wu weilong / Mbed 2 deprecated frdm_gpio1

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Gamepad/Gamepad.h@10:ae5f62a1e40e, 2019-05-08 (annotated)

Committer:
wuweilong
Date:
Wed May 08 20:08:17 2019 +0000
Revision:
10:ae5f62a1e40e
version1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wuweilong 10:ae5f62a1e40e 1 #ifndef GAMEPAD_H
wuweilong 10:ae5f62a1e40e 2 #define GAMEPAD_H
wuweilong 10:ae5f62a1e40e 3
wuweilong 10:ae5f62a1e40e 4 #include <bitset>
wuweilong 10:ae5f62a1e40e 5
wuweilong 10:ae5f62a1e40e 6 // Forward declaration of the classes that we use from the mbed library
wuweilong 10:ae5f62a1e40e 7 // This avoids the need for us to include the huge mbed.h header inside our
wuweilong 10:ae5f62a1e40e 8 // own library API
wuweilong 10:ae5f62a1e40e 9 namespace mbed
wuweilong 10:ae5f62a1e40e 10 {
wuweilong 10:ae5f62a1e40e 11 class AnalogIn;
wuweilong 10:ae5f62a1e40e 12 class InterruptIn;
wuweilong 10:ae5f62a1e40e 13 class PwmOut;
wuweilong 10:ae5f62a1e40e 14 class Timeout;
wuweilong 10:ae5f62a1e40e 15 }
wuweilong 10:ae5f62a1e40e 16
wuweilong 10:ae5f62a1e40e 17 #define TOL 0.1f
wuweilong 10:ae5f62a1e40e 18 #define RAD2DEG 57.2957795131f
wuweilong 10:ae5f62a1e40e 19
wuweilong 10:ae5f62a1e40e 20 /** Enum for direction */
wuweilong 10:ae5f62a1e40e 21 enum Direction {
wuweilong 10:ae5f62a1e40e 22 CENTRE, /**< joystick centred */
wuweilong 10:ae5f62a1e40e 23 N, /**< pushed North (0)*/
wuweilong 10:ae5f62a1e40e 24 NE, /**< pushed North-East (45) */
wuweilong 10:ae5f62a1e40e 25 E, /**< pushed East (90) */
wuweilong 10:ae5f62a1e40e 26 SE, /**< pushed South-East (135) */
wuweilong 10:ae5f62a1e40e 27 S, /**< pushed South (180) */
wuweilong 10:ae5f62a1e40e 28 SW, /**< pushed South-West (225) */
wuweilong 10:ae5f62a1e40e 29 W, /**< pushed West (270) */
wuweilong 10:ae5f62a1e40e 30 NW /**< pushed North-West (315) */
wuweilong 10:ae5f62a1e40e 31 };
wuweilong 10:ae5f62a1e40e 32
wuweilong 10:ae5f62a1e40e 33 /** Vector 2D struct */
wuweilong 10:ae5f62a1e40e 34 struct Vector2D {
wuweilong 10:ae5f62a1e40e 35 float x; /**< float for x value */
wuweilong 10:ae5f62a1e40e 36 float y; /**< float for y value */
wuweilong 10:ae5f62a1e40e 37 };
wuweilong 10:ae5f62a1e40e 38
wuweilong 10:ae5f62a1e40e 39 /** Polar coordinate struct */
wuweilong 10:ae5f62a1e40e 40 struct Polar {
wuweilong 10:ae5f62a1e40e 41 float mag; /**< float for magnitude */
wuweilong 10:ae5f62a1e40e 42 float angle; /**< float for angle (in degrees) */
wuweilong 10:ae5f62a1e40e 43 };
wuweilong 10:ae5f62a1e40e 44
wuweilong 10:ae5f62a1e40e 45 /** Gamepad Class
