disabled BLE to use radio
Dependencies: BLE_API nRF51822 mbed-dev-bin
Diff: source/drivers/MicroBitPin.cpp
- Revision:
- 1:8aa5cdb4ab67
- Child:
- 35:8ce23bc1af38
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/source/drivers/MicroBitPin.cpp Thu Apr 07 01:33:22 2016 +0100 @@ -0,0 +1,432 @@ +/* +The MIT License (MIT) + +Copyright (c) 2016 British Broadcasting Corporation. +This software is provided by Lancaster University by arrangement with the BBC. + +Permission is hereby granted, free of charge, to any person obtaining a +copy of this software and associated documentation files (the "Software"), +to deal in the Software without restriction, including without limitation +the rights to use, copy, modify, merge, publish, distribute, sublicense, +and/or sell copies of the Software, and to permit persons to whom the +Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER +DEALINGS IN THE SOFTWARE. +*/ + +/** + * Class definition for MicroBitPin. + * + * Commonly represents an I/O pin on the edge connector. + */ +#include "MicroBitConfig.h" +#include "MicroBitPin.h" +#include "MicroBitButton.h" +#include "DynamicPwm.h" +#include "ErrorNo.h" + +/** + * Constructor. + * Create a MicroBitPin instance, generally used to represent a pin on the edge connector. + * + * @param id the unique EventModel id of this component. + * + * @param name the mbed PinName for this MicroBitPin instance. + * + * @param capability the capabilities this MicroBitPin instance should have. + * (PIN_CAPABILITY_DIGITAL, PIN_CAPABILITY_ANALOG, PIN_CAPABILITY_TOUCH, PIN_CAPABILITY_AD, PIN_CAPABILITY_ALL) + * + * @code + * MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_ALL); + * @endcode + */ +MicroBitPin::MicroBitPin(int id, PinName name, PinCapability capability) +{ + //set mandatory attributes + this->id = id; + this->name = name; + this->capability = capability; + + // Power up in a disconnected, low power state. + // If we're unused, this is how it will stay... + this->status = 0x00; + this->pin = NULL; + +} + +/** + * Disconnect any attached mBed IO from this pin. + * + * Used only when pin changes mode (i.e. Input/Output/Analog/Digital) + */ +void MicroBitPin::disconnect() +{ + // This is a bit ugly, but rarely used code. + // It would be much better to use some polymorphism here, but the mBed I/O classes aren't arranged in an inheritance hierarchy... yet. :-) + if (status & IO_STATUS_DIGITAL_IN) + delete ((DigitalIn *)pin); + + if (status & IO_STATUS_DIGITAL_OUT) + delete ((DigitalOut *)pin); + + if (status & IO_STATUS_ANALOG_IN){ + NRF_ADC->ENABLE = ADC_ENABLE_ENABLE_Disabled; // forcibly disable the ADC - BUG in mbed.... + delete ((AnalogIn *)pin); + } + + if (status & IO_STATUS_ANALOG_OUT) + { + if(((DynamicPwm *)pin)->getPinName() == name) + ((DynamicPwm *)pin)->release(); + } + + if (status & IO_STATUS_TOUCH_IN) + delete ((MicroBitButton *)pin); + + this->pin = NULL; + this->status = status & IO_STATUS_EVENTBUS_ENABLED; //retain event bus status +} + +/** + * Configures this IO pin as a digital output (if necessary) and sets the pin to 'value'. + * + * @param value 0 (LO) or 1 (HI) + * + * @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER if value is out of range, or MICROBIT_NOT_SUPPORTED + * if the given pin does not have digital capability. + * + * @code + * MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_BOTH); + * P0.setDigitalValue(1); // P0 is now HI + * @endcode + */ +int MicroBitPin::setDigitalValue(int value) +{ + // Check if this pin has a digital mode... + if(!(PIN_CAPABILITY_DIGITAL & capability)) + return MICROBIT_NOT_SUPPORTED; + + // Ensure we have a valid value. + if (value < 0 || value > 1) + return MICROBIT_INVALID_PARAMETER; + + // Move into a Digital input state if necessary. + if (!(status & IO_STATUS_DIGITAL_OUT)){ + disconnect(); + pin = new DigitalOut(name); + status |= IO_STATUS_DIGITAL_OUT; + } + + // Write the value. + ((DigitalOut *)pin)->write(value); + + return MICROBIT_OK; +} + +/** + * Configures this IO pin as a digital input (if necessary) and tests its current value. + * + * @return 1 if this input is high, 0 if input is LO, or MICROBIT_NOT_SUPPORTED + * if the given pin does not have analog capability. + * + * @code + * MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_BOTH); + * P0.getDigitalValue(); // P0 is either 0 or 1; + * @endcode + */ +int MicroBitPin::getDigitalValue() +{ + //check if this pin has a digital mode... + if(!