diff --git a/inc/drivers/MicroBitPin.h b/inc/drivers/MicroBitPin.h index 73858ed..38f13a8 100644 --- a/inc/drivers/MicroBitPin.h +++ b/inc/drivers/MicroBitPin.h @@ -35,7 +35,8 @@ DEALINGS IN THE SOFTWARE. #define IO_STATUS_ANALOG_IN 0x04 // Pin is Analog in #define IO_STATUS_ANALOG_OUT 0x08 // Pin is Analog out #define IO_STATUS_TOUCH_IN 0x10 // Pin is a makey-makey style touch sensor -#define IO_STATUS_EVENTBUS_ENABLED 0x80 // Pin is will generate events on change +#define IO_STATUS_EVENT_ON_EDGE 0x20 // Pin will generate events on pin change +#define IO_STATUS_EVENT_PULSE_ON_EDGE 0x40 // Pin will generate events on pin change //#defines for each edge connector pin #define MICROBIT_PIN_P0 P0_3 //P0 is the left most pad (ANALOG/DIGITAL) used to be P0_3 on green board @@ -64,6 +65,15 @@ DEALINGS IN THE SOFTWARE. #define MICROBIT_PIN_DEFAULT_SERVO_RANGE 2000 #define MICROBIT_PIN_DEFAULT_SERVO_CENTER 1500 +#define MICROBIT_PIN_EVENT_NONE 0 +#define MICROBIT_PIN_EVENT_ON_EDGE 1 +#define MICROBIT_PIN_EVENT_ON_PULSE 2 +#define MICROBIT_PIN_EVENT_ON_TOUCH 3 + +#define MICROBIT_PIN_EVT_RISE 2 +#define MICROBIT_PIN_EVT_FALL 3 +#define MICROBIT_PIN_EVT_PULSE_HI 4 +#define MICROBIT_PIN_EVT_PULSE_LO 5 /** * Pin capabilities enum. @@ -103,6 +113,43 @@ class MicroBitPin : public MicroBitComponent */ int obtainAnalogChannel(); + /** + * Interrupt handler for when an rise interrupt is triggered. + */ + void onRise(); + + /** + * Interrupt handler for when an fall interrupt is triggered. + */ + void onFall(); + + /** + * This member function manages the calculation of the timestamp of a pulse detected + * on a pin whilst in IO_STATUS_EVENT_PULSE_ON_EDGE or IO_STATUS_EVENT_ON_EDGE modes. + * + * @param eventValue the event value to distribute onto the message bus. + */ + void pulseWidthEvent(int eventValue); + + /** + * This member function will construct an TimedInterruptIn instance, and configure + * interrupts for rise and fall. + * + * @param eventType the specific mode used in interrupt context to determine how an + * edge/rise is processed. + * + * @return MICROBIT_OK on success + */ + int enableRiseFallEvents(int eventType); + + /** + * If this pin is in a mode where the pin is generating events, it will destruct + * the current instance attached to this MicroBitPin instance. + * + * @return MICROBIT_OK on success. + */ + int disableEvents(); + public: // mbed PinName of this pin. @@ -143,8 +190,9 @@ class MicroBitPin : public MicroBitComponent /** * 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. + * if the given pin does not have digital capability. * * @code * MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_BOTH); @@ -292,6 +340,37 @@ class MicroBitPin : public MicroBitComponent * given pin is not configured as an analog output. */ int getAnalogPeriod(); + + /** + * Configures the events generated by this MicroBitPin instance. + * + * MICROBIT_PIN_EVENT_ON_EDGE - Configures this pin to a digital input, and generates events whenever a rise/fall is detected on this pin. (MICROBIT_PIN_EVT_RISE, MICROBIT_PIN_EVT_FALL) + * MICROBIT_PIN_EVENT_ON_PULSE - Configures this pin to a digital input, and generates events where the timestamp is the duration that this pin was either HI or