ea0 18 _pwm = aPow;
hollegha2 0:e0131e671ea0 19 }
hollegha2 0:e0131e671ea0 20 else {
hollegha2 0:e0131e671ea0 21 _fwd=0; _rev=1;
hollegha2 0:e0131e671ea0 22 _pwm = -aPow;
hollegha2 0:e0131e671ea0 23 }
hollegha2 0:e0131e671ea0 24 }
hollegha2 0:e0131e671ea0 25
hollegha2 0:e0131e671ea0 26 BertlDrive::BertlDrive(PinName pwm, PinName fwd, PinName rev, PinName encoder) :
hollegha2 0:e0131e671ea0 27 Motor(pwm,fwd,rev) , _enc(encoder)
hollegha2 0:e0131e671ea0 28 {
hollegha2 0:e0131e671ea0 29 encCnt = 0;
hollegha2 0:e0131e671ea0 30 }
hollegha2 0:e0131e671ea0 31
hollegha2 0:e0131e671ea0 32 void BertlDrive::Init()
hollegha2 0:e0131e671ea0 33 {
hollegha2 0:e0131e671ea0 34 _enc.rise(this, &BertlDrive::EncoderISR);
hollegha2 0:e0131e671ea0 35 _enc.fall(this, &BertlDrive::EncoderISR);
hollegha2 0:e0131e671ea0 36 }
hollegha2 0:e0131e671ea0 37
hollegha2 0:e0131e671ea0 38 void BertlDrive::EncoderISR()
hollegha2 0:e0131e671ea0 39 {
hollegha2 0:e0131e671ea0 40 encCnt++;
hollegha2 0:e0131e671ea0 41 }
hollegha2 0:e0131e671ea0 42
hollegha2 0:e0131e671ea0 43
hollegha2 0:e0131e671ea0 44 PortEx::PortEx() :
hollegha2 0:e0131e671ea0 45 _i2c(p28,p27), _p6Event(p6)
hollegha2 0:e0131e671ea0 46 {
hollegha2 0:e0131e671ea0 47 btns=btnEvent=0;
hollegha2 0:e0131e671ea0 48 useISR = 1;
hollegha2 0:e0131e671ea0 49 }
hollegha2 0:e0131e671ea0 50
hollegha2 0:e0131e671ea0 51 void PortEx::Init()
hollegha2 0:e0131e671ea0 52 {
hollegha2 0:e0131e671ea0 53 char cmd[4];
hollegha2 0:e0131e671ea0 54 _i2c.frequency(100000);
hollegha2 0:e0131e671ea0 55 wait(0.01);
hollegha2 0:e0131e671ea0 56 // Port0 Config Port0 Out Port1 In
hollegha2 0:e0131e671ea0 57 cmd[0]=0x06; cmd[1]=0x00; cmd[2]=0xFF;
hollegha2 0:e0131e671ea0 58 _i2c.write(DEV, cmd, 3, false);
hollegha2 0:e0131e671ea0 59 SetLedPort(0);
hollegha2 0:e0131e671ea0 60 _p6Event.fall(this, &PortEx::p6ISR);
hollegha2 0:e0131e671ea0 61 }
hollegha2 0:e0131e671ea0 62
hollegha2 0:e0131e671ea0 63 void PortEx::p6ISR()
hollegha2 0:e0131e671ea0 64 {
hollegha2 0:e0131e671ea0 65 if( !useISR )
hollegha2 0:e0131e671ea0 66 return;
hollegha2 0:e0131e671ea0 67 int16_t prev = btns;
hollegha2 0:e0131e671ea0 68 ReadButtons();
hollegha2 0:e0131e671ea0 69 if( !btns )
hollegha2 0:e0131e671ea0 70 btns = prev;
hollegha2 0:e0131e671ea0 71 else
hollegha2 0:e0131e671ea0 72 btnEvent = 1;
hollegha2 0:e0131e671ea0 73 }
hollegha2 0:e0131e671ea0 74
hollegha2 0:e0131e671ea0 75 void PortEx::SetLedPort(uint8_t aBitPattern)
hollegha2 0:e0131e671ea0 76 {
hollegha2 0:e0131e671ea0 77 char cmd[4];
hollegha2 0:e0131e671ea0 78 cmd[0]=2; cmd[1]=~aBitPattern;
hollegha2 0:e0131e671ea0 79 _i2c.write(DEV, cmd, 2, false);
hollegha2 0:e0131e671ea0 80 }
hollegha2 0:e0131e671ea0 81
hollegha2 0:e0131e671ea0 82 void PortEx::SetLeds(uint8_t aBitPattern)
hollegha2 0:e0131e671ea0 83 {