(PIN_CAPABILITY_DIGITAL & capability)) + return MICROBIT_NOT_SUPPORTED; + + // Move into a Digital input state if necessary. + if (!(status & IO_STATUS_DIGITAL_IN)){ + disconnect(); + pin = new DigitalIn(name,PullDown); + status |= IO_STATUS_DIGITAL_IN; + } + + return ((DigitalIn *)pin)->read(); +} + +int MicroBitPin::obtainAnalogChannel() +{ + // Move into an analogue input state if necessary, if we are no longer the focus of a DynamicPWM instance, allocate ourselves again! + if (!(status & IO_STATUS_ANALOG_OUT) || !(((DynamicPwm *)pin)->getPinName() == name)){ + disconnect(); + pin = (void *)DynamicPwm::allocate(name); + status |= IO_STATUS_ANALOG_OUT; + } + + return MICROBIT_OK; +} + +/** + * Configures this IO pin as an analog/pwm output, and change the output value to the given level. + * + * @param value the level to set on the output pin, in the range 0 - 1024 + * + * @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER if value is out of range, or MICROBIT_NOT_SUPPORTED + * if the given pin does not have analog capability. + */ +int MicroBitPin::setAnalogValue(int value) +{ + //check if this pin has an analogue mode... + if(!(PIN_CAPABILITY_ANALOG & capability)) + return MICROBIT_NOT_SUPPORTED; + + //sanitise the level value + if(value < 0 || value > MICROBIT_PIN_MAX_OUTPUT) + return MICROBIT_INVALID_PARAMETER; + + float level = (float)value / float(MICROBIT_PIN_MAX_OUTPUT); + + //obtain use of the DynamicPwm instance, if it has changed / configure if we do not have one + if(obtainAnalogChannel() == MICROBIT_OK) + return ((DynamicPwm *)pin)->write(level); + + return MICROBIT_OK; +} + +/** + * Configures this IO pin as an analog/pwm output (if necessary) and configures the period to be 20ms, + * with a duty cycle between 500 us and 2500 us. + * + * 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. + * + * This range can be modified to fine tune, and also tolerate different servos. + * + * @param value the level to set on the output pin, in the range 0 - 180. + * + * @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. + * + * @param center the center point from which to calculate the lower and upper bounds. Defaults to MICROBIT_PIN_DEFAULT_SERVO_CENTER + * + * @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER if value is out of range, or MICROBIT_NOT_SUPPORTED + * if the given pin does not have analog capability. + */ +int MicroBitPin::setServoValue(int value, int range, int center) +{ + //check if this pin has an analogue mode... + if(!(PIN_CAPABILITY_ANALOG & capability)) + return MICROBIT_NOT_SUPPORTED; + + //sanitise the servo level + if(value < 0 || range < 1 || center < 1) + return MICROBIT_INVALID_PARAMETER; + + //clip - just in case + if(value > MICROBIT_PIN_MAX_SERVO_RANGE) + value = MICROBIT_PIN_MAX_SERVO_RANGE; + + //calculate the lower bound based on the midpoint + int lower = (center - (range / 2)) * 1000; + + value = value * 1000; + + //add the percentage of the range based on the value between 0 and 180 + int scaled = lower + (range * (value / MICROBIT_PIN_MAX_SERVO_RANGE)); + + return setServoPulseUs(scaled / 1000); +} + +/** + * Configures this IO pin as an analogue input (if necessary), and samples the Pin for its analog value. + * + * @return the current analogue level on the pin, in the range 0 - 1024, or + * MICROBIT_NOT_SUPPORTED if the given pin does not have analog capability. + * + * @code + * MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_BOTH); + * P0.getAnalogValue(); // P0 is a value in the range of 0 - 1024 + * @endcode + */ +int MicroBitPin::getAnalogValue() +{ + //check if this pin has an analogue mode... + if(!(PIN_CAPABILITY_ANALOG & capability)) + return MICROBIT_NOT_SUPPORTED; + + // Move into an analogue input state if necessary. + if (!(status & IO_STATUS_ANALOG_IN)){ + disconnect(); + pin = new AnalogIn(name); + status |= IO_STATUS_ANALOG_IN; + } + + //perform a read! + return ((AnalogIn *)pin)->read_u16(); +} + +/** + * Determines if this IO pin is currently configured as an input. + * + * @return 1 if pin is an analog or digital input, 0 otherwise. + */ +int MicroBitPin::isInput() +{ + return (status & (IO_STATUS_DIGITAL_IN | IO_STATUS_ANALOG_IN)) == 0 ? 