LO. (MICROBIT_PIN_EVT_PULSE_HI, MICROBIT_PIN_EVT_PULSE_LO) + * MICROBIT_PIN_EVENT_ON_TOUCH - Configures this pin as a makey makey style touch sensor, in the form of a MicroBitButton. Normal button events will be generated using the ID of this pin. + * MICROBIT_PIN_EVENT_NONE - Disables events for this pin. + * + * @param eventType One of: MICROBIT_PIN_EVENT_ON_EDGE, MICROBIT_PIN_EVENT_ON_PULSE, MICROBIT_PIN_EVENT_ON_TOUCH, MICROBIT_PIN_EVENT_NONE + * + * @code + * MicroBitMessageBus bus; + * + * MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_BOTH); + * P0.eventOn(MICROBIT_PIN_EVENT_ON_PULSE); + * + * void onPulse(MicroBitEvent evt) + * { + * int duration = evt.timestamp; + * } + * + * bus.listen(MICROBIT_ID_IO_P0, MICROBIT_PIN_EVT_PULSE_HI, onPulse, MESSAGE_BUS_LISTENER_IMMEDIATE) + * @endcode + * + * @return MICROBIT_OK on success, or MICROBIT_INVALID_PARAMETER if the given eventype does not match + * + * @note In the MICROBIT_PIN_EVENT_ON_PULSE mode, the smallest pulse that was reliably detected was 85us, around 5khz. If more precision is required, + * please use the InterruptIn class supplied by ARM mbed. + */ + int eventOn(int eventType); }; #endif diff --git a/inc/drivers/TimedInterruptIn.h b/inc/drivers/TimedInterruptIn.h new file mode 100644 index 0000000..59030bb --- /dev/null +++ b/inc/drivers/TimedInterruptIn.h @@ -0,0 +1,59 @@ +/* +The MIT License (MIT) + +Copyright (c) 2016 Lancaster University, UK. + +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. +*/ + +#ifndef TIMED_INTERRUPT_H +#define TIMED_INTERRUPT_H + +#include "mbed.h" +#include "MicroBitConfig.h" + +class TimedInterruptIn : public InterruptIn +{ + uint64_t timestamp; + + public: + + /** + * Constructor. + * + * Create an instance of TimedInterruptIn that has an additional timestamp field. + */ + TimedInterruptIn(PinName name); + + /** + * Stores the given timestamp for this instance of TimedInterruptIn. + * + * @param timestamp the timestamp to retain. + */ + void setTimestamp(uint64_t timestamp); + + /** + * Retrieves the retained timestamp for this instance of TimedInterruptIn. + * + * @return the timestamp held by this instance. + */ + uint64_t getTimestamp(); +}; + +#endif diff --git a/source/CMakeLists.txt b/source/CMakeLists.txt index 3ef4074..863224d 100755 --- a/source/CMakeLists.txt +++ b/source/CMakeLists.txt @@ -40,6 +40,7 @@ set(YOTTA_AUTO_MICROBIT-DAL_CPP_FILES "drivers/MicroBitSerial.cpp" "drivers/MicroBitStorage.cpp" "drivers/MicroBitThermometer.cpp" + "drivers/TimedInterruptIn.cpp" "bluetooth/MicroBitAccelerometerService.cpp" "bluetooth/MicroBitBLEManager.cpp" diff --git a/source/drivers/MicroBitPin.cpp b/source/drivers/MicroBitPin.cpp index 1a3e562..fe0e872 100644 --- a/source/drivers/MicroBitPin.cpp +++ b/source/drivers/MicroBitPin.cpp @@ -31,6 +31,8 @@ DEALINGS IN THE SOFTWARE. #include "MicroBitConfig.h" #include "MicroBitPin.h" #include "MicroBitButton.h" +#include "MicroBitSystemTimer.h" +#include "TimedInterruptIn.h" #include "DynamicPwm.h" #include "ErrorNo.h" @@ -92,8 +94,11 @@ void MicroBitPin::disconnect() if (status & IO_STATUS_TOUCH_IN) delete ((MicroBitButton *)pin); + if ((status & IO_STATUS_EVENT_ON_EDGE) || (status & IO_STATUS_EVENT_PULSE_ON_EDGE)) + delete ((TimedInterruptIn *)pin); + this->pin = NULL; - this->status = status & IO_STATUS_EVENTBUS_ENABLED; //retain event bus status + this->status = 0; } /** @@ -135,8 +140,9 @@ int MicroBitPin::setDigitalValue(int value) /** * 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. + * if the given pin does not have digital capability. * * @code * MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_BOTH); @@ -150,12 +156,16 @@ int MicroBitPin::getDigitalValue() return MICROBIT_NOT_SUPPORTED; // Move into a Digital input state if necessary. - if (!