Thomas Butler
fsdfds
Dependencies: BLE_API mbed-dev-bin nRF51822
Fork of
microbit-dal
by 
Lancaster University
source/drivers/MicroBitPin.cpp@1:8aa5cdb4ab67, 2016-04-07 (annotated)
- Committer:
- Jonathan Austin
- Date:
- Thu Apr 07 01:33:22 2016 +0100
- Revision:
- 1:8aa5cdb4ab67
- Child:
- 35:8ce23bc1af38
Synchronized with git rev 55cb9199
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Jonathan Austin |
1:8aa5cdb4ab67 | 1 | /* |
| Jonathan Austin |
1:8aa5cdb4ab67 | 2 | The MIT License (MIT) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 3 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 4 | Copyright (c) 2016 British Broadcasting Corporation. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 5 | This software is provided by Lancaster University by arrangement with the BBC. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 6 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 7 | Permission is hereby granted, free of charge, to any person obtaining a |
| Jonathan Austin |
1:8aa5cdb4ab67 | 8 | copy of this software and associated documentation files (the "Software"), |
| Jonathan Austin |
1:8aa5cdb4ab67 | 9 | to deal in the Software without restriction, including without limitation |
| Jonathan Austin |
1:8aa5cdb4ab67 | 10 | the rights to use, copy, modify, merge, publish, distribute, sublicense, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 11 | and/or sell copies of the Software, and to permit persons to whom the |
| Jonathan Austin |
1:8aa5cdb4ab67 | 12 | Software is furnished to do so, subject to the following conditions: |
| Jonathan Austin |
1:8aa5cdb4ab67 | 13 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 14 | The above copyright notice and this permission notice shall be included in |
| Jonathan Austin |
1:8aa5cdb4ab67 | 15 | all copies or substantial portions of the Software. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 16 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 17 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| Jonathan Austin |
1:8aa5cdb4ab67 | 18 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 19 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL |
| Jonathan Austin |
1:8aa5cdb4ab67 | 20 | THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| Jonathan Austin |
1:8aa5cdb4ab67 | 21 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
| Jonathan Austin |
1:8aa5cdb4ab67 | 22 | FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
| Jonathan Austin |
1:8aa5cdb4ab67 | 23 | DEALINGS IN THE SOFTWARE. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 24 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 25 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 26 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 27 | * Class definition for MicroBitPin. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 28 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 29 | * Commonly represents an I/O pin on the edge connector. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 30 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 31 | #include "MicroBitConfig.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 32 | #include "MicroBitPin.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 33 | #include "MicroBitButton.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 34 | #include "DynamicPwm.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 35 | #include "ErrorNo.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 36 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 37 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 38 | * Constructor. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 39 | * Create a MicroBitPin instance, generally used to represent a pin on the edge connector. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 40 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 41 | * @param id the unique EventModel id of this component. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 42 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 43 | * @param name the mbed PinName for this MicroBitPin instance. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 44 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 45 | * @param capability the capabilities this MicroBitPin instance should have. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 46 | * (PIN_CAPABILITY_DIGITAL, PIN_CAPABILITY_ANALOG, PIN_CAPABILITY_TOUCH, PIN_CAPABILITY_AD, PIN_CAPABILITY_ALL) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 47 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 48 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 49 | * MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_ALL); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 50 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 51 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 52 | MicroBitPin::MicroBitPin(int id, PinName name, PinCapability capability) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 53 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 54 | //set mandatory attributes |
| Jonathan Austin |
1:8aa5cdb4ab67 | 55 | this->id = id; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 56 | this->name = name; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 57 | this->capability = capability; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 58 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 59 | // Power up in a disconnected, low power state. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 60 | // If we're unused, this is how it will stay... |
| Jonathan Austin |
1:8aa5cdb4ab67 | 61 | this->status = 0x00; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 62 | this->pin = NULL; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 63 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 64 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 65 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 66 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 67 | * Disconnect any attached mBed IO from this pin. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 68 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 69 | * Used only when pin changes mode (i.e. Input/Output/Analog/Digital) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 70 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 71 | void MicroBitPin::disconnect() |
| Jonathan Austin |
1:8aa5cdb4ab67 | 72 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 73 | // This is a bit ugly, but rarely used code. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 74 | // It would be much better to use some polymorphism here, but the mBed I/O classes aren't arranged in an inheritance hierarchy... yet. :-) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 75 | if (status & IO_STATUS_DIGITAL_IN) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 76 | delete ((DigitalIn *)pin); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 77 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 78 | if (status & IO_STATUS_DIGITAL_OUT) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 79 | delete ((DigitalOut *)pin); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 80 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 81 | if (status & IO_STATUS_ANALOG_IN){ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 82 | NRF_ADC->ENABLE = ADC_ENABLE_ENABLE_Disabled; // forcibly disable the ADC - BUG in mbed.... |
