Jose Calle
Asignación de valores controlador PID sencillo.
Fork of
controlPID
by 
Gustavo Ramirez
DebouncedIn.cpp@0:672241227e0d, 2009-11-27 (annotated)
- Committer:
- chris
- Date:
- Fri Nov 27 16:05:32 2009 +0000
- Revision:
- 0:672241227e0d
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| chris | 0:672241227e0d | 1 | #include "DebouncedIn.h" |
| chris | 0:672241227e0d | 2 | #include "mbed.h" |
| chris | 0:672241227e0d | 3 | |
| chris | 0:672241227e0d | 4 | /* |
| chris | 0:672241227e0d | 5 | * Constructor |
| chris | 0:672241227e0d | 6 | */ |
| chris | 0:672241227e0d | 7 | DebouncedIn::DebouncedIn(PinName in) |
| chris | 0:672241227e0d | 8 | : _in(in) { |
| chris | 0:672241227e0d | 9 | |
| chris | 0:672241227e0d | 10 | // reset all the flags and counters |
| chris | 0:672241227e0d | 11 | _samples = 0; |
| chris | 0:672241227e0d | 12 | _output = 0; |
| chris | 0:672241227e0d | 13 | _output_last = 0; |
| chris | 0:672241227e0d | 14 | _rising_flag = 0; |
| chris | 0:672241227e0d | 15 | _falling_flag = 0; |
| chris | 0:672241227e0d | 16 | _state_counter = 0; |
| chris | 0:672241227e0d | 17 | |
| chris | 0:672241227e0d | 18 | // Attach ticker |
| chris | 0:672241227e0d | 19 | _ticker.attach(this, &DebouncedIn::_sample, 0.005); |
| chris | 0:672241227e0d | 20 | } |
| chris | 0:672241227e0d | 21 | |
| chris | 0:672241227e0d | 22 | void DebouncedIn::_sample() { |
| chris | 0:672241227e0d | 23 | |
| chris | 0:672241227e0d | 24 | // take a sample |
| chris | 0:672241227e0d | 25 | _samples = _samples >> 1; // shift left |
| chris | 0:672241227e0d | 26 | |
| chris | 0:672241227e0d | 27 | if (_in) { |
| chris | 0:672241227e0d | 28 | _samples |= 0x80; |
| chris | 0:672241227e0d | 29 | } |
| chris | 0:672241227e0d | 30 | |
| chris | 0:672241227e0d | 31 | // examine the sample window, look for steady state |
| chris | 0:672241227e0d | 32 | if (_samples == 0x00) { |
| chris | 0:672241227e0d | 33 | _output = 0; |
| chris | 0:672241227e0d | 34 | } |
| chris | 0:672241227e0d | 35 | else if (_samples == 0xFF) { |
| chris | 0:672241227e0d | 36 | _output = 1; |
| chris | 0:672241227e0d | 37 | } |
| chris | 0:672241227e0d | 38 | |
| chris | 0:672241227e0d | 39 | |
| chris | 0:672241227e0d | 40 | // Rising edge detection |
| chris | 0:672241227e0d | 41 | if ((_output == 1) && (_output_last == 0)) { |
| chris | 0:672241227e0d | 42 | _rising_flag++; |
| chris | 0:672241227e0d | 43 | _state_counter = 0; |
| chris | 0:672241227e0d | 44 | } |
| chris | 0:672241227e0d | 45 | |
| chris | 0:672241227e0d | 46 | // Falling edge detection |
| chris | 0:672241227e0d | 47 | else if ((_output == 0) && (_output_last == 1)) { |
| chris | 0:672241227e0d | 48 | _falling_flag++; |
| chris | 0:672241227e0d | 49 | _state_counter = 0; |
| chris | 0:672241227e0d | 50 | } |
| chris | 0:672241227e0d | 51 | |
| chris | 0:672241227e0d | 52 | // steady state |
| chris | 0:672241227e0d | 53 | else { |
| chris | 0:672241227e0d | 54 | _state_counter++; |
| chris | 0:672241227e0d | 55 | } |
| chris | 0:672241227e0d | 56 | |
| chris | 0:672241227e0d | 57 | // update the output |
| chris | 0:672241227e0d | 58 | _output_last = _output; |
| chris | 0:672241227e0d | 59 | |
| chris | 0:672241227e0d | 60 | } |
| chris | 0:672241227e0d | 61 | |
| chris | 0:672241227e0d | 62 | |
| chris | 0:672241227e0d | 63 | |
| chris | 0:672241227e0d | 64 | // return number of rising edges |
| chris | 0:672241227e0d | 65 | int DebouncedIn::rising(void) { |
| chris | 0:672241227e0d | 66 | int return_value = _rising_flag; |
| chris | 0:672241227e0d | 67 | _rising_flag = 0; |
| chris | 0:672241227e0d | 68 | return(return_value); |
| chris | 0:672241227e0d | 69 | } |
| chris | 0:672241227e0d | 70 | |
| chris | 0:672241227e0d | 71 | // return number of falling edges |
| chris | 0:672241227e0d | 72 | int DebouncedIn::falling(void) { |
| chris | 0:672241227e0d | 73 | int return_value = _falling_flag; |
| chris | 0:672241227e0d | 74 | _falling_flag = 0; |
| chris | 0:672241227e0d | 75 | return(return_value); |
| chris | 0:672241227e0d | 76 | } |
| chris | 0:672241227e0d | 77 | |
| chris | 0:672241227e0d | 78 | // return number of ticsk we've bene steady for |
| chris | 0:672241227e0d | 79 | int DebouncedIn::steady(void) { |
| chris | 0:672241227e0d | 80 | return(_state_counter); |
| chris | 0:672241227e0d | 81 | } |
| chris | 0:672241227e0d | 82 | |
| chris | 0:672241227e0d | 83 | // return the debounced status |
| chris | 0:672241227e0d | 84 | int DebouncedIn::read(void) { |
| chris | 0:672241227e0d | 85 | return(_output); |
| chris | 0:672241227e0d | 86 | } |
| chris | 0:672241227e0d | 87 | |
| chris | 0:672241227e0d | 88 | // shorthand for read() |
| chris | 0:672241227e0d | 89 | DebouncedIn::operator int() { |
| chris | 0:672241227e0d | 90 | return read(); |
| chris | 0:672241227e0d | 91 | } |
| chris | 0:672241227e0d | 92 | |
| chris | 0:672241227e0d | 93 |