/* * Author: Yevgeniy Kiveisha * Abhishek Malik * Copyright (c) 2016 Intel Corporation. * * This program and the accompanying materials are made available under the * terms of the The MIT License which is available at * https://opensource.org/licenses/MIT. * * SPDX-License-Identifier: MIT */ #ifndef ES9257_H_ #define ES9257_H_ #include #include #include #include "upm.h" #include "mraa/pwm.h" #define ES9257_MIN_PULSE_WIDTH 475 #define ES9257_MAX_PULSE_WIDTH 2100 #define ES9257_PERIOD 20000 #define ES9257_MAX_ANGLE 180.0 /** * @file es9257.h * @library servo * @brief C API for the ES9257 Servo * * @include es9257.c */ /* * 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 */ 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_ */