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mraa: change all existing code to use libmraa.

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* Made CMake depend on 0.4 libmraa

Signed-off-by: Thomas Ingleby <thomas.c.ingleby@intel.com>
This commit is contained in:
Thomas Ingleby
2014-06-25 10:05:27 +01:00
parent 8d25ecacdd
commit 36be22cb90
53 changed files with 640 additions and 640 deletions
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20
src/servo/servo.cxx
View File

@ -32,7 +32,7 @@
using namespace upm;
Servo::Servo (int pin) {
maa_result_t error = MAA_SUCCESS;
mraa_result_t error = MRAA_SUCCESS;
m_minPulseWidth = MIN_PULSE_WIDTH;
m_maxPulseWidth = MAX_PULSE_WIDTH;
@ -40,7 +40,7 @@ Servo::Servo (int pin) {
m_maxAngle = 180.0;
m_servoPin = pin;
m_pwmServoContext = maa_pwm_init (m_servoPin);
m_pwmServoContext = mraa_pwm_init (m_servoPin);
m_currAngle = 180;
@ -48,7 +48,7 @@ Servo::Servo (int pin) {
}
Servo::~Servo () {
maa_pwm_close (m_pwmServoContext);
mraa_pwm_close (m_pwmServoContext);
}
/*
@ -62,14 +62,14 @@ Servo::~Servo () {
* Max period can be only 7968750(nses) which is ~8(msec)
* so the servo wil not work as expected.
* */
maa_result_t Servo::setAngle (int angle) {
mraa_result_t Servo::setAngle (int angle) {
if (m_pwmServoContext == NULL) {
std::cout << "PWM context is NULL" << std::endl;
return MAA_ERROR_UNSPECIFIED;
return MRAA_ERROR_UNSPECIFIED;
}
if (angle > m_maxAngle || angle < 0) {
return MAA_ERROR_UNSPECIFIED;
return MRAA_ERROR_UNSPECIFIED;
}
int period = (m_maxPulseWidth - m_minPulseWidth) / m_maxAngle;
@ -78,12 +78,12 @@ maa_result_t Servo::setAngle (int angle) {
// int cycles = (int)(100.0 * ((float)angle / (float)m_maxAngle));
maa_pwm_enable (m_pwmServoContext, 1);
mraa_pwm_enable (m_pwmServoContext, 1);
for (int cycle = 0; cycle < cycles; cycle++) {
maa_pwm_period_us (m_pwmServoContext, m_maxPeriod);
maa_pwm_pulsewidth_us (m_pwmServoContext, calcPulseTraveling(angle));
mraa_pwm_period_us (m_pwmServoContext, m_maxPeriod);
mraa_pwm_pulsewidth_us (m_pwmServoContext, calcPulseTraveling(angle));
}
maa_pwm_enable (m_pwmServoContext, 0);
mraa_pwm_enable (m_pwmServoContext, 0);
std::cout << "angle = " << angle << " ,pulse = " << calcPulseTraveling(angle) << ", cycles " << cycles << std::endl;

6
src/servo/servo.h
View File

@ -24,7 +24,7 @@
#pragma once
#include <string>
#include <maa/pwm.h>
#include <mraa/pwm.h>
namespace upm {
@ -70,7 +70,7 @@ class Servo {
*
* @param angle number between 0 and 180
*/
maa_result_t setAngle (int angle);
mraa_result_t setAngle (int angle);
/**
* Return name of the component
@ -122,7 +122,7 @@ class Servo {
std::string m_name;
int m_servoPin;
float m_maxAngle;
maa_pwm_context m_pwmServoContext;
mraa_pwm_context m_pwmServoContext;
int m_currAngle;
int m_minPulseWidth;