ClearCore::DigitalInOutHBridge Class Reference

Detailed Description

ClearCore H-Bridge digital output connector class.

This manages a connector on the ClearCore board that supports H-Bridge digital output functionality, including sine tone generation. This connector can also be configured as a digital input or digital output.

The following connector instances support H-Bridge digital output functionality:

• ConnectorIO4
• ConnectorIO5

For more detailed information on the ClearCore Connector interface, check out the ClearCore Connector System informational page.

Note

If overloaded, these connectors will need to be reset using the StatusManager::HBridgeReset function. This applies when running in H-bridge mode or digital input/output modes.

ClearCore H-Bridge digital output connector class. More...

#include <DigitalInOutHBridge.h>

Inheritance diagram for ClearCore::DigitalInOutHBridge:

Collaboration diagram for ClearCore::DigitalInOutHBridge:

Public Types
enum	ToneState {   TONE_OFF = 0 , TONE_CONTINUOUS , TONE_TIMED , TONE_PERIODIC_ON ,   TONE_PERIODIC_OFF }
	Possible states of the tone generator. More...
Public Types inherited from ClearCore::DigitalIn
enum	FilterUnits { FILTER_UNIT_MS , FILTER_UNIT_SAMPLES }
	Units for the digital filter length. More...
Public Types inherited from ClearCore::Connector
enum	ConnectorModes {   INVALID_NONE , INPUT_ANALOG , INPUT_DIGITAL , OUTPUT_ANALOG ,   OUTPUT_DIGITAL , OUTPUT_H_BRIDGE , OUTPUT_PWM , OUTPUT_TONE ,   OUTPUT_WAVE , CPM_MODE_A_DIRECT_B_DIRECT , CPM_MODE_STEP_AND_DIR , CPM_MODE_A_DIRECT_B_PWM ,   CPM_MODE_A_PWM_B_PWM , TTL , RS232 , SPI ,   CCIO , USB_CDC }
	All possible operational modes for a connector. More...
enum	ConnectorTypes {   DIGITAL_IN_TYPE , DIGITAL_IN_OUT_TYPE , SHIFT_REG_TYPE , ANALOG_IN_DIGITAL_IN_TYPE ,   ANALOG_OUT_DIGITAL_IN_OUT_TYPE , H_BRIDGE_TYPE , CPM_TYPE , SERIAL_TYPE ,   SERIAL_USB_TYPE , CCIO_DIGITAL_IN_OUT_TYPE }
	The different types of ClearCore connectors. More...

Public Member Functions
virtual ConnectorModes	Mode () override
	Get the connector's operational mode.
bool	Mode (ConnectorModes newMode) override
	Set the connector's operational mode.
Connector::ConnectorTypes	Type () override
	Get connector type.
void	ToneAmplitude (int16_t amplitude)
	Set the amplitude of a PWM output for tone generation.
void	ToneContinuous (uint16_t frequency)
	Output a continuous tone from the H-Bridge.
void	ToneTimed (uint16_t frequency, uint32_t duration, bool blocking=false, bool forceDuration=false)
	Output a tone from the H-Bridge for the specified duration.
void	TonePeriodic (uint16_t frequency, uint32_t timeOn, uint32_t timeOff)
	Output a periodic tone from the H-Bridge.
void	ToneStop ()
volatile const ToneState &	ToneActiveState ()
	Accessor for the state of the tone currently active on the H-Bridge.
int16_t	State () override
	Get connector's last sampled value.
bool	State (int16_t newState) override
	Set the state of the Connector.
bool	IsWritable () override
	Get R/W status of the connector.
Public Member Functions inherited from ClearCore::DigitalInOut
bool	IsInHwFault () override
	Get whether the connector is in a hardware fault state.
void	OutputPulsesStart (uint32_t onTime, uint32_t offTime, uint16_t pulseCount=0, bool blockUntilDone=false)
	Start an output pulse.
void	OutputPulsesStop (bool stopImmediately=true)
	Stop an output pulse.
volatile const bool &	OutputPulsesActive ()
	Check the output pulse state.
bool	PwmDuty (uint8_t newDuty)
	Set the PWM duty on the I/O pin.
Public Member Functions inherited from ClearCore::DigitalIn
void	FilterLength (uint16_t length, FilterUnits units=FILTER_UNIT_SAMPLES)
	Set the connector's digital transition filter length. The default digital filter length for digital input connectors is 3 samples.
uint16_t	FilterLength ()
	Get the connector's digital filter length in samples. The default is 3 samples.
bool	InputRisen ()
	Clear on read accessor for this connector's rising input state.
bool	InputFallen ()
	Clear on read accessor for this connector's falling input state.
bool	InterruptHandlerSet (voidFuncPtr callback=nullptr, InputManager::InterruptTrigger trigger=InputManager::InterruptTrigger::RISING, bool enable=true)
	Register the interrupt service routine to be triggered when the given input state condition is met on this connector.
void	InterruptEnable (bool enable)
	Enable or disable the interrupt on this connector.
Public Member Functions inherited from ClearCore::Connector
void	Reinitialize ()
	Reinitialize this connector to the power-up state.
int32_t	ConnectorIndex ()
	Accessor for the bit index of this connector in the input register.
uint32_t	InputRegMask ()
	Get a bit mask representing this connector.

