PwmIn.cpp

00001 /* mbed PwmIn Library
00002  * Copyright (c) 2008-2010, sford
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 
00023 #include "PwmIn.h"
00024 #include "IR_Turret.h"
00025 #include "globals.h"
00026 
00027 
00028 PwmIn::PwmIn(PinName p) : _p(p) {
00029     #ifdef PWM_INVERT
00030     _p.rise(this, &PwmIn::fall);
00031     _p.fall(this, &PwmIn::rise);
00032     #else
00033     _p.rise(this, &PwmIn::rise);
00034     _p.fall(this, &PwmIn::fall);
00035     #endif
00036 
00037     _period = 0.0;
00038     _pulsewidth = 0.0;
00039     _t.start();
00040 
00041     //init callabck function
00042     callbackfunc = NULL;
00043     callbackobj = NULL;
00044     mcallbackfunc = NULL;    
00045 
00046 }
00047 
00048 float PwmIn::period() {
00049     return _period;
00050 }
00051 
00052 float PwmIn::pulsewidth() {
00053     return _pulsewidth;
00054 }
00055 
00056 float PwmIn::dutycycle() {
00057     return _pulsewidth / _period;
00058 }
00059 
00060 void PwmIn::rise() {
00061     _period = _t.read_us();
00062     _t.reset();
00063     
00064 
00065             
00066             
00067 }
00068 
00069 void PwmIn::fall() {
00070     _pulsewidth = _t.read_us();
00071     
00072         if (callbackfunc)
00073             (*callbackfunc)(_pulsewidth);
00074 
00075         if (callbackobj && mcallbackfunc)
00076             (callbackobj->*mcallbackfunc)(_pulsewidth);    
00077 
00078 }