| Jonathan Austin |
1:8aa5cdb4ab67 | 83 | delete ((AnalogIn *)pin); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 84 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 85 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 86 | if (status & IO_STATUS_ANALOG_OUT) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 87 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 88 | if(((DynamicPwm *)pin)->getPinName() == name) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 89 | ((DynamicPwm *)pin)->release(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 90 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 91 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 92 | if (status & IO_STATUS_TOUCH_IN) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 93 | delete ((MicroBitButton *)pin); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 94 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 95 | this->pin = NULL; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 96 | this->status = status & IO_STATUS_EVENTBUS_ENABLED; //retain event bus status |
| Jonathan Austin |
1:8aa5cdb4ab67 | 97 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 98 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 99 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 100 | * Configures this IO pin as a digital output (if necessary) and sets the pin to 'value'. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 101 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 102 | * @param value 0 (LO) or 1 (HI) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 103 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 104 | * @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER if value is out of range, or MICROBIT_NOT_SUPPORTED |
| Jonathan Austin |
1:8aa5cdb4ab67 | 105 | * if the given pin does not have digital capability. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 106 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 107 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 108 | * MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_BOTH); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 109 | * P0.setDigitalValue(1); // P0 is now HI |
| Jonathan Austin |
1:8aa5cdb4ab67 | 110 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 111 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 112 | int MicroBitPin::setDigitalValue(int value) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 113 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 114 | // Check if this pin has a digital mode... |
| Jonathan Austin |
1:8aa5cdb4ab67 | 115 | if(!(PIN_CAPABILITY_DIGITAL & capability)) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 116 | return MICROBIT_NOT_SUPPORTED; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 117 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 118 | // Ensure we have a valid value. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 119 | if (value < 0 || value > 1) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 120 | return MICROBIT_INVALID_PARAMETER; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 121 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 122 | // Move into a Digital input state if necessary. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 123 | if (!(status & IO_STATUS_DIGITAL_OUT)){ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 124 | disconnect(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 125 | pin = new DigitalOut(name); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 126 | status |= IO_STATUS_DIGITAL_OUT; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 127 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 128 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 129 | // Write the value. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 130 | ((DigitalOut *)pin)->write(value); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 131 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 132 | return MICROBIT_OK; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 133 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 134 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 135 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 136 | * Configures this IO pin as a digital input (if necessary) and tests its current value. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 137 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 138 | * @return 1 if this input is high, 0 if input is LO, or MICROBIT_NOT_SUPPORTED |
| Jonathan Austin |
1:8aa5cdb4ab67 | 139 | * if the given pin does not have analog capability. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 140 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 141 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 142 | * MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_BOTH); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 143 | * P0.getDigitalValue(); // P0 is either 0 or 1; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 144 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 145 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 146 | int MicroBitPin::getDigitalValue() |
| Jonathan Austin |
1:8aa5cdb4ab67 | 147 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 148 | //check if this pin has a digital mode... |
| Jonathan Austin |
1:8aa5cdb4ab67 | 149 | if(!(PIN_CAPABILITY_DIGITAL & capability)) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 150 | return MICROBIT_NOT_SUPPORTED; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 151 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 152 | // Move into a Digital input state if necessary. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 153 | if (!(status & IO_STATUS_DIGITAL_IN)){ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 154 | disconnect(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 155 | pin = new DigitalIn(name,PullDown); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 156 | status |= IO_STATUS_DIGITAL_IN; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 157 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 158 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 159 | return ((DigitalIn *)pin)->read(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 160 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 161 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 162 | int MicroBitPin::obtainAnalogChannel() |
| Jonathan Austin |
1:8aa5cdb4ab67 | 163 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 164 | // Move into an analogue input state if necessary, if we are no longer the focus of a DynamicPWM instance, allocate ourselves again! |
| Jonathan Austin |
