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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, 255 insertions, 0 deletions
diff --git a/peripheral/libupm/src/grovemd/grovemd.h b/peripheral/libupm/src/grovemd/grovemd.h new file mode 100644 index 0000000..9483475 --- /dev/null +++ b/peripheral/libupm/src/grovemd/grovemd.h @@ -0,0 +1,255 @@ +/* + * 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(); + + }; +} + + |