wuweilong 10:ae5f62a1e40e 46 @brief Library for interfacing with ELEC2645 Gamepad PCB, University of Leeds
wuweilong 10:ae5f62a1e40e 47 @author Dr Craig A. Evans
wuweilong 10:ae5f62a1e40e 48 @author Dr Alex Valanvanis
wuweilong 10:ae5f62a1e40e 49 @date Febraury 2017
wuweilong 10:ae5f62a1e40e 50 */
wuweilong 10:ae5f62a1e40e 51 class Gamepad
wuweilong 10:ae5f62a1e40e 52 {
wuweilong 10:ae5f62a1e40e 53 public:
wuweilong 10:ae5f62a1e40e 54 /** Gamepad events
wuweilong 10:ae5f62a1e40e 55 * @brief List of events that can be registered on the gamepad
wuweilong 10:ae5f62a1e40e 56 */
wuweilong 10:ae5f62a1e40e 57 enum GamepadEvent {
wuweilong 10:ae5f62a1e40e 58 A_PRESSED, ///< Button A has been pressed
wuweilong 10:ae5f62a1e40e 59 B_PRESSED, ///< Button B has been pressed
wuweilong 10:ae5f62a1e40e 60 X_PRESSED, ///< Button X has been pressed
wuweilong 10:ae5f62a1e40e 61 Y_PRESSED, ///< Button Y has been pressed
wuweilong 10:ae5f62a1e40e 62 L_PRESSED, ///< Button L has been pressed
wuweilong 10:ae5f62a1e40e 63 R_PRESSED, ///< Button R has been pressed
wuweilong 10:ae5f62a1e40e 64 BACK_PRESSED, ///< Button "Back" has been pressed
wuweilong 10:ae5f62a1e40e 65 START_PRESSED, ///< Button "Start" has been pressed
wuweilong 10:ae5f62a1e40e 66 JOY_PRESSED, ///< Joystick button has been pressed
wuweilong 10:ae5f62a1e40e 67 N_EVENTS ///< A dummy flag that marks the end of the list
wuweilong 10:ae5f62a1e40e 68 };
wuweilong 10:ae5f62a1e40e 69 private:
wuweilong 10:ae5f62a1e40e 70 mbed::PwmOut *_led1;
wuweilong 10:ae5f62a1e40e 71 mbed::PwmOut *_led2;
wuweilong 10:ae5f62a1e40e 72 mbed::PwmOut *_led3;
wuweilong 10:ae5f62a1e40e 73 mbed::PwmOut *_led4;
wuweilong 10:ae5f62a1e40e 74 mbed::PwmOut *_led5;
wuweilong 10:ae5f62a1e40e 75 mbed::PwmOut *_led6;
wuweilong 10:ae5f62a1e40e 76
wuweilong 10:ae5f62a1e40e 77 mbed::InterruptIn *_button_A;
wuweilong 10:ae5f62a1e40e 78 mbed::InterruptIn *_button_B;
wuweilong 10:ae5f62a1e40e 79 mbed::InterruptIn *_button_X;
wuweilong 10:ae5f62a1e40e 80 mbed::InterruptIn *_button_Y;
wuweilong 10:ae5f62a1e40e 81 mbed::InterruptIn *_button_L;
wuweilong 10:ae5f62a1e40e 82 mbed::InterruptIn *_button_R;
wuweilong 10:ae5f62a1e40e 83 mbed::InterruptIn *_button_back;
wuweilong 10:ae5f62a1e40e 84 mbed::InterruptIn *_button_start;
wuweilong 10:ae5f62a1e40e 85 mbed::InterruptIn *_button_joystick;
wuweilong 10:ae5f62a1e40e 86
wuweilong 10:ae5f62a1e40e 87 mbed::AnalogIn *_vert;
wuweilong 10:ae5f62a1e40e 88 mbed::AnalogIn *_horiz;
wuweilong 10:ae5f62a1e40e 89
wuweilong 10:ae5f62a1e40e 90 mbed::PwmOut *_buzzer;
wuweilong 10:ae5f62a1e40e 91 mbed::AnalogIn *_pot;