(status & IO_STATUS_DIGITAL_IN)){ + if (!(status & (IO_STATUS_DIGITAL_IN | IO_STATUS_EVENT_ON_EDGE | IO_STATUS_EVENT_PULSE_ON_EDGE))) + { disconnect(); pin = new DigitalIn(name,PullDown); status |= IO_STATUS_DIGITAL_IN; } + if(status & (IO_STATUS_EVENT_ON_EDGE | IO_STATUS_EVENT_PULSE_ON_EDGE)) + return ((TimedInterruptIn *)pin)->read(); + return ((DigitalIn *)pin)->read(); } @@ -430,3 +440,148 @@ int MicroBitPin::getAnalogPeriod() { return getAnalogPeriodUs()/1000; } + +/** + * This member function manages the calculation of the timestamp of a pulse detected + * on a pin whilst in IO_STATUS_EVENT_PULSE_ON_EDGE or IO_STATUS_EVENT_ON_EDGE modes. + * + * @param eventValue the event value to distribute onto the message bus. + */ +void MicroBitPin::pulseWidthEvent(int eventValue) +{ + MicroBitEvent evt(id, eventValue, CREATE_ONLY); + uint64_t now = evt.timestamp; + uint64_t previous = ((TimedInterruptIn *)pin)->getTimestamp(); + + if (previous != 0) + { + evt.timestamp -= previous; + evt.fire(); + } + + ((TimedInterruptIn *)pin)->setTimestamp(now); +} + +/** + * Interrupt handler for when an rise interrupt is triggered. + */ +void MicroBitPin::onRise() +{ + if(status & IO_STATUS_EVENT_PULSE_ON_EDGE) + pulseWidthEvent(MICROBIT_PIN_EVT_PULSE_LO); + + if(status & IO_STATUS_EVENT_ON_EDGE) + MicroBitEvent(id, MICROBIT_PIN_EVT_RISE); +} + +/** + * Interrupt handler for when an fall interrupt is triggered. + */ +void MicroBitPin::onFall() +{ + if(status & IO_STATUS_EVENT_PULSE_ON_EDGE) + pulseWidthEvent(MICROBIT_PIN_EVT_PULSE_HI); + + if(status & IO_STATUS_EVENT_ON_EDGE) + MicroBitEvent(id, MICROBIT_PIN_EVT_FALL); +} + +/** + * This member function will construct an TimedInterruptIn instance, and configure + * interrupts for rise and fall. + * + * @param eventType the specific mode used in interrupt context to determine how an + * edge/rise is processed. + * + * @return MICROBIT_OK on success + */ +int MicroBitPin::enableRiseFallEvents(int eventType) +{ + // if we are in neither of the two modes, configure pin as a TimedInterruptIn. + if (!(status & (IO_STATUS_EVENT_ON_EDGE | IO_STATUS_EVENT_PULSE_ON_EDGE))) + { + disconnect(); + pin = new TimedInterruptIn(name); + + ((TimedInterruptIn *)pin)->mode(PullDown); + ((TimedInterruptIn *)pin)->rise(this, &MicroBitPin::onRise); + ((TimedInterruptIn *)pin)->fall(this, &MicroBitPin::onFall); + } + + status &= ~(IO_STATUS_EVENT_ON_EDGE | IO_STATUS_EVENT_PULSE_ON_EDGE); + + // set our status bits accordingly. + if(eventType == MICROBIT_PIN_EVENT_ON_EDGE) + status |= IO_STATUS_EVENT_ON_EDGE; + else if(eventType == MICROBIT_PIN_EVENT_ON_PULSE) + status |= IO_STATUS_EVENT_PULSE_ON_EDGE; + + return MICROBIT_OK; +} + +/** + * If this pin is in a mode where the pin is generating events, it will destruct + * the