File content as of revision 2:918eefae7a4e:

//**********************
// A3921_2p.cpp for mbed
//
// (C)Copyright 2021 All rights reserved by R.Ihashi
//**********************

#include "A3921_2p.h"

A3921_2p::A3921_2p(PinName pwm_l, PinName phase):
PWM_L(pwm_l),
PHASE(phase)
{
    reverse = false;
    duty = 0;
    period = 0.001;
    PWM_L.period(period);   
}

A3921_2p::~A3921_2p(){
    PWM_L.pulsewidth_us(0);
    PHASE = 1;
        
}

void A3921_2p::SetPeriod(float val){
    period = val;
    PWM_L.period(period);
}

void A3921_2p::SetPeriod_ms(int val){
    period = (float)val/1000;
    PWM_L.period(period);
}

void A3921_2p::SetPeriod_ms(float val){
    period = val/1000.0f;
    PWM_L.period(period);
}

void A3921_2p::SetEnable(bool mode){
    enable = mode;    
}

void A3921_2p::SetReverse(bool mode){
    reverse = mode;    
}

void A3921_2p::SetPulseWidth(float t){// -period <= t <= period
    bool sign = true;
    
    if(t > period)t = period;       //周期を超えないように制限
    else if(t < -period)t = -period;//周期を超えないように制限
    
    duty = int(1000.0 * (t/period));//Duty比を計算
    
    if(t < 0.0f){                   //マイナスだったらfalse
        sign = false;   
        t=-t;
    }
    
    PHASE = reverse ^ sign;         //回転方向を指定
    PWM_L.pulsewidth((float)enable*t);//パルスを出力
}

void A3921_2p::SetPulseWidth_us(int t){
    SetPulseWidth((float)t/1000000);
}

void A3921_2p::SetDuty(int x){
    SetPulseWidth((float)x * period / 1000.0f);  
}

void A3921_2p::SetDuty(float x){
    SetPulseWidth(x * period / 1000.0f);  
}

int A3921_2p::GetDuty(){
    return duty;
}

int A3921_2p::GetPulseWidth_us(){
    return GetPulseWidth() * 1000000;
}

float A3921_2p::GetPulseWidth(){
    float pluse;
    pluse = (float)duty/1000.0f * period;
    return fabs(pluse);    
}

float A3921_2p::GetPeriod(){
    return period;    
}

bool A3921_2p::GetEnable(){
    return enable;    
}

bool A3921_2p::GetReverse(){
    return reverse;    
}