mirror of
https://github.com/eclipse/upm.git
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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++
/*
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* Author: Stan Gifford <stan@gifford.id.au>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <mraa/i2c.h>
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#define MAX_BUFFER_LENGTH 6
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#define SERVO_MIN 0
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#define SERVO_MAX 180
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#define SERVO_FREQ 60
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#define PCA9685_SUBADR1 0x2
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#define PCA9685_SUBADR2 0x3
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#define PCA9685_SUBADR3 0x4
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#define PCA9685_MODE1 0x0
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#define PCA9685_PRESCALE 0xFE
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#define LED0_ON_L 0x6
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#define LED0_ON_H 0x7
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#define LED0_OFF_L 0x8
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#define LED0_OFF_H 0x9
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#define ALLLED_ON_L 0xFA
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#define ALLLED_ON_H 0xFB
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#define ALLLED_OFF_L 0xFC
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#define ALLLED_OFF_H 0xFD
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#define PCA9685_MODE1_REG 0x00
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#define PCA9685_PRESCALE_REG 0xFE
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#define LED0_REG 0x06
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namespace upm {
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/**
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* @brief Adafruit PCA9685-based Servo Shield
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* @defgroup adafruitss libupm-adafruitss
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* @ingroup adafruit i2c servos
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*/
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/**
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* @library adafruitss
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* @sensor adafruitss
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* @comname Adafruit Servo Shield
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* @type servos
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* @man adafruit
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* @web http://www.adafruit.com/product/1411
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* @con i2c
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*
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* @brief API for the Adafruit Servo Shield
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*
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* UPM library for the PCA9685-based Adafruit 16-channel servo shield. If 3
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* or more GWS servos are attached, results could be unpredictable. Adafruit
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* Industries recommend installing a capacitor on the board, which should
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* alleviate the issue. Sizing depends on servos and their number.
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*
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* @image html adafruitss.jpg
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* @snippet adafruitss.cxx Interesting
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*/
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class adafruitss {
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public:
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/**
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* Creates an adafruitss object
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*
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* @param bus Number of the used I2C bus
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* @param i2c_address Address of the servo shield on the I2C bus
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*/
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adafruitss(int bus, int i2c_address);
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int update(void);
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/**
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* Sets the frequency of the servos
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*
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* @param freq Frequency at which the servos operate
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*/
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void setPWMFreq(float freq);
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/**
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* Moves one of the servos to a specified angle
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*
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* @param port Port of the servo on the shield (servo number)
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* @param servo_type Can be 0 = standard (1ms to 2ms), 1 = extended
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* (0.6ms to 2.4ms), or 2 = extended (0.8ms to 2.2ms)
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* @param degrees Angle to set the servo to
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*/
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void servo(uint8_t port, uint8_t servo_type, float degrees);
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private:
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int pca9685_addr;
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mraa_i2c_context m_i2c;
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uint8_t m_rx_tx_buf[MAX_BUFFER_LENGTH];
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float _duration_1ms;
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};
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}
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