upm/src/servo/es9257.c
Jon Trulson e7c80217c2 C examples: move mraa_init() calls out of C examples and into C drivers.
Signed-off-by: Jon Trulson <jtrulson@ics.com>
2016-09-28 17:34:42 -06:00

117 lines
3.6 KiB
C

/*
* 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) {
// make sure MRAA is initialized
int mraa_rv;
if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
{
printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
return NULL;
}
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;
}