1:8aa5cdb4ab67 | 165 | if (!(status & IO_STATUS_ANALOG_OUT) || !(((DynamicPwm *)pin)->getPinName() == name)){ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 166 | disconnect(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 167 | pin = (void *)DynamicPwm::allocate(name); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 168 | status |= IO_STATUS_ANALOG_OUT; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 169 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 170 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 171 | return MICROBIT_OK; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 172 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 173 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 174 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 175 | * Configures this IO pin as an analog/pwm output, and change the output value to the given level. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 176 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 177 | * @param value the level to set on the output pin, in the range 0 - 1024 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 178 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 179 | * @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER if value is out of range, or MICROBIT_NOT_SUPPORTED |
| Jonathan Austin |
1:8aa5cdb4ab67 | 180 | * if the given pin does not have analog capability. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 181 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 182 | int MicroBitPin::setAnalogValue(int value) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 183 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 184 | //check if this pin has an analogue mode... |
| Jonathan Austin |
1:8aa5cdb4ab67 | 185 | if(!(PIN_CAPABILITY_ANALOG & capability)) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 186 | return MICROBIT_NOT_SUPPORTED; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 187 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 188 | //sanitise the level value |
| Jonathan Austin |
1:8aa5cdb4ab67 | 189 | if(value < 0 || value > MICROBIT_PIN_MAX_OUTPUT) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 190 | return MICROBIT_INVALID_PARAMETER; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 191 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 192 | float level = (float)value / float(MICROBIT_PIN_MAX_OUTPUT); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 193 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 194 | //obtain use of the DynamicPwm instance, if it has changed / configure if we do not have one |
| Jonathan Austin |
1:8aa5cdb4ab67 | 195 | if(obtainAnalogChannel() == MICROBIT_OK) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 196 | return ((DynamicPwm *)pin)->write(level); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 197 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 198 | return MICROBIT_OK; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 199 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 200 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 201 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 202 | * Configures this IO pin as an analog/pwm output (if necessary) and configures the period to be 20ms, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 203 | * with a duty cycle between 500 us and 2500 us. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 204 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 205 | * A value of 180 sets the duty cycle to be 2500us, and a value of 0 sets the duty cycle to be 500us by default. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 206 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 207 | * This range can be modified to fine tune, and also tolerate different servos. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 208 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 209 | * @param value the level to set on the output pin, in the range 0 - 180. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 210 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 211 | * @param range which gives the span of possible values the i.e. the lower and upper bounds (center +/- range/2). Defaults to MICROBIT_PIN_DEFAULT_SERVO_RANGE. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 212 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 213 | * @param center the center point from which to calculate the lower and upper bounds. Defaults to MICROBIT_PIN_DEFAULT_SERVO_CENTER |
| Jonathan Austin |
1:8aa5cdb4ab67 | 214 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 215 | * @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER if value is out of range, or MICROBIT_NOT_SUPPORTED |
| Jonathan Austin |
1:8aa5cdb4ab67 | 216 | * if the given pin does not have analog capability. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 217 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 218 | int MicroBitPin::setServoValue(int value, int range, int center) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 219 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 220 | //check if this pin has an analogue mode... |
| Jonathan Austin |
1:8aa5cdb4ab67 | 221 | if(!(PIN_CAPABILITY_ANALOG & capability)) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 222 | return MICROBIT_NOT_SUPPORTED; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 223 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 224 | //sanitise the servo level |
| Jonathan Austin |
1:8aa5cdb4ab67 | 225 | if(value < 0 || range < 1 || center < 1) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 226 | return MICROBIT_INVALID_PARAMETER; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 227 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 228 | //clip - just in case |
| Jonathan Austin |
1:8aa5cdb4ab67 | 229 | if(value > MICROBIT_PIN_MAX_SERVO_RANGE) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 230 | value = MICROBIT_PIN_MAX_SERVO_RANGE; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 231 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 232 | //calculate the lower bound based on the midpoint |
| Jonathan Austin |
1:8aa5cdb4ab67 | 233 | int lower = (center - (range / 2)) * 1000; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 234 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 235 | value = value * 1000; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 236 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 237 | //add the percentage of the range based on the value between 0 and 180 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 238 | int scaled = lower + (range * (value / MICROBIT_PIN_MAX_SERVO_RANGE)); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 239 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 240 | return setServoPulseUs(scaled / 1000); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 241 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 242 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 243 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 244 | * Configures this IO pin as an analogue input (if necessary), and samples the Pin for its analog value. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 245 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 246 | * @return the current analogue level on the pin, in the range 0 - 1024, or |
| Jonathan Austin |
1:8aa5cdb4ab67 | 247 | * MICROBIT_NOT_SUPPORTED if the given pin does not have analog capability. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 248 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 249 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 250 | * MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_BOTH); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 251 | * P0.getAnalogValue(); // P0 is a value in the range of 0 - 1024 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 252 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 253 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 254 | int MicroBitPin::getAnalogValue() |
