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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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60
src/stepmotor/stepmotor.cxx
View File

@ -31,35 +31,35 @@
using namespace upm;
StepMotor::StepMotor (int dirPin, int stePin) {
maa_result_t error = MAA_SUCCESS;
mraa_result_t error = MRAA_SUCCESS;
m_name = "StepMotor";
maa_init();
mraa_init();
m_stePin = stePin;
m_dirPin = dirPin;
m_pwmStepContext = maa_pwm_init (m_stePin);
m_dirPinCtx = maa_gpio_init (m_dirPin);
m_pwmStepContext = mraa_pwm_init (m_stePin);
m_dirPinCtx = mraa_gpio_init (m_dirPin);
if (m_dirPinCtx == NULL) {
fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", m_dirPin);
exit (1);
}
error = maa_gpio_dir (m_dirPinCtx, MAA_GPIO_OUT);
if (error != MAA_SUCCESS) {
maa_result_print (error);
error = mraa_gpio_dir (m_dirPinCtx, MRAA_GPIO_OUT);
if (error != MRAA_SUCCESS) {
mraa_result_print (error);
}
}
StepMotor::~StepMotor() {
maa_result_t error = MAA_SUCCESS;
mraa_result_t error = MRAA_SUCCESS;
maa_pwm_close (m_pwmStepContext);
mraa_pwm_close (m_pwmStepContext);
error = maa_gpio_close (m_dirPinCtx);
if (error != MAA_SUCCESS) {
maa_result_print(error);
error = mraa_gpio_close (m_dirPinCtx);
if (error != MRAA_SUCCESS) {
mraa_result_print(error);
}
}
@ -76,51 +76,51 @@ StepMotor::setSpeed (int speed) {
m_speed = speed;
}
maa_result_t
mraa_result_t
StepMotor::stepForward (int ticks) {
dirForward ();
move (ticks);
}
maa_result_t
mraa_result_t
StepMotor::stepBackwards (int ticks) {
dirBackwards ();
move (ticks);
}
maa_result_t
mraa_result_t
StepMotor::move (int ticks) {
maa_result_t error = MAA_SUCCESS;
mraa_result_t error = MRAA_SUCCESS;
maa_pwm_enable (m_pwmStepContext, 1);
mraa_pwm_enable (m_pwmStepContext, 1);
for (int tick = 0; tick < ticks; tick++) {
maa_pwm_period_us (m_pwmStepContext, m_speed);
maa_pwm_pulsewidth_us (m_pwmStepContext, PULSEWIDTH);
mraa_pwm_period_us (m_pwmStepContext, m_speed);
mraa_pwm_pulsewidth_us (m_pwmStepContext, PULSEWIDTH);
}
maa_pwm_enable (m_pwmStepContext, 0);
mraa_pwm_enable (m_pwmStepContext, 0);
return error;
}
maa_result_t
mraa_result_t
StepMotor::dirForward () {
maa_result_t error = MAA_SUCCESS;
mraa_result_t error = MRAA_SUCCESS;
error = maa_gpio_write (m_dirPinCtx, HIGH);
if (error != MAA_SUCCESS) {
maa_result_print (error);
error = mraa_gpio_write (m_dirPinCtx, HIGH);
if (error != MRAA_SUCCESS) {
mraa_result_print (error);
}
return error;
}
maa_result_t
mraa_result_t
StepMotor::dirBackwards () {
maa_result_t error = MAA_SUCCESS;
mraa_result_t error = MRAA_SUCCESS;
error = maa_gpio_write (m_dirPinCtx, LOW);
if (error != MAA_SUCCESS) {
maa_result_print (error);
error = mraa_gpio_write (m_dirPinCtx, LOW);
if (error != MRAA_SUCCESS) {
mraa_result_print (error);
}
return error;

20
src/stepmotor/stepmotor.h
View File

@ -28,9 +28,9 @@
#include <string>
#include <math.h>
#include <maa/pwm.h>
#include <maa/aio.h>
#include <maa/gpio.h>
#include <mraa/pwm.h>
#include <mraa/aio.h>
#include <mraa/gpio.h>
#define MIN_PERIOD 500
#define MAX_PERIOD 1000
@ -75,14 +75,14 @@ class StepMotor {
*
* @param ticks number of tickes the motor will move
*/
maa_result_t stepForward (int ticks);
mraa_result_t stepForward (int ticks);
/**
* Rotate motor backward
*
* @param ticks number of tickes the motor will move
*/
maa_result_t stepBackwards (int ticks);
mraa_result_t stepBackwards (int ticks);
private:
std::string m_name;
@ -91,11 +91,11 @@ class StepMotor {
int m_stePin;
int m_speed;
maa_gpio_context m_dirPinCtx;
maa_pwm_context m_pwmStepContext;
mraa_gpio_context m_dirPinCtx;
mraa_pwm_context m_pwmStepContext;
maa_result_t move (int ticks);
maa_result_t dirForward ();
maa_result_t dirBackwards ();
mraa_result_t move (int ticks);
mraa_result_t dirForward ();
mraa_result_t dirBackwards ();
};
}