jetfishteam / Mbed 2 deprecated robotic_fish_ver_4_9_pixy

My modifications/additions to the code

Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 Servo fishgait mbed-rtos mbed pixy_cam

Fork of robotic_fish_ver_4_8 by jetfishteam

PwmReader.cpp@5:090ef6275773, 2014-01-28 (annotated)

Committer:
sandwich
Date:
Tue Jan 28 23:59:21 2014 +0000
Revision:
5:090ef6275773
Child:
6:a4d6f3e4bf28
added interrupts

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sandwich 5:090ef6275773 1 #include "PwmReader.h"
sandwich 5:090ef6275773 2
sandwich 5:090ef6275773 3 //Constructors
sandwich 5:090ef6275773 4 PwmReader::PwmReader(PinName pwmInPort)
sandwich 5:090ef6275773 5 {
sandwich 5:090ef6275773 6 di = new InterruptIn(pwmInPort);
sandwich 5:090ef6275773 7
sandwich 5:090ef6275773 8 lastRise = 0;
sandwich 5:090ef6275773 9 period = 0;
sandwich 5:090ef6275773 10 duty = 0.0;
sandwich 5:090ef6275773 11 di->rise(this,&PwmReader::pwmRise); // attach the address of the flip function to the rising edge
sandwich 5:090ef6275773 12 di->fall(this,&PwmReader::pwmFall);
sandwich 5:090ef6275773 13 }
sandwich 5:090ef6275773 14
sandwich 5:090ef6275773 15 PwmReader::~PwmReader()
sandwich 5:090ef6275773 16 {
sandwich 5:090ef6275773 17 delete di;
sandwich 5:090ef6275773 18 }
sandwich 5:090ef6275773 19
sandwich 5:090ef6275773 20 // public methods
sandwich 5:090ef6275773 21 float PwmReader::getDuty()
sandwich 5:090ef6275773 22 {
sandwich 5:090ef6275773 23 return duty;
sandwich 5:090ef6275773 24 }
sandwich 5:090ef6275773 25
sandwich 5:090ef6275773 26 // private methods
sandwich 5:090ef6275773 27 void PwmReader::pwmRise()
sandwich 5:090ef6275773 28 {
sandwich 5:090ef6275773 29 int rise = t.read_us();
sandwich 5:090ef6275773 30 if( (lastRise > 0) && (rise > lastRise) ) {
sandwich 5:090ef6275773 31 period = rise - lastRise;
sandwich 5:090ef6275773 32 }
sandwich 5:090ef6275773 33 lastRise = rise;
sandwich 5:090ef6275773 34
sandwich 5:090ef6275773 35 }
sandwich 5:090ef6275773 36
sandwich 5:090ef6275773 37 void PwmReader::pwmFall()
sandwich 5:090ef6275773 38 {
sandwich 5:090ef6275773 39 int fallTime = t.read_us();
sandwich 5:090ef6275773 40 if(period > 0 ) {
sandwich 5:090ef6275773 41 int delta = fallTime - lastRise;
sandwich 5:090ef6275773 42 duty = float(delta)/float(period);
sandwich 5:090ef6275773 43 }
sandwich 5:090ef6275773 44 }