Member Enumeration Documentation

ToneState

enum ClearCore::DigitalInOutHBridge::ToneState

Possible states of the tone generator.

Note

IO-4 and IO-5 each have their own tone generators, and are the only connectors capable of tone generation on the ClearCore.

Enumerator
TONE_OFF	No tone is currently active.
TONE_CONTINUOUS	A tone is playing indefinitely.
TONE_TIMED	A tone is playing that will end after a specified duration.
TONE_PERIODIC_ON	A periodic tone is playing and the tone is currently sounding (in the "on" phase of the tone output cycle).
TONE_PERIODIC_OFF	A periodic tone is playing and the tone is currently silent (in the "off" phase of the tone output cycle).

Member Function Documentation

IsWritable()

bool ClearCore::DigitalInOutHBridge::IsWritable ( )

overridevirtual

Get R/W status of the connector.

if (ConnectorIO4.IsWritable()) {
    // IO-4 is in an output mode
}

Returns

True if in OUTPUT_DIGITAL, OUTPUT_PWM, OUTPUT_H_BRIDGE, OUTPUT_TONE, or OUTPUT_WAVE mode, false otherwise.

Reimplemented from ClearCore::DigitalInOut.

Mode() [1/2]

virtual ConnectorModes ClearCore::DigitalInOutHBridge::Mode ( )

inlineoverridevirtual

Get the connector's operational mode.

if (ConnectorIO4.Mode() == Connector::OUTPUT_PWM) {
    // IO-4 is currently a PWM output.
}

Returns

The connector's current operational mode.

Reimplemented from ClearCore::DigitalInOut.

Examples

AnalogIOExamples/ReadAnalogInput/ReadAnalogInput.cpp, ClearCoreCommandProtocol.cpp, DigitalIOExamples/WriteDigitalOutput/WriteDigitalOutput.cpp, ReadAnalogInput.cpp, SerialCommExamples/ClearCoreCommandProtocol/ClearCoreCommandProtocol.cpp, and WriteDigitalOutput.cpp.

Mode() [2/2]

bool ClearCore::DigitalInOutHBridge::Mode ( ConnectorModes  newMode )

overridevirtual

Set the connector's operational mode.

// Configure IO-4 for tone output
ConnectorIO4.Mode(Connector::OUTPUT_TONE);

Parameters

[in]

newMode

The new mode to be set. The valid modes for this connector type are: INPUT_DIGITAL OUTPUT_DIGITAL OUTPUT_PWM OUTPUT_H_BRIDGE OUTPUT_TONE OUTPUT_WAVE.

Returns

Returns false if the mode is invalid or setup fails.

Note

If connector is in fault, attempts to set the mode will return false, but the mode that was commanded will be applied once the connector is no longer in a fault mode. Useful for getting out of a bad mode.

Reimplemented from ClearCore::DigitalInOut.

State() [1/2]

int16_t ClearCore::DigitalInOutHBridge::State ( )

overridevirtual

Get connector's last sampled value.

// In this example, IO-4 has been configured for digital input
if (ConnectorIO4.State()) {
    // IO-4's input is currently high
}

// In this example, IO-4 has been configured for PWM output
if (ConnectorIO4.State() < UINT8_MAX / 4) {
    // IO-4 is outputting PWM at a duty cycle less than 25%
}

// In this example, IO-4 has been configured for H-Bridge output
if (ConnectorIO4.State() < INT16_MIN / 2) {
    // IO-4 is outputting differential PWM in the negative direction
    // at a duty cycle greater than 50% (between -50% and -100%)
}

Returns

The latest sample

Reimplemented from ClearCore::DigitalInOut.

Examples

AnalogIOExamples/ReadAnalogInput/ReadAnalogInput.cpp, DigitalIOExamples/WriteDigitalOutput/WriteDigitalOutput.cpp, ReadAnalogInput.cpp, and WriteDigitalOutput.cpp.

