upm/src/md/md.cxx
Jon Trulson 8ac8be9e0a md: C implementation; C++ wraps C
Signed-off-by: Jon Trulson <jtrulson@ics.com>
2016-10-18 17:04:50 -06:00

105 lines
3.0 KiB
C++

/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2014-2016 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 <unistd.h>
#include <iostream>
#include <string>
#include <stdexcept>
#include "md.hpp"
using namespace upm;
using namespace std;
MD::MD(int bus, uint8_t address) :
m_md(md_init(bus, address))
{
if (!m_md)
throw std::runtime_error(std::string(__FUNCTION__) +
": md_init() failed");
}
MD::~MD()
{
md_close(m_md);
}
bool MD::writePacket(MD_REG_T reg, uint8_t data1, uint8_t data2)
{
if (!md_write_packet(m_md, reg, data1, data2))
throw std::runtime_error(std::string(__FUNCTION__) +
": md_write_packet() failed");
return true;
}
bool MD::setMotorSpeeds(uint8_t speedA, uint8_t speedB)
{
if (!md_set_motor_speeds(m_md, speedA, speedB))
throw std::runtime_error(std::string(__FUNCTION__) +
": md_set_motor_speeds() failed");
return true;
}
bool MD::setPWMFrequencyPrescale(uint8_t freq)
{
if (!md_set_pwm_frequency_prescale(m_md, freq))
throw std::runtime_error(std::string(__FUNCTION__) +
": md_set_pwm_frequency_prescale() failed");
return true;
}
bool MD::setMotorDirections(MD_DC_DIRECTION_T dirA, MD_DC_DIRECTION_T dirB)
{
if (!md_set_motor_directions(m_md, dirA, dirB))
throw std::runtime_error(std::string(__FUNCTION__) +
": md_set_motor_directions() failed");
return true;
}
bool MD::enableStepper(MD_STEP_DIRECTION_T dir, uint8_t speed)
{
return md_enable_stepper(m_md, dir, speed);
}
bool MD::disableStepper()
{
return md_disable_stepper(m_md);
}
bool MD::setStepperSteps(unsigned int steps)
{
return md_set_stepper_steps(m_md, steps);
}
void MD::configStepper(unsigned int stepsPerRev, MD_STEP_MODE_T mode)
{
md_config_stepper(m_md, stepsPerRev, mode);
}