current instance attached to this MicroBitPin instance. + * + * @return MICROBIT_OK on success. + */ +int MicroBitPin::disableEvents() +{ + if (status & (IO_STATUS_EVENT_ON_EDGE | IO_STATUS_EVENT_PULSE_ON_EDGE | IO_STATUS_TOUCH_IN)) + disconnect(); + + return MICROBIT_OK; +} + +/** + * Configures the events generated by this MicroBitPin instance. + * + * MICROBIT_PIN_EVENT_ON_EDGE - Configures this pin to a digital input, and generates events whenever a rise/fall is detected on this pin. (MICROBIT_PIN_EVT_RISE, MICROBIT_PIN_EVT_FALL) + * MICROBIT_PIN_EVENT_ON_PULSE - Configures this pin to a digital input, and generates events where the timestamp is the duration that this pin was either HI or LO. (MICROBIT_PIN_EVT_PULSE_HI, MICROBIT_PIN_EVT_PULSE_LO) + * MICROBIT_PIN_EVENT_ON_TOUCH - Configures this pin as a makey makey style touch sensor, in the form of a MicroBitButton. Normal button events will be generated using the ID of this pin. + * MICROBIT_PIN_EVENT_NONE - Disables events for this pin. + * + * @param eventType One of: MICROBIT_PIN_EVENT_ON_EDGE, MICROBIT_PIN_EVENT_ON_PULSE, MICROBIT_PIN_EVENT_ON_TOUCH, MICROBIT_PIN_EVENT_NONE + * + * @code + * MicroBitMessageBus bus; + * + * MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_BOTH); + * P0.eventOn(MICROBIT_PIN_EVENT_ON_PULSE); + * + * void onPulse(MicroBitEvent evt) + * { + * int duration = evt.timestamp; + * } + * + * bus.listen(MICROBIT_ID_IO_P0, MICROBIT_PIN_EVT_PULSE_HI, onPulse, MESSAGE_BUS_LISTENER_IMMEDIATE) + * @endcode + * + * @return MICROBIT_OK on success, or MICROBIT_INVALID_PARAMETER if the given eventype does not match + * + * @note In the MICROBIT_PIN_EVENT_ON_PULSE mode, the smallest pulse that was reliably detected was 85us, around 5khz. If more precision is required, + * please use the InterruptIn class supplied by ARM mbed. + */ +int MicroBitPin::eventOn(int eventType) +{ + switch(eventType) + { + case MICROBIT_PIN_EVENT_ON_EDGE: + case MICROBIT_PIN_EVENT_ON_PULSE: + enableRiseFallEvents(eventType); + break; + + case MICROBIT_PIN_EVENT_ON_TOUCH: + isTouched(); + break; + + case MICROBIT_PIN_EVENT_NONE: + disableEvents(); + break; + + default: + return MICROBIT_INVALID_PARAMETER; + } + + return MICROBIT_OK; +} diff --git a/source/drivers/TimedInterruptIn.cpp b/source/drivers/TimedInterruptIn.cpp new file mode 100644 index 0000000..4300360 --- /dev/null +++ b/source/drivers/TimedInterruptIn.cpp @@ -0,0 +1,55 @@ +/* +The MIT License (MIT) + +Copyright (c) 2016 Lancaster University, UK. + +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. +*/ + +#include "MicroBitConfig.h" +#include "TimedInterruptIn.h" +/** + * Constructor. + * + * Create an instance of TimedInterruptIn that has an additional timestamp field. + */ +TimedInterruptIn::TimedInterruptIn(PinName name) : InterruptIn(name) +{ + timestamp = 0; +} + +/** + * Stores the given timestamp for this instance of TimedInterruptIn. + * + * @param timestamp the timestamp to retain. + */ +void TimedInterruptIn::setTimestamp(uint64_t timestamp) +{ + this->timestamp = timestamp; +} + +/** + * Retrieves the retained timestamp for this instance of TimedInterruptIn. + * + * @return the timestamp held by this instance. + */ +uint64_t TimedInterruptIn::getTimestamp() +{ + return timestamp; +}