1 files changed, 0 insertions, 244 deletions
diff --git a/peripheral/libupm/src/grovemd/grovemd.cxx b/peripheral/libupm/src/grovemd/grovemd.cxx
deleted file mode 100644
index 2e588a4..0000000
--- a/peripheral/libupm/src/grovemd/grovemd.cxx
+++ /dev/null
@@ -1,244 +0,0 @@
-/*
- * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2014 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 "grovemd.h"
-
-using namespace upm;
-using namespace std;
-
-
-GroveMD::GroveMD(int bus, uint8_t address) :
-  m_i2c(bus)
-{
-  m_addr = address;
-
-  // this board *requires* 100Khz i2c bus only
-  mraa::Result rv;
-  if ( (rv = m_i2c.frequency(mraa::I2C_STD)) != mraa::SUCCESS )
-    {
-      throw std::invalid_argument(std::string(__FUNCTION__) +
-                                  ": I2c.frequency(I2C_STD) failed");
-      return;
-    }
-
-  if (m_i2c.address(m_addr))
-    {
-      throw std::runtime_error(std::string(__FUNCTION__) +
-                               ": I2c.address() failed");
-      return;
-    }
-
-  initClock();
-  // default to mode1 stepper operation, 200 steps per rev.
-  configStepper(200, STEP_MODE1);
-}
-
-GroveMD::~GroveMD()
-{
-  setMotorSpeeds(0, 0);
-  writePacket(SET_DIRECTION, 0, GROVEMD_NOOP);
-}
-
-bool GroveMD::writePacket(REG_T reg, uint8_t data1, uint8_t data2)
-{
-  uint8_t buf[3];
-
-  buf[0] = reg;
-  buf[1] = data1;
-  buf[2] = data2;
-
-  if ( m_i2c.write(buf, 3) != mraa::SUCCESS )
-    {
-      throw std::runtime_error(std::string(__FUNCTION__) +
-                               ": I2c.write() failed");
-      return false;
-    }
-
-  // This sleep appears to be required.  Without it, writes randomly
-  // fail (no ACK received).  This happens most often on the SET_SPEED
-  // packet.  I am guessing that there is a timing problem and/or bug
-  // in the motor driver's firmware.
-
-  usleep(100);
-
-  return true;
-}
-
-bool GroveMD::setMotorSpeeds(uint8_t speedA, uint8_t speedB)
-{
-  return writePacket(SET_SPEED, speedA, speedB);
-}
-
-bool GroveMD::setPWMFrequencyPrescale(uint8_t freq)
-{
-  return writePacket(SET_PWM_FREQ, freq, GROVEMD_NOOP);
-}
-
-bool GroveMD::setMotorDirections(DC_DIRECTION_T dirA, DC_DIRECTION_T dirB)
-{
-  uint8_t dir = ((dirB & 0x03) << 2) | (dirA & 0x03);
-  return writePacket(SET_DIRECTION, dir, GROVEMD_NOOP);
-}
-
-bool GroveMD::enableStepper(STEP_DIRECTION_T dir, uint8_t speed)
-{
-  // If mode 2, send the command and return immediately
-  if (m_stepMode == STEP_MODE2)
-    return writePacket(STEPPER_ENABLE, dir, speed);
-
-  // otherwise, mode 1, setup the basics and start stepping.
-
-  m_stepDelay = 60 * 1000 / m_stepsPerRev / speed;
-  m_stepDirection = ((dir == STEP_DIR_CW) ? 1 : -1);
-
-  // seeed says speed should always be 255,255 for stepper operation
-  setMotorSpeeds(255, 255);
-
-  while (m_totalSteps > 0)
-    {
-      if (getMillis() >= m_stepDelay)
-        {
-          // reset the clock
-          initClock();
-
-          m_currentStep += m_stepDirection;
-
-          if (m_stepDirection == 1)
-            {
-              if (m_currentStep >= m_stepsPerRev)
-                m_currentStep = 0;
-            }
-          else
-            {
-              if (m_currentStep <= 0)
-                m_currentStep = m_stepsPerRev;
-            }
-
-          m_totalSteps--;
-          stepperStep();
-        }
-    }
-
-  // and... we're done
-  return true;
-}
-
-bool GroveMD::disableStepper()
-{
-  if (m_stepMode == STEP_MODE2)
-    return writePacket(STEPPER_DISABLE, GROVEMD_NOOP, GROVEMD_NOOP);
-
-  // else, mode 1
-  writePacket(SET_DIRECTION, 0, GROVEMD_NOOP);
-  return setMotorSpeeds(0, 0);
-}
-
-bool GroveMD::setStepperSteps(unsigned int steps)
-{
-  if (m_stepMode == STEP_MODE2)
-    {
-      if (steps == 0)
-        {
-          // invalid
-          throw std::out_of_range(std::string(__FUNCTION__) +
-                                  ": invalid number of steps.  " +
-                                  "Valid values are between 1 and 255.");
-          return false;
-        }
-      return writePacket(STEPPER_NUM_STEPS, steps, GROVEMD_NOOP);
-    }
-
-  // for mode one, just store it for future use by enableStepper()
-  m_totalSteps = steps;
-  return true;
-}
-
-void GroveMD::initClock()
-{
-  gettimeofday(&m_startTime, NULL);
-}
-
-uint32_t GroveMD::getMillis()
-{
-  struct timeval elapsed, now;
-  uint32_t elapse;
-
-  // get current time
-  gettimeofday(&now, NULL);
-
-  // compute the delta since m_startTime
-  if( (elapsed.tv_usec = now.tv_usec - m_startTime.tv_usec) < 0 )
-    {
-      elapsed.tv_usec += 1000000;
-      elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec - 1;
-    }
-  else
-    {
-      elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec;
-    }
-
-  elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000));
-
-  // never return 0
-  if (elapse == 0)
-    elapse = 1;
-
-  return elapse;
-}
-
-void GroveMD::configStepper(unsigned int stepsPerRev, STEP_MODE_T mode)
-{
-  m_stepsPerRev = stepsPerRev;
-  m_stepMode = mode;
-  m_currentStep = 0;
-  m_stepDelay = 0;
-  m_stepDirection = 1;
-  m_totalSteps = 0;
-}
-
-void GroveMD::stepperStep()
-{
-  int step = m_currentStep % 4;
-
-  switch (step)
-    {
-    case 0:
-      writePacket(SET_DIRECTION, 0b0101, GROVEMD_NOOP);
-      break;
-    case 1:
-      writePacket(SET_DIRECTION, 0b0110, GROVEMD_NOOP);
-      break;
-    case 2:
-      writePacket(SET_DIRECTION, 0b1010, GROVEMD_NOOP);
-      break;
-    case 3:
-      writePacket(SET_DIRECTION, 0b1001, GROVEMD_NOOP);
-      break;
-    }
-}