Servo: Adding C Source

Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>

src/servo/CMakeLists.txt

@@ -1,5 +1,9 @@
-set (libname "servo")
-set (libdescription "upm servo")
-set (module_src servo.cxx es08a.cxx es9257.cxx)
-set (module_hpp servo.hpp es08a.hpp es9257.hpp)
-upm_module_init()
+upm_mixed_module_init (NAME servo
+    DESCRIPTION "upm servo module"
+    C_HDR es08a.h es9257.h
+    C_SRC es08a.c es9257.c
+    CPP_HDR servo.hpp es08a.hpp es9257.hpp
+    CPP_SRC servo.cxx es08a.cxx es9257.cxx
+    FTI_SRC es08a_fti.c es9257_fti.c
+    CPP_WRAPS_C
+    REQUIRES mraa)

src/servo/es08a.c

@@ -0,0 +1,107 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ *         Abhishek Malik <abhishek.malik@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * 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 "es08a.h"
+
+es08a_context es08a_init(int32_t pin, int32_t min_pulse_width,
+                         int32_t max_pulse_width){
+    es08a_context dev = (es08a_context) malloc(sizeof(struct _es08a_context));
+
+    if(dev == NULL){
+        printf("Unable to assign memory to the Servo motor structure");
+        return NULL;
+    }
+
+    dev->servo_pin = pin;
+
+    // second is the min pulse width
+    dev->min_pulse_width = min_pulse_width;
+    // third is the max pulse width
+    dev->max_pulse_width = max_pulse_width;
+
+    dev->pwm = mraa_pwm_init(dev->servo_pin);
+    if(dev->pwm == NULL){
+        printf("Unable to initialize the PWM pin");
+    }
+
+    es08a_set_angle(dev, 0);
+    return dev;
+}
+
+void es08a_halt(es08a_context dev){
+    mraa_pwm_enable(dev->pwm, 0);
+    free(dev);
+}
+
+upm_result_t es08a_set_angle(es08a_context dev, int32_t angle){
+
+    if(ES08A_MAX_ANGLE < angle || angle < 0){
+        printf("The angle specified is either above the max angle or below 0");
+        return UPM_ERROR_UNSPECIFIED;
+    }
+    printf("setting angle to: %d\n", angle);
+
+    mraa_pwm_enable(dev->pwm, 1);
+    mraa_pwm_period_us(dev->pwm, ES08A_PERIOD);
+    int32_t val = 0;
+
+    es08a_calc_pulse_travelling(dev, &val, angle);
+    mraa_pwm_pulsewidth_us(dev->pwm, val);
+
+    upm_delay(1);
+    mraa_pwm_enable(dev->pwm, 0);
+
+    return UPM_SUCCESS;
+}
+
+upm_result_t es08a_calc_pulse_travelling(const es08a_context dev,
+                                         int32_t* ret_val, int32_t value){
+    if (value > dev->max_pulse_width) {
+        return dev->max_pulse_width;
+    }
+
+    // if less than the boundaries
+    if (value  < 0) {
+        return dev->min_pulse_width;
+    }
+
+    *ret_val = (int) ((float)dev->min_pulse_width + ((float)value / ES08A_MAX_ANGLE) * ((float)dev->max_pulse_width - (float)dev->min_pulse_width));
+    return UPM_SUCCESS;
+}
+
+void es08a_set_min_pulse_width (es08a_context dev, int width){
+    dev->min_pulse_width = width;
+}
+
+void es08a_set_max_pulse_width (es08a_context dev, int width){
+    dev->max_pulse_width = width;
+}
+
+int es08a_get_min_pulse_width (es08a_context dev){
+    return dev->min_pulse_width;
+}
+
+int es08a_get_max_pulse_width (es08a_context dev){
+    return dev->max_pulse_width;
+}