| Jonathan Austin |
1:8aa5cdb4ab67 | 255 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 256 | //check if this pin has an analogue mode... |
| Jonathan Austin |
1:8aa5cdb4ab67 | 257 | if(!(PIN_CAPABILITY_ANALOG & capability)) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 258 | return MICROBIT_NOT_SUPPORTED; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 259 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 260 | // Move into an analogue input state if necessary. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 261 | if (!(status & IO_STATUS_ANALOG_IN)){ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 262 | disconnect(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 263 | pin = new AnalogIn(name); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 264 | status |= IO_STATUS_ANALOG_IN; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 265 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 266 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 267 | //perform a read! |
| Jonathan Austin |
1:8aa5cdb4ab67 | 268 | return ((AnalogIn *)pin)->read_u16(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 269 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 270 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 271 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 272 | * Determines if this IO pin is currently configured as an input. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 273 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 274 | * @return 1 if pin is an analog or digital input, 0 otherwise. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 275 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 276 | int MicroBitPin::isInput() |
| Jonathan Austin |
1:8aa5cdb4ab67 | 277 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 278 | return (status & (IO_STATUS_DIGITAL_IN | IO_STATUS_ANALOG_IN)) == 0 ? 0 : 1; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 279 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 280 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 281 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 282 | * Determines if this IO pin is currently configured as an output. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 283 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 284 | * @return 1 if pin is an analog or digital output, 0 otherwise. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 285 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 286 | int MicroBitPin::isOutput() |
| Jonathan Austin |
1:8aa5cdb4ab67 | 287 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 288 | return (status & (IO_STATUS_DIGITAL_OUT | IO_STATUS_ANALOG_OUT)) == 0 ? 0 : 1; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 289 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 290 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 291 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 292 | * Determines if this IO pin is currently configured for digital use. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 293 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 294 | * @return 1 if pin is digital, 0 otherwise. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 295 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 296 | int MicroBitPin::isDigital() |
| Jonathan Austin |
1:8aa5cdb4ab67 | 297 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 298 | return (status & (IO_STATUS_DIGITAL_IN | IO_STATUS_DIGITAL_OUT)) == 0 ? 0 : 1; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 299 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 300 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 301 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 302 | * Determines if this IO pin is currently configured for analog use. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 303 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 304 | * @return 1 if pin is analog, 0 otherwise. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 305 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 306 | int MicroBitPin::isAnalog() |
| Jonathan Austin |
1:8aa5cdb4ab67 | 307 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 308 | return (status & (IO_STATUS_ANALOG_IN | IO_STATUS_ANALOG_OUT)) == 0 ? 0 : 1; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 309 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 310 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 311 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 312 | * Configures this IO pin as a "makey makey" style touch sensor (if necessary) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 313 | * and tests its current debounced state. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 314 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 315 | * Users can also subscribe to MicroBitButton events generated from this pin. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 316 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 317 | * @return 1 if pin is touched, 0 if not, or MICROBIT_NOT_SUPPORTED if this pin does not support touch capability. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 318 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 319 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 320 | * MicroBitMessageBus bus; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 321 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 322 | * MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_ALL); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 323 | * if(P0.isTouched()) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 324 | * { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 325 | * //do something! |
| Jonathan Austin |
1:8aa5cdb4ab67 | 326 | * } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 327 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 328 | * // subscribe to events generated by this pin! |
| Jonathan Austin |
1:8aa5cdb4ab67 | 329 | * bus.listen(MICROBIT_ID_IO_P0, MICROBIT_BUTTON_EVT_CLICK, someFunction); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 330 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 331 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 332 | int MicroBitPin::isTouched() |
| Jonathan Austin |
1:8aa5cdb4ab67 | 333 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 334 | //check if this pin has a touch mode... |
| Jonathan Austin |
