syouichi imamori / Mbed OS MulticopterQuadX

Quad X Type Multicopter

Dependencies:   IAP

SoftPWM/SoftPWM.cpp@8:1db19b529b22, 2021-02-21 (annotated)

Committer:
komaida424
Date:
Sun Feb 21 05:14:57 2021 +0000
Revision:
8:1db19b529b22
Parent:
4:4060309b9cc0 
rev 020

Who changed what in which revision?

UserRevisionLine numberNew contents of line
komaida424 2:59ac9df97701 1 #include "mbed.h"
komaida424 2:59ac9df97701 2 #include "InterruptIn.h"
komaida424 2:59ac9df97701 3 #include "SoftPWM.h"
komaida424 8:1db19b529b22 4 void wait(float);
komaida424 2:59ac9df97701 5
komaida424 2:59ac9df97701 6 SoftPWM::SoftPWM(PinName _outpin,bool _positive) : pulse(_outpin) //constructa
komaida424 2:59ac9df97701 7 {
komaida424 2:59ac9df97701 8 if ( _positive )
komaida424 2:59ac9df97701 9 pulse = 0;
komaida424 2:59ac9df97701 10 else
komaida424 2:59ac9df97701 11 pulse = 1;
komaida424 2:59ac9df97701 12 positive = _positive;
komaida424 2:59ac9df97701 13 interval = 0.02;
komaida424 2:59ac9df97701 14 width = 0;
komaida424 2:59ac9df97701 15 start();
komaida424 2:59ac9df97701 16 }
komaida424 2:59ac9df97701 17
komaida424 2:59ac9df97701 18 float SoftPWM::read()
komaida424 2:59ac9df97701 19 {
komaida424 4:4060309b9cc0 20 if ( width <= 0.0f ) return 0.0;
komaida424 4:4060309b9cc0 21 if ( width > 1.0f ) return 1.0;
komaida424 2:59ac9df97701 22 return width / interval;
komaida424 2:59ac9df97701 23 }
komaida424 2:59ac9df97701 24
komaida424 2:59ac9df97701 25 void SoftPWM::write(float duty)
komaida424 2:59ac9df97701 26 {
komaida424 2:59ac9df97701 27 width = interval * duty;
komaida424 4:4060309b9cc0 28 if ( duty <= 0.0f ) width = 0.0;
komaida424 4:4060309b9cc0 29 if ( duty > 1.0f ) width = interval;
komaida424 2:59ac9df97701 30 }
komaida424 2:59ac9df97701 31
komaida424 2:59ac9df97701 32 void SoftPWM::start()
komaida424 2:59ac9df97701 33 {
komaida424 8:1db19b529b22 34 uint32_t itv = interval;
komaida424 8:1db19b529b22 35 _ticker.attach(callback(this,&SoftPWM::TickerInterrapt),itv);
komaida424 2:59ac9df97701 36 }
komaida424 2:59ac9df97701 37
komaida424 2:59ac9df97701 38 void SoftPWM::stop()
komaida424 2:59ac9df97701 39 {
komaida424 2:59ac9df97701 40 _ticker.detach();
komaida424 2:59ac9df97701 41 if ( positive )
komaida424 2:59ac9df97701 42 pulse = 0;
komaida424 2:59ac9df97701 43 else
komaida424 2:59ac9df97701 44 pulse = 1;
komaida424 2:59ac9df97701 45 wait(width);
komaida424 2:59ac9df97701 46 }
komaida424 2:59ac9df97701 47
komaida424 2:59ac9df97701 48 void SoftPWM::period(float _period)
komaida424 2:59ac9df97701 49 {
komaida424 2:59ac9df97701 50 interval = _period;
komaida424 2:59ac9df97701 51 start();
komaida424 2:59ac9df97701 52 }
komaida424 2:59ac9df97701 53
komaida424 2:59ac9df97701 54 void SoftPWM::period_ms(int _period)
komaida424 2:59ac9df97701 55 {
komaida424 2:59ac9df97701 56 period((float)_period / 1000);
komaida424 2:59ac9df97701 57 start();
komaida424 2:59ac9df97701 58 }
komaida424 2:59ac9df97701 59
komaida424 2:59ac9df97701 60 void SoftPWM::period_us(int _period)
komaida424 2:59ac9df97701 61 {
komaida424 2:59ac9df97701 62 period((float)_period / 1000000);
komaida424 2:59ac9df97701 63 start();
komaida424 2:59ac9df97701 64 }
komaida424 2:59ac9df97701 65
komaida424 2:59ac9df97701 66 void SoftPWM::pulsewidth(float _width)
komaida424 2:59ac9df97701 67 {
komaida424 2:59ac9df97701 68 width = _width;
komaida424 4:4060309b9cc0 69 if ( width < 0.0f ) width = 0.0;
komaida424 2:59ac9df97701 70 }
komaida424 2:59ac9df97701 71
komaida424 2:59ac9df97701 72 void SoftPWM::pulsewidth_ms(int _width)
komaida424 2:59ac9df97701 73 {
komaida424 2:59ac9df97701 74 pulsewidth((float)_width / 1000);
komaida424 2:59ac9df97701 75 }
komaida424 2:59ac9df97701 76
komaida424 2:59ac9df97701 77 void SoftPWM::pulsewidth_us(int _width)
komaida424 2:59ac9df97701 78 {
komaida424 2:59ac9df97701 79 pulsewidth((float)_width / 1000000);
komaida424 2:59ac9df97701 80 }
komaida424 2:59ac9df97701 81
komaida424 2:59ac9df97701 82 void SoftPWM::TickerInterrapt()
komaida424 2:59ac9df97701 83 {
komaida424 2:59ac9df97701 84 if ( width <= 0 ) return;
komaida424 8:1db19b529b22 85 _timeout.attach(callback(this,&SoftPWM::end),width);
komaida424 2:59ac9df97701 86 if ( positive )
komaida424 2:59ac9df97701 87 pulse = 1;
komaida424 2:59ac9df97701 88 else
komaida424 2:59ac9df97701 89 pulse = 0;
komaida424 2:59ac9df97701 90 }
komaida424 2:59ac9df97701 91
komaida424 2:59ac9df97701 92 void SoftPWM::end()
komaida424 2:59ac9df97701 93 {
komaida424 2:59ac9df97701 94 if ( positive )
komaida424 2:59ac9df97701 95 pulse = 0;
komaida424 2:59ac9df97701 96 else
komaida424 2:59ac9df97701 97 pulse = 1;
komaida424 2:59ac9df97701 98 // _timeout.detach();
komaida424 2:59ac9df97701 99 }
komaida424 2:59ac9df97701 100 ;
komaida424 2:59ac9df97701 101