src/servo/es08a.h

@@ -0,0 +1,137 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ *         Abhishek Malik <abhishek.malik@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * 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 ES08A_H_
+#define ES08A_H_
+
+#include <string.h>
+#include <stdlib.h>
+#include <unistd.h>
+
+#include "upm.h"
+#include "mraa/pwm.h"
+
+/**
+ * @library servo
+ * @sensor es08a
+ * @comname ES08A Servo
+ * @altname Grove Servo
+ * @type servos
+ * @man emax
+ * @web http://www.seeedstudio.com/wiki/Grove_-_Servo
+ * @con pwm
+ * @kit gsk
+ *
+ * @brief API for the ES08A Servo
+ *
+ * This module defines the ES08A interface for ES08A servos.
+ * Like other servos, the ES08A servo has a shaft that can be controlled
+ * by setting the desired angle. There are also routines for setting
+ * and getting the minimum and maximum pulse width as well as the
+ * maximum period.
+ *
+ * @image html es08a.jpg
+ * @snippet es08a.c Interesting
+ */
+
+#define ES08A_MIN_PULSE_WIDTH             600
+#define ES08A_MAX_PULSE_WIDTH             2200
+#define ES08A_PERIOD                      20000
+#define ES08A_MAX_ANGLE                   180.0
+
+/**
+ * device context
+ */
+typedef struct _es08a_context {
+    mraa_pwm_context    pwm;
+    uint16_t            servo_pin;
+    uint32_t            max_pulse_width;
+    uint32_t            min_pulse_width;
+} *es08a_context;
+
+/**
+ * Instantiates a the servo at the given pin
+ *
+ * @param pin Servo pin number
+ * @param minPulseWidth Minimum pulse width, in microseconds
+ * @param maxPulseWidth Maximum pulse width, in microseconds
+ * @param waitAndDisablePwm If 1, PWM is enabled only during the
+ * setAngle() execution for a period of 1 second, and then turned back
+ * off. If 0, PWM remains on afterward.
+ */
+
+
+es08a_context es08a_init(int32_t pin, int32_t min_pulse_width,
+                         int32_t max_pulse_width);
+
+/**
+ * Halts PWM for this servo and allows it to move freely.
+ */
+void es08a_halt(es08a_context dev);
+
+/**
+ * Sets the angle of the servo engine.
+ *
+ * @param angle Number between 0 and 180
+ * @return 0 if successful, non-zero otherwise
+ */
+upm_result_t es08a_set_angle(es08a_context dev, int32_t angle);
+
+/*
+ * Calculating relative pulse time to the value.
+ * */
+upm_result_t es08a_calc_pulse_travelling(const es08a_context dev,
+                                         int32_t* ret_val,
+                                         int32_t value);
+
+/**
+ * Sets the minimum pulse width
+ *
+ * @param width Minimum HIGH signal width
+ */
+void es08a_set_min_pulse_width (es08a_context dev, int width);
+
+/**
+ * Sets the maximum pulse width
+ *
+ * @param width Maximum HIGH signal width
+ */
+void es08a_set_max_pulse_width (es08a_context dev, int width);
+
+/**
+ * Returns the minimum pulse width
+ *
+ * @return Minimum pulse width
+ */
+int es08a_get_min_pulse_width (es08a_context dev);
+
+/**
+ * Returns the maximum pulse width
+ *
+ * @return Maximum pulse width
+ */
+int es08a_get_max_pulse_width (es08a_context dev);
+
+#endif /* ES08A_H_ */

src/servo/es08a_fti.c

@@ -0,0 +1,89 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ *         Abhishek Malik <abhishek.malik@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * 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 "es08a.h"
+
+#include "upm_fti.h"
+
+/** 
+ * This file implements the Function Table Interface (FTI) for this sensor
+ */
+
+const char upm_es08a_name[] = "ES08A";
+const char upm_es08a_description[] = "Grove Servo Motor";
+const upm_protocol_t upm_es08a_protocol[] = {UPM_PWM};
+const upm_sensor_t upm_es08a_category[] = {UPM_SERVO};
+
+// forward declarations
+const upm_sensor_descriptor_t upm_es08a_get_descriptor ();
+const void* upm_es08a_get_ft(upm_sensor_t sensor_type);
+void* upm_es08a_init_name();
+upm_result_t upm_es08a_set_angle(void* dev, int32_t angle);
+void upm_es08a_close(void* dev);
+
+const upm_sensor_descriptor_t upm_es08a_get_descriptor (){
+    upm_sensor_descriptor_t usd;
+    usd.name = upm_es08a_name;
+    usd.description = upm_es08a_description;
+    usd.protocol_size = 1;
+    usd.protocol = upm_es08a_protocol;
+    usd.category_size = 1;
+    usd.category = upm_es08a_category;
+    return usd;
+}
+
+static const upm_sensor_ft ft =
+{
+    .upm_sensor_init_name = &upm_es08a_init_name,
+    .upm_sensor_close = &upm_es08a_close,
+    .upm_sensor_get_descriptor = &upm_es08a_get_descriptor
+};
+
+static const upm_servo_ft sft =
+{
+    .upm_servo_set_angle = &upm_es08a_set_angle
+};
+
+const void* upm_es08a_get_ft(upm_sensor_t sensor_type){
+    if(sensor_type == UPM_SERVO){
+        return &sft;
+    }
+    else if(sensor_type == UPM_SENSOR){
+        return &ft;
+    }
+    return NULL;
+}
+
+void* upm_es08a_init_name(){
+    return NULL;
+}
+
+void upm_es08a_close(void* dev){
+    es08a_halt((es08a_context)dev);
+}
+
+upm_result_t upm_es08a_set_angle(void* dev, int32_t angle){
+    return es08a_set_angle((es08a_context)dev, angle);
+}

