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Diffstat (limited to 'peripheral/libupm/src/grovemd/grovemd.h')
| -rw-r--r-- | peripheral/libupm/src/grovemd/grovemd.h | 255 |
1 files changed, 0 insertions, 255 deletions
diff --git a/peripheral/libupm/src/grovemd/grovemd.h b/peripheral/libupm/src/grovemd/grovemd.h deleted file mode 100644 index 9483475..0000000 --- a/peripheral/libupm/src/grovemd/grovemd.h +++ /dev/null @@ -1,255 +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. - */ -#pragma once - -#include <stdint.h> -#include <sys/time.h> -#include <string> -#include <mraa/types.hpp> -#include <mraa/i2c.hpp> - -#define GROVEMD_I2C_BUS 0 -#define GROVEMD_DEFAULT_I2C_ADDR 0x0f - -namespace upm { - /** - * @brief Grove I2C Motor Driver library - * @defgroup grovemd libupm-grovemd - * @ingroup seeed i2c motor robok - */ - - /** - * @library grovemd - * @sensor grovemd - * @comname Grove I2C Motor Driver - * @type motor - * @man seeed - * @con i2c - * @kit robok - * - * @brief API for the Grove I2C Motor Driver - * - * This class implements support for the Grove I2C Motor Driver. - * This device can support a single 4-wire stepper motor, or two - * 2-wire DC motors. The device contains an Atmel* ATmega8L - * microcontroller that manages an L298N H-bridge driver chip. - * - * This device supports an I2C bus speed of 100Khz only. - * - * The module does not provide any telemetry or status - it only - * accepts I2C commands for its various operations. - * - * This module was tested with version 1.3 of the Grove I2C Motor - * Driver. - * - * For stepper operation, this driver can run in one of two modes - - * Mode 1, where this driver handles the stepping operation, and - * Mode 2, where this driver simply sends commands to the Grove - * Motor Driver, and it handles the stepping operation. Mode2 - * requires updated (and working) firmware to be loaded onto the - * device. - * - * The default stepper operation mode is Mode1, which is generally - * more flexible and is supported on all firmware revisions. - * - * @image html grovemd.jpg - * An example showing the use of a DC motor - * @snippet grovemd.cxx Interesting - * An example showing the use of a 4-wire stepper - * @snippet grovemd-stepper.cxx Interesting - */ - class GroveMD { - - public: - // GroveMD registers - typedef enum { SET_SPEED = 0x82, - SET_PWM_FREQ = 0x84, - SET_DIRECTION = 0xaa, - SET_MOTOR_A = 0xa1, // not documented - SET_MOTOR_B = 0xa5, // not documented - STEPPER_ENABLE = 0x1a, - STEPPER_DISABLE = 0x1b, - STEPPER_NUM_STEPS = 0x1c - } REG_T; - - // legal directions for the stepper - typedef enum { STEP_DIR_CCW = 0x01, - STEP_DIR_CW = 0x00 - } STEP_DIRECTION_T; - - // legal directions for individual DC motors - typedef enum { DIR_CCW = 0x02, - DIR_CW = 0x01 - } DC_DIRECTION_T; - - // stepper modes - typedef enum { STEP_MODE1 = 0x00, - STEP_MODE2 = 0x01 - } STEP_MODE_T; - - /** - * GroveMD constructor - * - * @param bus I2C bus to use - * @param address I2C address to use - */ - GroveMD(int bus=GROVEMD_I2C_BUS, - uint8_t address=GROVEMD_DEFAULT_I2C_ADDR); - - /** - * GroveMD destructor - */ - ~GroveMD(); - - /** - * Composes and writes a 3-byte packet to the controller - * - * @param reg Register location - * @param data1 First byte of data - * @param data2 Second byte of data - * @return True if successful - */ - bool writePacket(REG_T reg, uint8_t data1, uint8_t data2); - - /** - * To control DC motors, sets the speed of motors A & B. - * Valid values are 0-255. - * - * @param speedA Speed of motor A - * @param speedB Speed of motor B - * @return True if successful - */ - bool setMotorSpeeds(uint8_t speedA, uint8_t speedB); - - /** - * To control DC motors, sets the PWM frequency prescale - * factor. Note: this register is not ducumented other than to say - * the default value is 0x03. Presumably, this is the timer - * prescale factor used on the ATMega MCU timer driving the PWM. - * - * @param freq PWM prescale frequency; default is 0x03 - * @return True if successful - */ - bool setPWMFrequencyPrescale(uint8_t freq=0x03); - - /** - * To control DC motors, sets the directions of motors A & B - * - * @param dirA Direction for motor A, DIR_CW or DIR_CCW - * @param dirB Direction for motor B, DIR_CW or DIR_CCW - * @return True if successful - */ - bool setMotorDirections(DC_DIRECTION_T dirA, DC_DIRECTION_T dirB); - - /** - * To control a stepper motor, sets its direction and speed, and - * then starts operation. For Mode2, this method will return - * immediately. For Mode1 (the default) this method returns when - * the number of steps specified by setStepperSteps() has - * completed. - * - * @param dir Direction, STEP_DIR_CW or STEP_DIR_CCW - * @param speed Motor speed. Valid range is 1-255. For Mode 1 - * (default), this specifies the speed in RPM's. For Mode 2, - * speed is multiplied by 4ms by the board, so higher numbers - * will mean a slower speed. - * @return True if successful - */ - bool enableStepper(STEP_DIRECTION_T dir, uint8_t speed); - - /** - * To control a stepper motor, stops the stepper motor. - * - * @return True if successful - */ - bool disableStepper(); - - /** - * To control a stepper motor, specifies the number of steps to - * execute. For Mode2, valid values are between 1-255, 255 means - * continuous rotation. - * - * For Mode1 (the default) steps can be any positive integer. - * - * @param steps Number of steps to execute. 255 (only in Mode2) - * means continuous rotation. - * @return True if successful - */ - bool setStepperSteps(unsigned int steps); - - /** - * Configure the initial Stepper parameters. This should be - * called before any other stepper method. - * - * @param stepsPerRev The number of steps required to complete one - * full revolution. - * @param mode The stepper operating mode, default STEP_MODE1 - * @return Elapsed milliseconds - */ - void configStepper(unsigned int stepsPerRev, STEP_MODE_T mode=STEP_MODE1); - - protected: - mraa::I2c m_i2c; - uint8_t m_addr; - - private: - // steps per revolution - int m_stepsPerRev; - int m_currentStep; - uint32_t m_stepDelay; - uint32_t m_totalSteps; - STEP_MODE_T m_stepMode; - - /** - * Steps the motor one tick - * - */ - void stepperStep(); - - // step direction: - 1 = forward, -1 = backward - int m_stepDirection; - - // This is a NOOP value used to pad packets - static const uint8_t GROVEMD_NOOP = 0x01; - // our timer - struct timeval m_startTime; - - /** - * Returns the number of milliseconds elapsed since initClock() - * was last called. - * - * @return Elapsed milliseconds - */ - uint32_t getMillis(); - - /** - * Resets the clock - * - */ - void initClock(); - - }; -} - - |