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      1 /*
      2  * Author: Jon Trulson <jtrulson (at) ics.com>
      3  * Copyright (c) 2015 Intel Corporation.
      4  *
      5  * Permission is hereby granted, free of charge, to any person obtaining
      6  * a copy of this software and associated documentation files (the
      7  * "Software"), to deal in the Software without restriction, including
      8  * without limitation the rights to use, copy, modify, merge, publish,
      9  * distribute, sublicense, and/or sell copies of the Software, and to
     10  * permit persons to whom the Software is furnished to do so, subject to
     11  * the following conditions:
     12  *
     13  * The above copyright notice and this permission notice shall be
     14  * included in all copies or substantial portions of the Software.
     15  *
     16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
     17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
     18  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
     19  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
     20  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
     21  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
     22  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
     23  */
     24 #pragma once
     25 
     26 #include <stdint.h>
     27 #include <sys/time.h>
     28 
     29 #include <string>
     30 #include <mraa/i2c.h>
     31 #include <mraa/gpio.h>
     32 
     33 #include "pca9685.h"
     34 
     35 #define ADAFRUITMS1438_I2C_BUS 0
     36 #define ADAFRUITMS1438_DEFAULT_I2C_ADDR 0x60
     37 
     38 namespace upm {
     39 
     40   /**
     41    * @brief Adafruit Motor Shield 1438 library
     42    * @defgroup adafruitms1438 libupm-adafruitms1438
     43    * @ingroup adafruit i2c motor
     44    */
     45 
     46   /**
     47    * @library adafruitms1438
     48    * @sensor adafruitms1438
     49    * @comname Adafruit Motor Shield
     50    * @type motor
     51    * @man adafruit
     52    * @web http://www.adafruit.com/products/1438
     53    * @con i2c
     54    *
     55    * @brief API for the AdafruitMS1438 Motor Shield
     56    *
     57    * This class implements support for the stepper and DC motors that
     58    * can be connected to this Motor Shield.
     59    * Note: the two servo connections are not controlled by the PCA9685
     60    * controller (or this class). They are connected directly to digital
     61    * PWM pins 9 and 10 on the Arduino* breakout board.
     62    *
     63    * @image html adafruitms1438.jpg
     64    * An example using a DC motor connected to M3
     65    * @snippet adafruitms1438.cxx Interesting
     66    * An example using a stepper motor connected to M1 & M2
     67    * @snippet adafruitms1438-stepper.cxx Interesting
     68    */
     69   class AdafruitMS1438 {
     70   public:
     71 
     72     /**
     73      * Enum to specify the direction of a motor
     74      */
     75     typedef enum {
     76       DIR_NONE = 0x00,
     77       DIR_CW   = 0x01,
     78       DIR_CCW  = 0x02
     79     } DIRECTION_T;
     80 
     81     /**
     82      * Enum to specify a DC motor
     83      */
     84     typedef enum {
     85       MOTOR_M1 = 0,
     86       MOTOR_M2 = 1,
     87       MOTOR_M3 = 2,
     88       MOTOR_M4 = 3
     89     } DCMOTORS_T;
     90 
     91     /**
     92      * Enum to specify a stepper motor
     93      */
     94     typedef enum {
     95       STEPMOTOR_M12 = 0,
     96       STEPMOTOR_M34 = 1
     97     } STEPMOTORS_T;
     98 
     99     /**
    100      * AdafruitMS1438 constructor
    101      *
    102      * @param bus I2C bus to use
    103      * @param address Address for this sensor
    104      */
    105     AdafruitMS1438(int bus, uint8_t address = ADAFRUITMS1438_DEFAULT_I2C_ADDR);
    106 
    107     /**
    108      * AdafruitMS1438 destructor
    109      */
    110     ~AdafruitMS1438();
    111 
    112     /**
    113      * Returns the number of milliseconds elapsed since initClock(...)
    114      * was last called.
    115      *
    116      * @return Elapsed milliseconds
    117      */
    118     uint32_t getMillis(STEPMOTORS_T motor);
    119 
    120     /**
    121      * Resets the clock
    122      *
    123      */
    124     void initClock(STEPMOTORS_T motor);
    125 
    126     /**
    127      * Sets the PWM period.  Note: this applies to all PWM channels.