State() [2/2]

bool ClearCore::DigitalInOutHBridge::State ( int16_t  newState )

overridevirtual

Set the state of the Connector.

if (ConnectorIO5.Mode() == Connector::OUTPUT_DIGITAL) {
    // Assert IO-5's digital output
    ConnectorIO5.State(true);
}
if (ConnectorIO5.Mode() == Connector::OUTPUT_PWM) {
    // Set IO-5's digital PWM output to 50% duty
    // Valid range is 0 to UINT8_MAX
    ConnectorIO5.State(UINT8_MAX / 2);
}
if (ConnectorIO5.Mode() == Connector::OUTPUT_H_BRIDGE) {
    // Set IO-5's H-Bridge output to -25% duty
    // Valid range is -INT16_MAX to INT16_MAX
    ConnectorIO5.State(-INT16_MAX / 4);
}

Parameters

[in]

newState

New state to set for the connector.

Returns

success.

Reimplemented from ClearCore::DigitalInOut.

ToneActiveState()

volatile const ToneState & ClearCore::DigitalInOutHBridge::ToneActiveState ( )

inline

Accessor for the state of the tone currently active on the H-Bridge.

if (ConnectorIO5.ToneActiveState() ==
    DigitalInOutHBridge::TONE_CONTINUOUS) {
    // An endless tone is currently playing on IO-5
}

Returns

The type of tone currently playing

ToneAmplitude()

void ClearCore::DigitalInOutHBridge::ToneAmplitude

(

int16_t

amplitude

)

Set the amplitude of a PWM output for tone generation.

// Set IO-4's amplitude to 1/10 of the max
ConnectorIO4.ToneAmplitude(INT16_MAX / 10);

Parameters

[in]

amplitude

The amplitude of the tone (0 to INT16_MAX)

ToneContinuous()

void ClearCore::DigitalInOutHBridge::ToneContinuous

(

uint16_t

frequency

)

Output a continuous tone from the H-Bridge.

// Start a continuous 100Hz tone on IO-4
ConnectorIO4.ToneContinuous(100);

Parameters

[in]

frequency

The frequency of the tone (Hz)

TonePeriodic()

void ClearCore::DigitalInOutHBridge::TonePeriodic	(	uint16_t	frequency,
		uint32_t	timeOn,
		uint32_t	timeOff
	)

Output a periodic tone from the H-Bridge.

// Start a 50Hz, 150ms on/25ms off tone on IO-4 that continues until
// stopped by a call to ToneStop().
ConnectorIO4.ToneTimed(50, 150, 25);

Parameters

[in]	frequency	The frequency of the tone (Hz)
[in]	timeOn	Periodic on time (ms)
[in]	timeOff	Periodic off time (ms)

ToneStop()

void ClearCore::DigitalInOutHBridge::ToneStop

(

)

Stop the tone output.

// Stop a tone playing on IO-4
ConnectorIO4.ToneStop();

ToneTimed()

void ClearCore::DigitalInOutHBridge::ToneTimed	(	uint16_t	frequency,
		uint32_t	duration,
		bool	blocking = false,
		bool	forceDuration = false
	)

Output a tone from the H-Bridge for the specified duration.

// Start a 50Hz, 500ms tone on IO-4 that does not block further code
// execution
ConnectorIO4.ToneTimed(50, 500);

Parameters

[in]	frequency	The frequency of the tone (Hz)
[in]	duration	How long to play the tone (ms). Specifying a duration of 0 will result in a continuous tone (equivalent to calling ToneContinuous(uint16_t frequency) with the supplied frequency).
[in]	blocking	(optional) Sets whether the function will block all other operations until the tone has finished playing. Default: false.
[in]	forceDuration	(optional) If true, the tone will be made to sound for the full duration specified, regardless of any subsequent tone function calls made before the duration has elapsed. Default: false.

Note

Duration is only accurate to the SysTickRate.

The blocking and forceDuration parameters do not apply when duration = 0.

Type()

Connector::ConnectorTypes ClearCore::DigitalInOutHBridge::Type ( )

inlineoverridevirtual

Get connector type.

if (ConnectorAlias.Type() == Connector::H_BRIDGE_TYPE) {
    // This generic connector variable is a DigitalInOutHBridge
    // connector
}

Returns

The type of the current connector.

Reimplemented from ClearCore::DigitalInOut.

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The documentation for this class was generated from the following file:

• DigitalInOutHBridge.h