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123 lines
3.4 KiB
C
123 lines
3.4 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) 2016 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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#ifndef ES08A_H_
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#define ES08A_H_
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#include <string.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include "upm.h"
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#include "mraa/pwm.h"
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#define ES08A_MIN_PULSE_WIDTH 600
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#define ES08A_MAX_PULSE_WIDTH 2200
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#define ES08A_PERIOD 20000
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#define ES08A_MAX_ANGLE 180.0
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/**
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* @file es08a.h
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* @library servo
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* @brief C API for the ES08A Servo
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*
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* @include es08a.c
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*/
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/**
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* device context
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*/
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typedef struct _es08a_context {
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mraa_pwm_context pwm;
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uint16_t servo_pin;
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uint32_t max_pulse_width;
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uint32_t min_pulse_width;
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} *es08a_context;
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/**
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* Instantiates a the servo at the given pin
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*
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* @param pin Servo pin number
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* @param minPulseWidth Minimum pulse width, in microseconds
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* @param maxPulseWidth Maximum pulse width, in microseconds
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* @param waitAndDisablePwm If 1, PWM is enabled only during the
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* setAngle() execution for a period of 1 second, and then turned back
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* off. If 0, PWM remains on afterward.
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*/
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es08a_context es08a_init(int32_t pin, int32_t min_pulse_width,
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int32_t max_pulse_width);
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/**
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* Halts PWM for this servo and allows it to move freely.
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*/
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void es08a_halt(es08a_context dev);
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/**
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* Sets the angle of the servo engine.
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*
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* @param angle Number between 0 and 180
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* @return 0 if successful, non-zero otherwise
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*/
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upm_result_t es08a_set_angle(es08a_context dev, int32_t angle);
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/*
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* Calculating relative pulse time to the value.
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* */
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upm_result_t es08a_calc_pulse_travelling(const es08a_context dev,
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int32_t* ret_val,
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int32_t value);
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/**
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* Sets the minimum pulse width
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*
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* @param width Minimum HIGH signal width
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*/
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void es08a_set_min_pulse_width (es08a_context dev, int width);
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/**
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* Sets the maximum pulse width
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*
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* @param width Maximum HIGH signal width
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*/
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void es08a_set_max_pulse_width (es08a_context dev, int width);
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/**
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* Returns the minimum pulse width
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*
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* @return Minimum pulse width
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*/
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int es08a_get_min_pulse_width (es08a_context dev);
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/**
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* Returns the maximum pulse width
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*
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* @return Maximum pulse width
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*/
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int es08a_get_max_pulse_width (es08a_context dev);
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#endif /* ES08A_H_ */
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