src/servo/es9257.c

@@ -0,0 +1,107 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ *         Abhishek Malik <abhishek.malik@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * 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 "es9257.h"
+
+es9257_context es9257_init(int32_t pin, int32_t min_pulse_width,
+                         int32_t max_pulse_width){
+    es9257_context dev = (es9257_context) malloc(sizeof(struct _es9257_context));
+
+    if(dev == NULL){
+        printf("Unable to assign memory to the Servo motor structure");
+        return NULL;
+    }
+
+    dev->servo_pin = pin;
+
+    // second is the min pulse width
+    dev->min_pulse_width = min_pulse_width;
+    // third is the max pulse width
+    dev->max_pulse_width = max_pulse_width;
+
+    dev->pwm = mraa_pwm_init(dev->servo_pin);
+    if(dev->pwm == NULL){
+        printf("Unable to initialize the PWM pin");
+    }
+
+    es9257_set_angle(dev, 0);
+    return dev;
+}
+
+void es9257_halt(es9257_context dev){
+    mraa_pwm_enable(dev->pwm, 0);
+    free(dev);
+}
+
+upm_result_t es9257_set_angle(es9257_context dev, int32_t angle){
+
+    if(ES9257_MAX_ANGLE < angle || angle < 0){
+        printf("The angle specified is either above the max angle or below 0");
+        return UPM_ERROR_UNSPECIFIED;
+    }
+    printf("setting angle to: %d\n", angle);
+
+    mraa_pwm_enable(dev->pwm, 1);
+    mraa_pwm_period_us(dev->pwm, ES9257_PERIOD);
+    int32_t val = 0;
+
+    es9257_calc_pulse_travelling(dev, &val, angle);
+    mraa_pwm_pulsewidth_us(dev->pwm, val);
+
+    upm_delay(1);
+    mraa_pwm_enable(dev->pwm, 0);
+
+    return UPM_SUCCESS;
+}
+
+upm_result_t es9257_calc_pulse_travelling(const es9257_context dev,
+                                         int32_t* ret_val, int32_t value){
+    if (value > dev->max_pulse_width) {
+        return dev->max_pulse_width;
+    }
+
+    // if less than the boundaries
+    if (value  < 0) {
+        return dev->min_pulse_width;
+    }
+
+    *ret_val = (int) ((float)dev->min_pulse_width + ((float)value / ES9257_MAX_ANGLE) * ((float)dev->max_pulse_width - (float)dev->min_pulse_width));
+    return UPM_SUCCESS;
+}
+
+void es9257_set_min_pulse_width (es9257_context dev, int width){
+    dev->min_pulse_width = width;
+}
+
+void es9257_set_max_pulse_width (es9257_context dev, int width){
+    dev->max_pulse_width = width;
+}
+
+int es9257_get_min_pulse_width (es9257_context dev){
+    return dev->min_pulse_width;
+}
+
+int es9257_get_max_pulse_width (es9257_context dev){
+    return dev->max_pulse_width;
+}

