1765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang/* 2765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * Author: Stan Gifford <stan@gifford.id.au> 3765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * Copyright (c) 2015 Intel Corporation. 4765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * 5765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * Permission is hereby granted, free of charge, to any person obtaining 6765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * a copy of this software and associated documentation files (the 7765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * "Software"), to deal in the Software without restriction, including 8765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * without limitation the rights to use, copy, modify, merge, publish, 9765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * distribute, sublicense, and/or sell copies of the Software, and to 10765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * permit persons to whom the Software is furnished to do so, subject to 11765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * the following conditions: 12765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * 13765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * The above copyright notice and this permission notice shall be 14765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * included in all copies or substantial portions of the Software. 15765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * 16765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 17765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 18765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 19765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 20765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 21765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 22765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 23765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang */ 24765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 25765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang#include <string> 26765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang#include <stdexcept> 27765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 28765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang#include "adafruitss.h" 29765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang#include <unistd.h> 30765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang#include <math.h> 31765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 32765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangusing namespace upm; 33765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 34765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangadafruitss::adafruitss(int bus,int i2c_address) 35765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang{ 36765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang if ( !(m_i2c = mraa_i2c_init(bus)) ) 37765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang { 38765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang throw std::invalid_argument(std::string(__FUNCTION__) + 39765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang ": mraa_i2c_init() failed"); 40765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang return; 41765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang } 42765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 43765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang pca9685_addr = i2c_address; 44765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang if (mraa_i2c_address(m_i2c, pca9685_addr) != MRAA_SUCCESS) 45765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang { 46765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang throw std::invalid_argument(std::string(__FUNCTION__) + 47765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang ": mraa_i2c_address() failed"); 48765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang return; 49765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang } 50765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 51765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[0]=PCA9685_MODE1; 52765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[1]=0; 53765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang if (mraa_i2c_write(m_i2c,m_rx_tx_buf,2) != MRAA_SUCCESS) 54765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang { 55765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang throw std::invalid_argument(std::string(__FUNCTION__) + 56765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang ": mraa_i2c_write() failed"); 57765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang return; 58765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang } 59765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 60765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang adafruitss::setPWMFreq(60); 61765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 62765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang adafruitss::update(); 63765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang} 64765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 65765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangvoid adafruitss::setPWMFreq(float freq) { 66765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang float afreq= freq * 0.899683334F; // Correct for overshoot in the frequency setting (see issue #11). (Tested at 60hz with Logic 4 for 50hz and 60hz) 67765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang float prescaleval = 25000000; 68765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang prescaleval /= 4096; 69765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang prescaleval /= afreq; 70765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang prescaleval -= 1; 71765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang float pwm_frequency = freq; // Use actual requested frequency gives the correct pulse width 72765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 73765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang _duration_1ms = ((4096*pwm_frequency)/1000); // This is 1ms duration 74765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 75765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang uint8_t prescale = roundf(prescaleval); 76765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 77765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 78765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 79765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang mraa_i2c_address(m_i2c, pca9685_addr); 80765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang mraa_i2c_read_byte_data(m_i2c,PCA9685_MODE1); 81765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 82765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 83765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[0]=PCA9685_MODE1; 84765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[1]=0x10; // sleep 85765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang mraa_i2c_address(m_i2c, pca9685_addr); 86765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang mraa_i2c_write(m_i2c,m_rx_tx_buf,2); 87765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 88765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 89765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 90765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[0]=PCA9685_PRESCALE; 91765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[1]=prescale; 92765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang mraa_i2c_address(m_i2c, pca9685_addr); 93765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang mraa_i2c_write(m_i2c,m_rx_tx_buf,2); 94765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 95765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 96765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 97765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 98765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[0]=PCA9685_MODE1; 99765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[1]=0x00; 100765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang mraa_i2c_address(m_i2c, pca9685_addr); 101765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang mraa_i2c_write(m_i2c,m_rx_tx_buf,2); 102765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 103765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang // mraa_i2c_write_byte_data(m_i2c,0x00,PCA9685_MODE1); 104765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 105765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang usleep(5000); 106765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 107765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 108765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[0]=PCA9685_MODE1; 109765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[1]=0xa1; 110765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang mraa_i2c_address(m_i2c, pca9685_addr); 111765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang mraa_i2c_write(m_i2c,m_rx_tx_buf,2); 112765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang} 113765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 114765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangint adafruitss::update(void) 115765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang{ 116765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang return MRAA_SUCCESS; 117765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang} 118765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 119765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangvoid adafruitss::servo(uint8_t port, uint8_t servo_type, float degrees) { 120765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang // Set Servo values 121765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang // Degrees is from 0 to 180 122765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang // servo_type: 0 = standard 1ms to 2ms 123765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang // 1 = extended 0.6ms to 2.4ms 124765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang // 2 = extended 0.8ms to 2.2ms 125765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 126765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang float duration; 127765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 128765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang if(degrees>180) degrees=180; // Ensure within bounds 129765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang if (degrees<0) degrees=0; 130765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang switch (servo_type) { 131765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang default: 132765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang case 0: // Standard Servo 1ms to 2ms 133765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang duration = _duration_1ms + ((_duration_1ms*degrees)/180); 134765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang break; 135765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 136765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang case 1: // Extended Servo 0.6ms to 2.4ms, i.e. 1.8ms from 0 to 180 137765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang //duration = (_duration_1ms*0.6) + ((_duration_1ms*1.8*degrees)/180); simplified to.. 138765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang duration = (_duration_1ms*0.6) + ((_duration_1ms*degrees)/100); 139765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang break; 140765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 141765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang case 2: // Extended Servo 0.8ms to 2.2ms, i.e. 1.4ms from 0 to 180 142765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang //duration = (_duration_1ms*0.8) + ((_duration_1ms*1.4*degrees)/180); simplified to.. 143765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang duration = (_duration_1ms*0.8) + ((_duration_1ms*degrees)/128); 144765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang break; 145765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang case 3: // Extended Servo 0.9ms to 2.1ms, - GWS Mini STD BB servo 146765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang //duration = (_duration_1ms*0.9) + ((_duration_1ms*1.4*degrees)/180); simplified to.. 147765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang duration = (_duration_1ms*0.9) + ((_duration_1ms*degrees)/120); 148765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang break; 149765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang } 150765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 151765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang uint16_t d= roundf(duration); 152765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang mraa_i2c_address(m_i2c, pca9685_addr); 153765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[0]=LED0_REG+4*port; 154765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[1]=0; 155765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[2]=0; 156765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[3]=d; 157765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang m_rx_tx_buf[4]=d>>8; 158765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 159765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang mraa_i2c_write(m_i2c,m_rx_tx_buf,5); 160765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang } 161765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 162