Erik van de Coevering / quadV3

This is my quadcopter prototype software, still in development!

quadv3/mbed/Ticker.h@1:ac68f0368a77, 2013-07-23 (annotated)

Committer:
Anaesthetix
Date:
Tue Jul 23 14:01:42 2013 +0000
Revision:
1:ac68f0368a77
Parent:
0:978110f7f027 
Other accelerometer added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Anaesthetix 0:978110f7f027 1 /* mbed Microcontroller Library - Ticker
Anaesthetix 0:978110f7f027 2 * Copyright (c) 2007-2009 ARM Limited. All rights reserved.
Anaesthetix 0:978110f7f027 3 */
Anaesthetix 0:978110f7f027 4
Anaesthetix 0:978110f7f027 5 #ifndef MBED_TICKER_H
Anaesthetix 0:978110f7f027 6 #define MBED_TICKER_H
Anaesthetix 0:978110f7f027 7
Anaesthetix 0:978110f7f027 8 #include "TimerEvent.h"
Anaesthetix 0:978110f7f027 9 #include "FunctionPointer.h"
Anaesthetix 0:978110f7f027 10
Anaesthetix 0:978110f7f027 11 namespace mbed {
Anaesthetix 0:978110f7f027 12
Anaesthetix 0:978110f7f027 13 /* Class: Ticker
Anaesthetix 0:978110f7f027 14 * A Ticker is used to call a function at a recurring interval
Anaesthetix 0:978110f7f027 15 *
Anaesthetix 0:978110f7f027 16 * You can use as many seperate Ticker objects as you require.
Anaesthetix 0:978110f7f027 17 *
Anaesthetix 0:978110f7f027 18 * Example:
Anaesthetix 0:978110f7f027 19 * > // Toggle the blinking led after 5 seconds
Anaesthetix 0:978110f7f027 20 * >
Anaesthetix 0:978110f7f027 21 * > #include "mbed.h"
Anaesthetix 0:978110f7f027 22 * >
Anaesthetix 0:978110f7f027 23 * > Ticker timer;
Anaesthetix 0:978110f7f027 24 * > DigitalOut led1(LED1);
Anaesthetix 0:978110f7f027 25 * > DigitalOut led2(LED2);
Anaesthetix 0:978110f7f027 26 * >
Anaesthetix 0:978110f7f027 27 * > int flip = 0;
Anaesthetix 0:978110f7f027 28 * >
Anaesthetix 0:978110f7f027 29 * > void attime() {
Anaesthetix 0:978110f7f027 30 * > flip = !flip;
Anaesthetix 0:978110f7f027 31 * > }
Anaesthetix 0:978110f7f027 32 * >
Anaesthetix 0:978110f7f027 33 * > int main() {
Anaesthetix 0:978110f7f027 34 * > timer.attach(&attime, 5);
Anaesthetix 0:978110f7f027 35 * > while(1) {
Anaesthetix 0:978110f7f027 36 * > if(flip == 0) {
Anaesthetix 0:978110f7f027 37 * > led1 = !led1;
Anaesthetix 0:978110f7f027 38 * > } else {
Anaesthetix 0:978110f7f027 39 * > led2 = !led2;
Anaesthetix 0:978110f7f027 40 * > }
Anaesthetix 0:978110f7f027 41 * > wait(0.2);
Anaesthetix 0:978110f7f027 42 * > }
Anaesthetix 0:978110f7f027 43 * > }
Anaesthetix 0:978110f7f027 44 *
Anaesthetix 0:978110f7f027 45 */
Anaesthetix 0:978110f7f027 46 class Ticker : public TimerEvent {
Anaesthetix 0:978110f7f027 47
Anaesthetix 0:978110f7f027 48 public:
Anaesthetix 0:978110f7f027 49
Anaesthetix 0:978110f7f027 50 /* Function: attach
Anaesthetix 0:978110f7f027 51 * Attach a function to be called by the Ticker, specifiying the interval in seconds
Anaesthetix 0:978110f7f027 52 *
Anaesthetix 0:978110f7f027 53 * Variables:
Anaesthetix 0:978110f7f027 54 * fptr - pointer to the function to be called
Anaesthetix 0:978110f7f027 55 * t - the time between calls in seconds
Anaesthetix 0:978110f7f027 56 */
Anaesthetix 0:978110f7f027 57 void attach(void (*fptr)(void), float t) {
Anaesthetix 0:978110f7f027 58 attach_us(fptr, t * 1000000.0f);