src/servo/es9257.h

@@ -0,0 +1,137 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ *         Abhishek Malik <abhishek.malik@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * 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 ES9257_H_
+#define ES9257_H_
+
+#include <string.h>
+#include <stdlib.h>
+#include <unistd.h>
+
+#include "upm.h"
+#include "mraa/pwm.h"
+
+/**
+ * @library servo
+ * @sensor es9257
+ * @comname ES9257 Servo
+ * @altname Grove Servo
+ * @type servos
+ * @man emax
+ * @web http://www.seeedstudio.com/wiki/Grove_-_Servo
+ * @con pwm
+ * @kit gsk
+ *
+ * @brief API for the ES9257 Servo
+ *
+ * This module defines the ES9257 interface for ES9257 servos.
+ * Like other servos, the ES9257 servo has a shaft that can be controlled
+ * by setting the desired angle. There are also routines for setting
+ * and getting the minimum and maximum pulse width as well as the
+ * maximum period.
+ *
+ * @image html es9257.jpg
+ * @snippet es9257.c Interesting
+ */
+
+#define ES9257_MIN_PULSE_WIDTH             600
+#define ES9257_MAX_PULSE_WIDTH             2200
+#define ES9257_PERIOD                      20000
+#define ES9257_MAX_ANGLE                   180.0
+
+/*
+ * device context
+ */
+typedef struct _es9257_context {
+    mraa_pwm_context    pwm;
+    uint16_t            servo_pin;
+    uint32_t            max_pulse_width;
+    uint32_t            min_pulse_width;
+} *es9257_context;
+
+/**
+ * Instantiates a the servo at the given pin
+ *
+ * @param pin Servo pin number
+ * @param minPulseWidth Minimum pulse width, in microseconds
+ * @param maxPulseWidth Maximum pulse width, in microseconds
+ * @param waitAndDisablePwm If 1, PWM is enabled only during the
+ * setAngle() execution for a period of 1 second, and then turned back
+ * off. If 0, PWM remains on afterward.
+ */
+
+
+es9257_context es9257_init(int32_t pin, int32_t min_pulse_width,
+                         int32_t max_pulse_width);
+
+/**
+ * Halts PWM for this servo and allows it to move freely.
+ */
+void es9257_halt(es9257_context dev);
+
+/**
+ * Sets the angle of the servo engine.
+ *
+ * @param angle Number between 0 and 180
+ * @return 0 if successful, non-zero otherwise
+ */
+upm_result_t es9257_set_angle(es9257_context dev, int32_t angle);
+
+/*
+ * Calculating relative pulse time to the value.
+ * */
+upm_result_t es9257_calc_pulse_travelling(const es9257_context dev,
+                                         int32_t* ret_val,
+                                         int32_t value);
+
+/**
+ * Sets the minimum pulse width
+ *
+ * @param width Minimum HIGH signal width
+ */
+void es9257_set_min_pulse_width (es9257_context dev, int width);
+
+/**
+ * Sets the maximum pulse width
+ *
+ * @param width Maximum HIGH signal width
+ */
+void es9257_set_max_pulse_width (es9257_context dev, int width);
+
+/**
+ * Returns the minimum pulse width
+ *
+ * @return Minimum pulse width
+ */
+int es9257_get_min_pulse_width (es9257_context dev);
+
+/**
+ * Returns the maximum pulse width
+ *
+ * @return Maximum pulse width
+ */
+int es9257_get_max_pulse_width (es9257_context dev);
+
+#endif /* ES9257_H_ */

src/servo/es9257_fti.c

@@ -0,0 +1,89 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ *         Abhishek Malik <abhishek.malik@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * 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 "es9257.h"
+
+#include "upm_fti.h"
+
+/** 
+ * This file implements the Function Table Interface (FTI) for this sensor
+ */
+
+const char upm_es9257_name[] = "ES9257";
+const char upm_es9257_description[] = "Grove Servo Motor";
+const upm_protocol_t upm_es9257_protocol[] = {UPM_PWM};
+const upm_sensor_t upm_es9257_category[] = {UPM_SERVO};
+
+// forward declarations
+const upm_sensor_descriptor_t upm_es9257_get_descriptor ();
+const void* upm_es9257_get_ft(upm_sensor_t sensor_type);
+void* upm_es9257_init_name();
+upm_result_t upm_es9257_set_angle(void* dev, int32_t angle);
+void upm_es9257_close(void* dev);
+
+const upm_sensor_descriptor_t upm_es9257_get_descriptor (){
+    upm_sensor_descriptor_t usd;
+    usd.name = upm_es9257_name;
+    usd.description = upm_es9257_description;
+    usd.protocol_size = 1;
+    usd.protocol = upm_es9257_protocol;
+    usd.category_size = 1;
+    usd.category = upm_es9257_category;
+    return usd;
+}
+
+static const upm_sensor_ft ft =
+{
+    .upm_sensor_init_name = &upm_es9257_init_name,
+    .upm_sensor_close = &upm_es9257_close,
+    .upm_sensor_get_descriptor = &upm_es9257_get_descriptor
+};
+
+static const upm_servo_ft sft =
+{
+    .upm_servo_set_angle = &upm_es9257_set_angle
+};
+
+const void* upm_es9257_get_ft(upm_sensor_t sensor_type){
+    if(sensor_type == UPM_SERVO){
+        return &sft;
+    }
+    else if(sensor_type == UPM_SENSOR){
+        return &ft;
+    }
+    return NULL;
+}
+
+void* upm_es9257_init_name(){
+    return NULL;
+}
+
+void upm_es9257_close(void* dev){
+    es9257_halt((es9257_context)dev);
+}
+
+upm_result_t upm_es9257_set_angle(void* dev, int32_t angle){
+    return es9257_set_angle((es9257_context)dev, angle);
+}