mirror of
https://github.com/eclipse/upm.git
synced 2025-03-14 20:47:30 +03:00
4a1eb99d6d
Touched on all library brief descriptions for better integration with ISS and fixed a few typos and connection tags in the process. Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
118 lines
3.4 KiB
C++
118 lines
3.4 KiB
C++
/*
|
|
* Author: Stan Gifford <stan@gifford.id.au>
|
|
* Copyright (c) 2015 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.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <mraa/i2c.h>
|
|
|
|
#define MAX_BUFFER_LENGTH 6
|
|
|
|
#define SERVO_MIN 0
|
|
#define SERVO_MAX 180
|
|
#define SERVO_FREQ 60
|
|
#define PCA9685_SUBADR1 0x2
|
|
#define PCA9685_SUBADR2 0x3
|
|
#define PCA9685_SUBADR3 0x4
|
|
|
|
#define PCA9685_MODE1 0x0
|
|
#define PCA9685_PRESCALE 0xFE
|
|
|
|
#define LED0_ON_L 0x6
|
|
#define LED0_ON_H 0x7
|
|
#define LED0_OFF_L 0x8
|
|
#define LED0_OFF_H 0x9
|
|
|
|
#define ALLLED_ON_L 0xFA
|
|
#define ALLLED_ON_H 0xFB
|
|
#define ALLLED_OFF_L 0xFC
|
|
#define ALLLED_OFF_H 0xFD
|
|
|
|
#define PCA9685_MODE1_REG 0x00
|
|
#define PCA9685_PRESCALE_REG 0xFE
|
|
#define LED0_REG 0x06
|
|
|
|
namespace upm {
|
|
|
|
/**
|
|
* @brief Adafruit PCA9685-based Servo Shield
|
|
* @defgroup adafruitss libupm-adafruitss
|
|
* @ingroup adafruit i2c servos
|
|
*/
|
|
|
|
/**
|
|
* @library adafruitss
|
|
* @sensor adafruitss
|
|
* @comname Adafruit Servo Shield
|
|
* @type servos
|
|
* @man adafruit
|
|
* @web http://www.adafruit.com/product/1411
|
|
* @con i2c
|
|
*
|
|
* @brief API for the Adafruit Servo Shield
|
|
*
|
|
* UPM library for the PCA9685-based Adafruit 16-channel servo shield. If 3
|
|
* or more GWS servos are attached, results could be unpredictable. Adafruit
|
|
* Industries recommend installing a capacitor on the board, which should
|
|
* alleviate the issue. Sizing depends on servos and their number.
|
|
*
|
|
* @image html adafruitss.jpg
|
|
* @snippet adafruitss.cxx Interesting
|
|
*/
|
|
|
|
class adafruitss {
|
|
public:
|
|
/**
|
|
* Creates an adafruitss object
|
|
*
|
|
* @param bus Number of the used I2C bus
|
|
* @param i2c_address Address of the servo shield on the I2C bus
|
|
*/
|
|
adafruitss(int bus, int i2c_address);
|
|
int update(void);
|
|
/**
|
|
* Sets the frequency of the servos
|
|
*
|
|
* @param freq Frequency at which the servos operate
|
|
*/
|
|
void setPWMFreq(float freq);
|
|
/**
|
|
* Moves one of the servos to a specified angle
|
|
*
|
|
* @param port Port of the servo on the shield (servo number)
|
|
* @param servo_type Can be 0 = standard (1ms to 2ms), 1 = extended
|
|
* (0.6ms to 2.4ms), or 2 = extended (0.8ms to 2.2ms)
|
|
* @param degrees Angle to set the servo to
|
|
*/
|
|
void servo(uint8_t port, uint8_t servo_type, float degrees);
|
|
|
|
private:
|
|
|
|
int pca9685_addr;
|
|
mraa_i2c_context m_i2c;
|
|
uint8_t m_rx_tx_buf[MAX_BUFFER_LENGTH];
|
|
float _duration_1ms;
|
|
};
|
|
|
|
}
|