Anaesthetix 0:978110f7f027 59 }
Anaesthetix 0:978110f7f027 60
Anaesthetix 0:978110f7f027 61 /* Function: attach
Anaesthetix 0:978110f7f027 62 * Attach a member function to be called by the Ticker, specifiying the interval in seconds
Anaesthetix 0:978110f7f027 63 *
Anaesthetix 0:978110f7f027 64 * Variables:
Anaesthetix 0:978110f7f027 65 * tptr - pointer to the object to call the member function on
Anaesthetix 0:978110f7f027 66 * mptr - pointer to the member function to be called
Anaesthetix 0:978110f7f027 67 * t - the time between calls in seconds
Anaesthetix 0:978110f7f027 68 */
Anaesthetix 0:978110f7f027 69 template<typename T>
Anaesthetix 0:978110f7f027 70 void attach(T* tptr, void (T::*mptr)(void), float t) {
Anaesthetix 0:978110f7f027 71 attach_us(tptr, mptr, t * 1000000.0f);
Anaesthetix 0:978110f7f027 72 }
Anaesthetix 0:978110f7f027 73
Anaesthetix 0:978110f7f027 74 /* Function: attach_us
Anaesthetix 0:978110f7f027 75 * Attach a function to be called by the Ticker, specifiying the interval in micro-seconds
Anaesthetix 0:978110f7f027 76 *
Anaesthetix 0:978110f7f027 77 * Variables:
Anaesthetix 0:978110f7f027 78 * fptr - pointer to the function to be called
Anaesthetix 0:978110f7f027 79 * t - the time between calls in micro-seconds
Anaesthetix 0:978110f7f027 80 */
Anaesthetix 0:978110f7f027 81 void attach_us(void (*fptr)(void), unsigned int t) {
Anaesthetix 0:978110f7f027 82 _function.attach(fptr);
Anaesthetix 0:978110f7f027 83 setup(t);
Anaesthetix 0:978110f7f027 84 }
Anaesthetix 0:978110f7f027 85
Anaesthetix 0:978110f7f027 86 /* Function: attach_us
Anaesthetix 0:978110f7f027 87 * Attach a member function to be called by the Ticker, specifiying the interval in micro-seconds
Anaesthetix 0:978110f7f027 88 *
Anaesthetix 0:978110f7f027 89 * Variables:
Anaesthetix 0:978110f7f027 90 * tptr - pointer to the object to call the member function on
Anaesthetix 0:978110f7f027 91 * mptr - pointer to the member function to be called
Anaesthetix 0:978110f7f027 92 * t - the time between calls in micro-seconds
Anaesthetix 0:978110f7f027 93 */
Anaesthetix 0:978110f7f027 94 template<typename T>
Anaesthetix 0:978110f7f027 95 void attach_us(T* tptr, void (T::*mptr)(void), unsigned int t) {
Anaesthetix 0:978110f7f027 96 _function.attach(tptr, mptr);
Anaesthetix 0:978110f7f027 97 setup(t);
Anaesthetix 0:978110f7f027 98 }
Anaesthetix 0:978110f7f027 99
Anaesthetix 0:978110f7f027 100 /* Function: detach
Anaesthetix 0:978110f7f027 101 * Detach the function
Anaesthetix 0:978110f7f027 102 */
Anaesthetix 0:978110f7f027 103 void detach();
Anaesthetix 0:978110f7f027 104
Anaesthetix 0:978110f7f027 105 protected:
Anaesthetix 0:978110f7f027 106
Anaesthetix 0:978110f7f027 107 void setup(unsigned int t);
Anaesthetix 0:978110f7f027 108 virtual void handler();
Anaesthetix 0:978110f7f027 109
Anaesthetix 0:978110f7f027 110 unsigned int _delay;
Anaesthetix 0:978110f7f027 111 FunctionPointer _function;
Anaesthetix 0:978110f7f027 112
Anaesthetix 0:978110f7f027 113 };
Anaesthetix 0:978110f7f027 114
Anaesthetix 0:978110f7f027 115 } // namespace mbed
Anaesthetix 0:978110f7f027 116
Anaesthetix 0:978110f7f027 117 #endif