Gurvan PRIEM
/
RaptorControl
An incomplete quadcopter control programme.
PwmIn/PwmIn.cpp
- Committer:
- Gurvan
- Date:
- 2013-07-17
- Revision:
- 0:9cb9445a11f0
File content as of revision 0:9cb9445a11f0:
/* mbed PwmIn Library * Copyright (c) 2008-2010, sford * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #include "PwmIn.h" PwmIn::PwmIn(PinName p) : _p(p) { _p.mode(PullNone); _p.rise(this, &PwmIn::rise); _p.fall(this, &PwmIn::fall); _period = 0.0; _pulsewidth = 0.0; _temp_pulsewidth = 0.0; _t.start(); } float PwmIn::period() { return _period; } float PwmIn::pulsewidth() { return _pulsewidth; } float PwmIn::dutycycle() { if(_t.read_ms()<100){ return (_pulsewidth%_period) /((float) _period);} else return 0; } void PwmIn::rise() { _period = _t.read_us(); _t.reset(); } void PwmIn::fall() { _temp_pulsewidth = _t.read_us(); if(_temp_pulsewidth != 0) _pulsewidth = _temp_pulsewidth; }