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/*
* 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.hpp"
#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);
}
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