Class Library for reading hobby servos and detecting invalid or disconnected channels
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ServoIn Class Library
This class library uses external interrupts with timer functions to read servos pulses on mbed input pins.
ServoIn Library usage example
#include "mbed.h" #include "ServoIn.h" DigitalOut led1(LED1); ServoIn servoIn1(p15); ServoIn servoIn2(p14); Serial pc(USBTX, USBRX); // tx, rx int main() { pc.baud(921600); //Fast baud rate while(1) { led1 = 1; wait(0.05); led1 = 0; wait(0.05); pc.printf("servo pulse: CH1=%5dus CH2=%5dus\r\n", servoIn1.read(), servoIn2.read()); } }
ServoIn.h@1:b7cc6da72d09, 2015-04-15 (annotated)
- Committer:
- jebradshaw
- Date:
- Wed Apr 15 19:36:40 2015 +0000
- Revision:
- 1:b7cc6da72d09
- Parent:
- 0:98a3b6fbd242
- Child:
- 2:07273d6016e9
ServoIn Class Library with invalid pulse detection
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jebradshaw | 0:98a3b6fbd242 | 1 | // J. Bradshaw 20150409 |
jebradshaw | 0:98a3b6fbd242 | 2 | /** ServoIn Class for Reading servo pulses on single input pin |
jebradshaw | 0:98a3b6fbd242 | 3 | * Copyright (c) 2014, jbradshaw (http://mbed.org) |
jebradshaw | 0:98a3b6fbd242 | 4 | * |
jebradshaw | 0:98a3b6fbd242 | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
jebradshaw | 0:98a3b6fbd242 | 6 | * of this software and associated documentation files (the "Software"), to deal |
jebradshaw | 0:98a3b6fbd242 | 7 | * in the Software without restriction, including without limitation the rights |
jebradshaw | 0:98a3b6fbd242 | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
jebradshaw | 0:98a3b6fbd242 | 9 | * copies of the Software, and to permit persons to whom the Software is |
jebradshaw | 0:98a3b6fbd242 | 10 | * furnished to do so, subject to the following conditions: |
jebradshaw | 0:98a3b6fbd242 | 11 | * |
jebradshaw | 0:98a3b6fbd242 | 12 | * The above copyright notice and this permission notice shall be included in |
jebradshaw | 0:98a3b6fbd242 | 13 | * all copies or substantial portions of the Software. |
jebradshaw | 0:98a3b6fbd242 | 14 | * |
jebradshaw | 0:98a3b6fbd242 | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
jebradshaw | 0:98a3b6fbd242 | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
jebradshaw | 0:98a3b6fbd242 | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
jebradshaw | 0:98a3b6fbd242 | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
jebradshaw | 0:98a3b6fbd242 | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
jebradshaw | 0:98a3b6fbd242 | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
jebradshaw | 0:98a3b6fbd242 | 21 | * THE SOFTWARE. |
jebradshaw | 0:98a3b6fbd242 | 22 | * |
jebradshaw | 0:98a3b6fbd242 | 23 | */ |
jebradshaw | 0:98a3b6fbd242 | 24 | |
jebradshaw | 0:98a3b6fbd242 | 25 | #ifndef MBED_SERVOIN_H |
jebradshaw | 0:98a3b6fbd242 | 26 | #define MBED_SERVOIN_H |
jebradshaw | 0:98a3b6fbd242 | 27 | |
jebradshaw | 0:98a3b6fbd242 | 28 | /** |
jebradshaw | 0:98a3b6fbd242 | 29 | * ServoIn Class. |
jebradshaw | 0:98a3b6fbd242 | 30 | */ |
jebradshaw | 0:98a3b6fbd242 | 31 | |
jebradshaw | 0:98a3b6fbd242 | 32 | class ServoIn { |
jebradshaw | 0:98a3b6fbd242 | 33 | public: |
jebradshaw | 0:98a3b6fbd242 | 34 | /** |
jebradshaw | 0:98a3b6fbd242 | 35 | * Constructor. |
jebradshaw | 0:98a3b6fbd242 | 36 | * |
jebradshaw | 0:98a3b6fbd242 | 37 | * @param pin - servo pulse input pin, assigned as interrupt in |
jebradshaw | 0:98a3b6fbd242 | 38 | */ |
jebradshaw | 0:98a3b6fbd242 | 39 | |
jebradshaw | 0:98a3b6fbd242 | 40 | ServoIn(PinName pin); |
jebradshaw | 0:98a3b6fbd242 | 41 | |
jebradshaw | 0:98a3b6fbd242 | 42 | int servoPulse; |
jebradshaw | 0:98a3b6fbd242 | 43 | int read(void); |
jebradshaw | 0:98a3b6fbd242 | 44 | void PulseRead(void); |
jebradshaw | 1:b7cc6da72d09 | 45 | void timeoutTest(void); |
jebradshaw | 0:98a3b6fbd242 | 46 | |
jebradshaw | 0:98a3b6fbd242 | 47 | ServoIn& operator= (ServoIn& rhs); |
jebradshaw | 1:b7cc6da72d09 | 48 | operator int(); |
jebradshaw | 0:98a3b6fbd242 | 49 | |
jebradshaw | 0:98a3b6fbd242 | 50 | private: |
jebradshaw | 0:98a3b6fbd242 | 51 | InterruptIn _interrupt; |
jebradshaw | 1:b7cc6da72d09 | 52 | Timeout _validPulseTimeout; |
jebradshaw | 0:98a3b6fbd242 | 53 | bool _pulseFlag; |
jebradshaw | 0:98a3b6fbd242 | 54 | Timer pulseMeasure; |
jebradshaw | 1:b7cc6da72d09 | 55 | bool _t_state; |
jebradshaw | 0:98a3b6fbd242 | 56 | }; |
jebradshaw | 0:98a3b6fbd242 | 57 | |
jebradshaw | 0:98a3b6fbd242 | 58 | #endif |