    128      *
    129      * @param hz Sets the PWM period
    130      */
    131     void setPWMPeriod(float hz);
    132 
    133     /**
    134      * Enables PWM output for a motor
    135      *
    136      * @param motor DC motor to enable
    137      */
    138     void enableMotor(DCMOTORS_T motor);
    139 
    140     /**
    141      * Disables PWM output for a motor
    142      *
    143      * @param motor DC motor to disable
    144      */
    145     void disableMotor(DCMOTORS_T motor);
    146 
    147     /**
    148      * Enables output for a stepper motor
    149      *
    150      * @param motor Stepper motor to enable
    151      */
    152     void enableStepper(STEPMOTORS_T motor);
    153 
    154     /**
    155      * Disable output for a stepper motor
    156      *
    157      * @param motor Stepper motor to disable
    158      */
    159     void disableStepper(STEPMOTORS_T motor);
    160 
    161     /**
    162      * set the speed of a DC motor.  Values can range from 0 (off) to
    163      * 100 (full speed).
    164      *
    165      * @param motor the DC motor to configure
    166      * @param speed speed to set the motor to
    167      */
    168     void setMotorSpeed(DCMOTORS_T motor, int speed);
    169 
    170     /**
    171      * Sets the speed of a stepper in revolutions per minute (RPM)
    172      *
    173      * @param motor DC motor to configure
    174      * @param speed Speed to set the motor to
    175      */
    176     void setStepperSpeed(STEPMOTORS_T motor, int speed);
    177 
    178     /**
    179      * Sets the direction of a DC motor, clockwise or counterclockwise
    180      *
    181      * @param motor DC motor to configure
    182      * @param dir Direction to set the motor in
    183      */
    184     void setMotorDirection(DCMOTORS_T motor, DIRECTION_T dir);
    185 
    186     /**
    187      * Sets the direction of a stepper motor, clockwise or counterclockwise
    188      *
    189      * @param motor Stepper motor to configure
    190      * @param dir Direction to set the motor in
    191      */
    192     void setStepperDirection(STEPMOTORS_T motor, DIRECTION_T dir);
    193 
    194     /**
    195      * Sets a stepper motor configuration
    196      *
    197      * @param motor Stepper motor to configure
    198      * @param stepsPerRev Number of steps to complete a full revolution
    199      */
    200     void stepConfig(STEPMOTORS_T motor, unsigned int stepsPerRev);
    201 
    202     /**
    203      * Steps a stepper motor a specified number of steps
    204      *
    205      * @param motor Stepper motor to step
    206      * @param steps Number of steps to move the stepper motor
    207      */
    208     void stepperSteps(STEPMOTORS_T motor, unsigned int steps);
    209 
    210   private:
    211     // SWIG will generate a warning for these 'nested structs'; however,
    212     // it can be ignored as these structs are never exposed.
    213 
    214     // struct to hold mappings of DC motors
    215     typedef struct {
    216       int pwm;
    217       int in1;
    218       int in2;
    219     } DC_PINMAP_T;
    220 
    221     // struct to hold mappings of stepper motors
    222     typedef struct {
    223       int pwmA;
    224       int in1A;
    225       int in2A;
    226       int pwmB;
    227       int in1B;
    228       int in2B;
    229     } STEPPER_PINMAP_T;
    230 
    231     // struct to hold information about each stepper
    232     typedef struct {
    233       int stepsPerRev;          // steps per revolution
    234       int currentStep;          // current step number
    235       uint32_t stepDelay;       // delay between steps
    236       int stepDirection;        // direction to step
    237       struct timeval startTime; // starting time
    238     } STEPPER_CONFIG_T;
    239 
    240     void setupPinMaps();
    241     void stepperStep(STEPMOTORS_T motor);
    242 
    243     DC_PINMAP_T m_dcMotors[4];
    244     STEPPER_PINMAP_T m_stepMotors[2];
    245     STEPPER_CONFIG_T m_stepConfig[2];
    246 
    247     PCA9685 *m_pca9685;
    248   };
    249 }
    250 
    251 
    252