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