syouichi imamori / Mbed OS MulticopterQuadX

Quad X Type Multicopter

Dependencies:   IAP

SoftPWM/SoftPWM.h@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 #ifndef SoftPWM_H
komaida424 2:59ac9df97701 2 #define SoftPWM_H
komaida424 2:59ac9df97701 3 #define POSITIVE true
komaida424 2:59ac9df97701 4 #define NEGATIVE false
komaida424 2:59ac9df97701 5
komaida424 2:59ac9df97701 6 #include "mbed.h"
komaida424 2:59ac9df97701 7
komaida424 2:59ac9df97701 8 class SoftPWM
komaida424 2:59ac9df97701 9 {
komaida424 2:59ac9df97701 10 private:
komaida424 2:59ac9df97701 11 Timeout _timeout;
komaida424 2:59ac9df97701 12 Ticker _ticker;
komaida424 2:59ac9df97701 13 void end();
komaida424 2:59ac9df97701 14 DigitalOut pulse;
komaida424 2:59ac9df97701 15 bool positive;
komaida424 2:59ac9df97701 16 void TickerInterrapt();
komaida424 2:59ac9df97701 17 float width;
komaida424 2:59ac9df97701 18 float interval;
komaida424 2:59ac9df97701 19 public:
komaida424 2:59ac9df97701 20 SoftPWM(PinName,bool mode=true);
komaida424 2:59ac9df97701 21 // void attach_us(int);
komaida424 2:59ac9df97701 22 void start();
komaida424 2:59ac9df97701 23 void write(float);
komaida424 2:59ac9df97701 24 float read();
komaida424 2:59ac9df97701 25 void pulsewidth(float);
komaida424 2:59ac9df97701 26 void pulsewidth_ms(int);
komaida424 2:59ac9df97701 27 void pulsewidth_us(int);
komaida424 2:59ac9df97701 28 void period(float);
komaida424 2:59ac9df97701 29 void period_ms(int);
komaida424 2:59ac9df97701 30 void period_us(int);
komaida424 2:59ac9df97701 31 void stop();
komaida424 2:59ac9df97701 32 operator float() {
komaida424 4:4060309b9cc0 33 if ( width <= 0.0f ) return 0.0f;
komaida424 4:4060309b9cc0 34 if ( width > 1.0f ) return 1.0f;
komaida424 2:59ac9df97701 35 return width / interval;
komaida424 2:59ac9df97701 36 }
komaida424 2:59ac9df97701 37 SoftPWM& operator=(float duty) {
komaida424 2:59ac9df97701 38 width = interval * duty;
komaida424 4:4060309b9cc0 39 if ( duty <= 0.0f ) width = 0.0f;
komaida424 4:4060309b9cc0 40 if ( duty > 1.0f ) width = interval;
komaida424 2:59ac9df97701 41 return *this;
komaida424 2:59ac9df97701 42 }
komaida424 2:59ac9df97701 43
komaida424 2:59ac9df97701 44 };
komaida424 2:59ac9df97701 45 #endif