hollegha2 0:e0131e671ea0 84 _currLeds |= aBitPattern;
hollegha2 0:e0131e671ea0 85 SetLedPort(_currLeds);
hollegha2 0:e0131e671ea0 86 }
hollegha2 0:e0131e671ea0 87
hollegha2 0:e0131e671ea0 88 void PortEx::ToggleLeds(uint8_t aBitPattern)
hollegha2 0:e0131e671ea0 89 {
hollegha2 0:e0131e671ea0 90 _currLeds ^= aBitPattern;
hollegha2 0:e0131e671ea0 91 SetLedPort(_currLeds);
hollegha2 0:e0131e671ea0 92 }
hollegha2 0:e0131e671ea0 93
hollegha2 0:e0131e671ea0 94 void PortEx::ClearLeds()
hollegha2 0:e0131e671ea0 95 {
hollegha2 0:e0131e671ea0 96 _currLeds=0; SetLedPort(0);
hollegha2 0:e0131e671ea0 97 }
hollegha2 0:e0131e671ea0 98
hollegha2 0:e0131e671ea0 99
hollegha2 0:e0131e671ea0 100 void PortEx::ReadButtons()
hollegha2 0:e0131e671ea0 101 {
hollegha2 0:e0131e671ea0 102 char cmd[4];
hollegha2 0:e0131e671ea0 103 cmd[0]=1;
hollegha2 0:e0131e671ea0 104 _i2c.write(DEV, cmd, 1, true);
hollegha2 0:e0131e671ea0 105 _i2c.read(DEV|1, cmd, 1, false);
hollegha2 0:e0131e671ea0 106 btns = cmd[0];
hollegha2 0:e0131e671ea0 107 }
hollegha2 0:e0131e671ea0 108
hollegha2 0:e0131e671ea0 109 void PortEx::WaitUntilButtonPressed()
hollegha2 0:e0131e671ea0 110 {
hollegha2 0:e0131e671ea0 111 int prev = useISR;
hollegha2 0:e0131e671ea0 112 useISR = 0;
hollegha2 0:e0131e671ea0 113 btns = 0;
hollegha2 0:e0131e671ea0 114 while(1) {
hollegha2 0:e0131e671ea0 115 ReadButtons();
hollegha2 0:e0131e671ea0 116 if( btns )
hollegha2 0:e0131e671ea0 117 break;
hollegha2 0:e0131e671ea0 118 wait(0.01);
hollegha2 0:e0131e671ea0 119 }
hollegha2 0:e0131e671ea0 120 btns=btnEvent=0;
hollegha2 0:e0131e671ea0 121 useISR = prev;
hollegha2 0:e0131e671ea0 122 }
hollegha2 0:e0131e671ea0 123
hollegha2 0:e0131e671ea0 124
hollegha2 0:e0131e671ea0 125
hollegha2 0:e0131e671ea0 126 UsDistSens::UsDistSens(PinName pinTrigger, PinName pinEcho) :
hollegha2 0:e0131e671ea0 127 trigger(pinTrigger),echo(pinEcho)
hollegha2 0:e0131e671ea0 128 {
hollegha2 0:e0131e671ea0 129 echo.rise(this, &UsDistSens::RisingISR);
hollegha2 0:e0131e671ea0 130 echo.fall(this, &UsDistSens::FallingISR);
hollegha2 0:e0131e671ea0 131 }
hollegha2 0:e0131e671ea0 132
hollegha2 0:e0131e671ea0 133 void UsDistSens::StartMeas()
hollegha2 0:e0131e671ea0 134 {
hollegha2 0:e0131e671ea0 135 trigger=1; wait_us(12); trigger=0;
hollegha2 0:e0131e671ea0 136 stw.start();
hollegha2 0:e0131e671ea0 137 }
hollegha2 0:e0131e671ea0 138
hollegha2 0:e0131e671ea0 139 void UsDistSens::RisingISR()
hollegha2 0:e0131e671ea0 140 { stw.reset(); }
hollegha2 0:e0131e671ea0 141
hollegha2 0:e0131e671ea0 142 void UsDistSens::FallingISR()
hollegha2 0:e0131e671ea0 143 {
hollegha2 0:e0131e671ea0 144 dist=stw.read_us();
hollegha2 0:e0131e671ea0 145 distCM = (float)dist*(343.2E-4/2.0);
hollegha2 0:e0131e671ea0 146 }
hollegha2 0:e0131e671ea0 147
hollegha2 0:e0131e671ea0 148
hollegha2 0:e0131e671ea0 149