diff options
Diffstat (limited to 'peripheral/libupm/src/adafruitss/adafruitss.cxx')
| -rw-r--r-- | peripheral/libupm/src/adafruitss/adafruitss.cxx | 161 |
1 files changed, 0 insertions, 161 deletions
diff --git a/peripheral/libupm/src/adafruitss/adafruitss.cxx b/peripheral/libupm/src/adafruitss/adafruitss.cxx deleted file mode 100644 index 1bd967a..0000000 --- a/peripheral/libupm/src/adafruitss/adafruitss.cxx +++ /dev/null @@ -1,161 +0,0 @@ -/* - * Author: Stan Gifford <stan@gifford.id.au> - * Copyright (c) 2015 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 <string> -#include <stdexcept> - -#include "adafruitss.h" -#include <unistd.h> -#include <math.h> - -using namespace upm; - -adafruitss::adafruitss(int bus,int i2c_address) -{ - if ( !(m_i2c = mraa_i2c_init(bus)) ) - { - throw std::invalid_argument(std::string(__FUNCTION__) + - ": mraa_i2c_init() failed"); - return; - } - - pca9685_addr = i2c_address; - if (mraa_i2c_address(m_i2c, pca9685_addr) != MRAA_SUCCESS) - { - throw std::invalid_argument(std::string(__FUNCTION__) + - ": mraa_i2c_address() failed"); - return; - } - - m_rx_tx_buf[0]=PCA9685_MODE1; - m_rx_tx_buf[1]=0; - if (mraa_i2c_write(m_i2c,m_rx_tx_buf,2) != MRAA_SUCCESS) - { - throw std::invalid_argument(std::string(__FUNCTION__) + - ": mraa_i2c_write() failed"); - return; - } - - adafruitss::setPWMFreq(60); - - adafruitss::update(); -} - -void adafruitss::setPWMFreq(float freq) { - 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) - float prescaleval = 25000000; - prescaleval /= 4096; - prescaleval /= afreq; - prescaleval -= 1; - float pwm_frequency = freq; // Use actual requested frequency gives the correct pulse width - - _duration_1ms = ((4096*pwm_frequency)/1000); // This is 1ms duration - - uint8_t prescale = roundf(prescaleval); - - - - mraa_i2c_address(m_i2c, pca9685_addr); - mraa_i2c_read_byte_data(m_i2c,PCA9685_MODE1); - - - m_rx_tx_buf[0]=PCA9685_MODE1; - m_rx_tx_buf[1]=0x10; // sleep - mraa_i2c_address(m_i2c, pca9685_addr); - mraa_i2c_write(m_i2c,m_rx_tx_buf,2); - - - - m_rx_tx_buf[0]=PCA9685_PRESCALE; - m_rx_tx_buf[1]=prescale; - mraa_i2c_address(m_i2c, pca9685_addr); - mraa_i2c_write(m_i2c,m_rx_tx_buf,2); - - - - - m_rx_tx_buf[0]=PCA9685_MODE1; - m_rx_tx_buf[1]=0x00; - mraa_i2c_address(m_i2c, pca9685_addr); - mraa_i2c_write(m_i2c,m_rx_tx_buf,2); - - // mraa_i2c_write_byte_data(m_i2c,0x00,PCA9685_MODE1); - - usleep(5000); - - - m_rx_tx_buf[0]=PCA9685_MODE1; - m_rx_tx_buf[1]=0xa1; - mraa_i2c_address(m_i2c, pca9685_addr); - mraa_i2c_write(m_i2c,m_rx_tx_buf,2); -} - -int adafruitss::update(void) -{ - return MRAA_SUCCESS; -} - -void adafruitss::servo(uint8_t port, uint8_t servo_type, float degrees) { - // Set Servo values - // Degrees is from 0 to 180 - // servo_type: 0 = standard 1ms to 2ms - // 1 = extended 0.6ms to 2.4ms - // 2 = extended 0.8ms to 2.2ms - - float duration; - - if(degrees>180) degrees=180; // Ensure within bounds - if (degrees<0) degrees=0; - switch (servo_type) { - default: - case 0: // Standard Servo 1ms to 2ms - duration = _duration_1ms + ((_duration_1ms*degrees)/180); - break; - - case 1: // Extended Servo 0.6ms to 2.4ms, i.e. 1.8ms from 0 to 180 - //duration = (_duration_1ms*0.6) + ((_duration_1ms*1.8*degrees)/180); simplified to.. - duration = (_duration_1ms*0.6) + ((_duration_1ms*degrees)/100); - break; - - case 2: // Extended Servo 0.8ms to 2.2ms, i.e. 1.4ms from 0 to 180 - //duration = (_duration_1ms*0.8) + ((_duration_1ms*1.4*degrees)/180); simplified to.. - duration = (_duration_1ms*0.8) + ((_duration_1ms*degrees)/128); - break; - case 3: // Extended Servo 0.9ms to 2.1ms, - GWS Mini STD BB servo - //duration = (_duration_1ms*0.9) + ((_duration_1ms*1.4*degrees)/180); simplified to.. - duration = (_duration_1ms*0.9) + ((_duration_1ms*degrees)/120); - break; - } - - uint16_t d= roundf(duration); - mraa_i2c_address(m_i2c, pca9685_addr); - m_rx_tx_buf[0]=LED0_REG+4*port; - m_rx_tx_buf[1]=0; - m_rx_tx_buf[2]=0; - m_rx_tx_buf[3]=d; - m_rx_tx_buf[4]=d>>8; - - mraa_i2c_write(m_i2c,m_rx_tx_buf,5); - } - |