1:8aa5cdb4ab67 | 335 | if(!(PIN_CAPABILITY_TOUCH & capability)) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 336 | return MICROBIT_NOT_SUPPORTED; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 337 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 338 | // Move into a touch input state if necessary. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 339 | if (!(status & IO_STATUS_TOUCH_IN)){ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 340 | disconnect(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 341 | pin = new MicroBitButton(name, id); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 342 | status |= IO_STATUS_TOUCH_IN; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 343 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 344 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 345 | return ((MicroBitButton *)pin)->isPressed(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 346 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 347 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 348 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 349 | * Configures this IO pin as an analog/pwm output if it isn't already, configures the period to be 20ms, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 350 | * and sets the pulse width, based on the value it is given. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 351 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 352 | * @param pulseWidth the desired pulse width in microseconds. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 353 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 354 | * @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER if value is out of range, or MICROBIT_NOT_SUPPORTED |
| Jonathan Austin |
1:8aa5cdb4ab67 | 355 | * if the given pin does not have analog capability. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 356 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 357 | int MicroBitPin::setServoPulseUs(int pulseWidth) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 358 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 359 | //check if this pin has an analogue mode... |
| Jonathan Austin |
1:8aa5cdb4ab67 | 360 | if(!(PIN_CAPABILITY_ANALOG & capability)) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 361 | return MICROBIT_NOT_SUPPORTED; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 362 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 363 | //sanitise the pulse width |
| Jonathan Austin |
1:8aa5cdb4ab67 | 364 | if(pulseWidth < 0) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 365 | return MICROBIT_INVALID_PARAMETER; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 366 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 367 | //Check we still have the control over the DynamicPwm instance |
| Jonathan Austin |
1:8aa5cdb4ab67 | 368 | if(obtainAnalogChannel() == MICROBIT_OK) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 369 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 370 | //check if the period is set to 20ms |
| Jonathan Austin |
1:8aa5cdb4ab67 | 371 | if(((DynamicPwm *)pin)->getPeriodUs() != MICROBIT_DEFAULT_PWM_PERIOD) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 372 | ((DynamicPwm *)pin)->setPeriodUs(MICROBIT_DEFAULT_PWM_PERIOD); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 373 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 374 | ((DynamicPwm *)pin)->pulsewidth_us(pulseWidth); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 375 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 376 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 377 | return MICROBIT_OK; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 378 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 379 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 380 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 381 | * Configures the PWM period of the analog output to the given value. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 382 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 383 | * @param period The new period for the analog output in microseconds. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 384 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 385 | * @return MICROBIT_OK on success, or MICROBIT_NOT_SUPPORTED if the |
| Jonathan Austin |
1:8aa5cdb4ab67 | 386 | * given pin is not configured as an analog output. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 387 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 388 | int MicroBitPin::setAnalogPeriodUs(int period) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 389 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 390 | if (!(status & IO_STATUS_ANALOG_OUT)) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 391 | return MICROBIT_NOT_SUPPORTED; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 392 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 393 | return ((DynamicPwm *)pin)->setPeriodUs(period); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 394 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 395 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 396 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 397 | * Configures the PWM period of the analog output to the given value. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 398 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 399 | * @param period The new period for the analog output in milliseconds. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 400 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 401 | * @return MICROBIT_OK on success, or MICROBIT_NOT_SUPPORTED if the |
| Jonathan Austin |
1:8aa5cdb4ab67 | 402 | * given pin is not configured as an analog output. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 403 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 404 | int MicroBitPin::setAnalogPeriod(int period) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 405 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 406 | return setAnalogPeriodUs(period*1000); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 407 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 408 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 409 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 410 | * Obtains the PWM period of the analog output in microseconds. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 411 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 412 | * @return the period on success, or MICROBIT_NOT_SUPPORTED if the |
| Jonathan Austin |
1:8aa5cdb4ab67 | 413 | * given pin is not configured as an analog output. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 414 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 415 | int MicroBitPin::getAnalogPeriodUs() |
| Jonathan Austin |
1:8aa5cdb4ab67 | 416 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 417 | if (!(status & IO_STATUS_ANALOG_OUT)) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 418 | return MICROBIT_NOT_SUPPORTED; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 419 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 420 | return ((DynamicPwm *)pin)->getPeriodUs(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 421 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 422 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 423 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 424 | * Obtains the PWM period of the analog output in milliseconds. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 425 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 426 | * @return the period on success, or MICROBIT_NOT_SUPPORTED if the |
| Jonathan Austin |
1:8aa5cdb4ab67 | 427 | * given pin is not configured as an analog output. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 428 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 429 | int MicroBitPin::getAnalogPeriod() |
| Jonathan Austin |
1:8aa5cdb4ab67 | 430 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 431 | return getAnalogPeriodUs()/1000; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 432 | } |