0 : 1; +} + +/** + * Determines if this IO pin is currently configured as an output. + * + * @return 1 if pin is an analog or digital output, 0 otherwise. + */ +int MicroBitPin::isOutput() +{ + return (status & (IO_STATUS_DIGITAL_OUT | IO_STATUS_ANALOG_OUT)) == 0 ? 0 : 1; +} + +/** + * Determines if this IO pin is currently configured for digital use. + * + * @return 1 if pin is digital, 0 otherwise. + */ +int MicroBitPin::isDigital() +{ + return (status & (IO_STATUS_DIGITAL_IN | IO_STATUS_DIGITAL_OUT)) == 0 ? 0 : 1; +} + +/** + * Determines if this IO pin is currently configured for analog use. + * + * @return 1 if pin is analog, 0 otherwise. + */ +int MicroBitPin::isAnalog() +{ + return (status & (IO_STATUS_ANALOG_IN | IO_STATUS_ANALOG_OUT)) == 0 ? 0 : 1; +} + +/** + * Configures this IO pin as a "makey makey" style touch sensor (if necessary) + * and tests its current debounced state. + * + * Users can also subscribe to MicroBitButton events generated from this pin. + * + * @return 1 if pin is touched, 0 if not, or MICROBIT_NOT_SUPPORTED if this pin does not support touch capability. + * + * @code + * MicroBitMessageBus bus; + * + * MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_ALL); + * if(P0.isTouched()) + * { + * //do something! + * } + * + * // subscribe to events generated by this pin! + * bus.listen(MICROBIT_ID_IO_P0, MICROBIT_BUTTON_EVT_CLICK, someFunction); + * @endcode + */ +int MicroBitPin::isTouched() +{ + //check if this pin has a touch mode... + if(!(PIN_CAPABILITY_TOUCH & capability)) + return MICROBIT_NOT_SUPPORTED; + + // Move into a touch input state if necessary. + if (!(status & IO_STATUS_TOUCH_IN)){ + disconnect(); + pin = new MicroBitButton(name, id); + status |= IO_STATUS_TOUCH_IN; + } + + return ((MicroBitButton *)pin)->isPressed(); +} + +/** + * Configures this IO pin as an analog/pwm output if it isn't already, configures the period to be 20ms, + * and sets the pulse width, based on the value it is given. + * + * @param pulseWidth the desired pulse width in microseconds. + * + * @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER if value is out of range, or MICROBIT_NOT_SUPPORTED + * if the given pin does not have analog capability. + */ +int MicroBitPin::setServoPulseUs(int pulseWidth) +{ + //check if this pin has an analogue mode... + if(!(PIN_CAPABILITY_ANALOG & capability)) + return MICROBIT_NOT_SUPPORTED; + + //sanitise the pulse width + if(pulseWidth < 0) + return MICROBIT_INVALID_PARAMETER; + + //Check we still have the control over the DynamicPwm instance + if(obtainAnalogChannel() == MICROBIT_OK) + { + //check if the period is set to 20ms + if(((DynamicPwm *)pin)->getPeriodUs() != MICROBIT_DEFAULT_PWM_PERIOD) + ((DynamicPwm *)pin)->setPeriodUs(MICROBIT_DEFAULT_PWM_PERIOD); + + ((DynamicPwm *)pin)->pulsewidth_us(pulseWidth); + } + + return MICROBIT_OK; +} + +/** + * Configures the PWM period of the analog output to the given value. + * + * @param period The new period for the analog output in microseconds. + * + * @return MICROBIT_OK on success, or MICROBIT_NOT_SUPPORTED if the + * given pin is not configured as an analog output. + */ +int MicroBitPin::setAnalogPeriodUs(int period) +{ + if (!(status & IO_STATUS_ANALOG_OUT)) + return MICROBIT_NOT_SUPPORTED; + + return ((DynamicPwm *)pin)->setPeriodUs(period); +} + +/** + * Configures the PWM period of the analog output to the given value. + * + * @param period The new period for the analog output in milliseconds. + * + * @return MICROBIT_OK on success, or MICROBIT_NOT_SUPPORTED if the + * given pin is not configured as an analog output. + */ +int MicroBitPin::setAnalogPeriod(int period) +{ + return setAnalogPeriodUs(period*1000); +} + +/** + * Obtains the PWM period of the analog output in microseconds. + * + * @return the period on success, or MICROBIT_NOT_SUPPORTED if the + * given pin is not configured as an analog output. + */ +int MicroBitPin::getAnalogPeriodUs() +{ + if (!(status & IO_STATUS_ANALOG_OUT)) + return MICROBIT_NOT_SUPPORTED; + + return ((DynamicPwm *)pin)->getPeriodUs(); +} + +/** + * Obtains the PWM period of the analog output in milliseconds. + * + * @return the period on success, or MICROBIT_NOT_SUPPORTED if the + * given pin is not configured as an analog output. + */ +int MicroBitPin::getAnalogPeriod() +{ + return getAnalogPeriodUs()/1000; +}