wuweilong 10:ae5f62a1e40e 92
wuweilong 10:ae5f62a1e40e 93 mbed::Timeout *_timeout;
wuweilong 10:ae5f62a1e40e 94
wuweilong 10:ae5f62a1e40e 95 std::bitset<N_EVENTS> _event_state; ///< A binary list of buttons that has been pressed
wuweilong 10:ae5f62a1e40e 96
wuweilong 10:ae5f62a1e40e 97 // centred x,y values
wuweilong 10:ae5f62a1e40e 98 float _x0;
wuweilong 10:ae5f62a1e40e 99 float _y0;
wuweilong 10:ae5f62a1e40e 100
wuweilong 10:ae5f62a1e40e 101 public:
wuweilong 10:ae5f62a1e40e 102
wuweilong 10:ae5f62a1e40e 103 /** Constructor */
wuweilong 10:ae5f62a1e40e 104 Gamepad();
wuweilong 10:ae5f62a1e40e 105
wuweilong 10:ae5f62a1e40e 106 /** Destructor */
wuweilong 10:ae5f62a1e40e 107 ~Gamepad();
wuweilong 10:ae5f62a1e40e 108
wuweilong 10:ae5f62a1e40e 109 /** Initialise all peripherals and configure interrupts */
wuweilong 10:ae5f62a1e40e 110 void init();
wuweilong 10:ae5f62a1e40e 111
wuweilong 10:ae5f62a1e40e 112 /** Turn all LEDs on */
wuweilong 10:ae5f62a1e40e 113 void leds_on();
wuweilong 10:ae5f62a1e40e 114
wuweilong 10:ae5f62a1e40e 115 /** Turn all LEDs off */
wuweilong 10:ae5f62a1e40e 116 void leds_off();
wuweilong 10:ae5f62a1e40e 117
wuweilong 10:ae5f62a1e40e 118 /** Set all LEDs to duty-cycle
wuweilong 10:ae5f62a1e40e 119 *@param value in range 0.0 to 1.0
wuweilong 10:ae5f62a1e40e 120 */
wuweilong 10:ae5f62a1e40e 121 void leds(float val) const;
wuweilong 10:ae5f62a1e40e 122
wuweilong 10:ae5f62a1e40e 123 /** Set LED to duty-cycle
wuweilong 10:ae5f62a1e40e 124 *@param led number (0 to 5)
wuweilong 10:ae5f62a1e40e 125 *@param value in range 0.0 to 1.0
wuweilong 10:ae5f62a1e40e 126 */
wuweilong 10:ae5f62a1e40e 127 void led(int n,float val) const;
wuweilong 10:ae5f62a1e40e 128
wuweilong 10:ae5f62a1e40e 129 /** Read potentiometer
wuweilong 10:ae5f62a1e40e 130 *@returns potentiometer value in range 0.0 to 1.0
wuweilong 10:ae5f62a1e40e 131 */
wuweilong 10:ae5f62a1e40e 132 float read_pot() const;
wuweilong 10:ae5f62a1e40e 133
wuweilong 10:ae5f62a1e40e 134 /** Play tone on piezo
wuweilong 10:ae5f62a1e40e 135 * @param frequency in Hz
wuweilong 10:ae5f62a1e40e 136 * @param duration of tone in seconds
wuweilong 10:ae5f62a1e40e 137 */
wuweilong 10:ae5f62a1e40e 138 void tone(float frequency, float duration);
wuweilong 10:ae5f62a1e40e 139
wuweilong 10:ae5f62a1e40e 140 /**
wuweilong 10:ae5f62a1e40e 141 * @brief Check whether an event flag has been set and clear it
wuweilong 10:ae5f62a1e40e 142 * @param id[in] The ID of the event to test
wuweilong 10:ae5f62a1e40e 143 * @return true if the event occurred
wuweilong 10:ae5f62a1e40e 144 */
wuweilong 10:ae5f62a1e40e 145 bool check_event(GamepadEvent const id);
wuweilong 10:ae5f62a1e40e 146
wuweilong 10:ae5f62a1e40e 147 /** Get magnitude of joystick movement
wuweilong 10:ae5f62a1e40e 148 * @returns value in range 0.0 to 1.0
wuweilong 10:ae5f62a1e40e 149 */
wuweilong 10:ae5f62a1e40e 150
wuweilong 10:ae5f62a1e40e 151 float get_mag();
wuweilong 10:ae5f62a1e40e 152
wuweilong 10:ae5f62a1e40e 153 /** Get angle of joystick movement
wuweilong 10:ae5f62a1e40e 154 * @returns value in range 0.0 to 359.9. 0.0 corresponds to N, 180.0 to S. -1.0 is central
wuweilong 10:ae5f62a1e40e 155 */
wuweilong 10:ae5f62a1e40e 156 float get_angle();
wuweilong 10:ae5f62a1e40e 157
wuweilong 10:ae5f62a1e40e 158 /** Gets joystick direction
wuweilong 10:ae5f62a1e40e 159 * @returns an enum: CENTRE, N, NE, E, SE, S, SW, W, NW,
wuweilong 10:ae5f62a1e40e 160 */
wuweilong 10:ae5f62a1e40e 161 Direction get_direction(); // N,NE,E,SE etc.
wuweilong 10:ae5f62a1e40e 162
wuweilong 10:ae5f62a1e40e 163 /** Gets raw cartesian co-ordinates of joystick
wuweilong 10:ae5f62a1e40e 164 * @returns a struct with x,y members, each in the range 0.0 to 1.0
wuweilong 10:ae5f62a1e40e 165 */
wuweilong 10:ae5f62a1e40e 166 Vector2D get_coord(); // cartesian co-ordinates x,y
wuweilong 10:ae5f62a1e40e 167
wuweilong 10:ae5f62a1e40e 168 /** Gets cartesian coordinates mapped to circular grid
wuweilong 10:ae5f62a1e40e 169 * @returns a struct with x,y members, each in the range 0.0 to 1.0
wuweilong 10:ae5f62a1e40e 170 */
wuweilong 10:ae5f62a1e40e 171 Vector2D get_mapped_coord(); // x,y mapped to circle
wuweilong 10:ae5f62a1e40e 172
wuweilong 10:ae5f62a1e40e 173 /** Gets polar coordinates of the joystick
wuweilong 10:ae5f62a1e40e 174 * @returns a struct contains mag and angle
wuweilong 10:ae5f62a1e40e 175 */
wuweilong 10:ae5f62a1e40e 176 Polar get_polar(); // mag and angle in struct form
wuweilong 10:ae5f62a1e40e 177
wuweilong 10:ae5f62a1e40e 178 private:
wuweilong 10:ae5f62a1e40e 179 void init_buttons();
wuweilong 10:ae5f62a1e40e 180 void tone_off();
wuweilong 10:ae5f62a1e40e 181
wuweilong 10:ae5f62a1e40e 182 void a_isr();
wuweilong 10:ae5f62a1e40e 183 void b_isr();
wuweilong 10:ae5f62a1e40e 184 void x_isr();
wuweilong 10:ae5f62a1e40e 185 void y_isr();
wuweilong 10:ae5f62a1e40e 186 void l_isr();
wuweilong 10:ae5f62a1e40e 187 void r_isr();
wuweilong 10:ae5f62a1e40e 188 void back_isr();
wuweilong 10:ae5f62a1e40e 189 void start_isr();
wuweilong 10:ae5f62a1e40e 190 void joy_isr();
wuweilong 10:ae5f62a1e40e 191 };
wuweilong 10:ae5f62a1e40e 192
wuweilong 10:ae5f62a1e40e 193 #endif