1 /* 2 * Author: Stan Gifford <stan (at) gifford.id.au> 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 25 #pragma once 26 27 #include <mraa/i2c.h> 28 29 #define MAX_BUFFER_LENGTH 6 30 31 #define SERVO_MIN 0 32 #define SERVO_MAX 180 33 #define SERVO_FREQ 60 34 #define PCA9685_SUBADR1 0x2 35 #define PCA9685_SUBADR2 0x3 36 #define PCA9685_SUBADR3 0x4 37 38 #define PCA9685_MODE1 0x0 39 #define PCA9685_PRESCALE 0xFE 40 41 #define LED0_ON_L 0x6 42 #define LED0_ON_H 0x7 43 #define LED0_OFF_L 0x8 44 #define LED0_OFF_H 0x9 45 46 #define ALLLED_ON_L 0xFA 47 #define ALLLED_ON_H 0xFB 48 #define ALLLED_OFF_L 0xFC 49 #define ALLLED_OFF_H 0xFD 50 51 #define PCA9685_MODE1_REG 0x00 52 #define PCA9685_PRESCALE_REG 0xFE 53 #define LED0_REG 0x06 54 55 namespace upm { 56 57 /** 58 * @brief Adafruit PCA9685-based Servo Shield library 59 * @defgroup adafruitss libupm-adafruitss 60 * @ingroup adafruit i2c servos 61 */ 62 63 /** 64 * @library adafruitss 65 * @sensor adafruitss 66 * @comname Adafruit Servo Shield 67 * @type servos 68 * @man adafruit 69 * @web http://www.adafruit.com/product/1411 70 * @con i2c 71 * 72 * @brief API for the Adafruit Servo Shield 73 * 74 * UPM library for the PCA9685-based Adafruit 16-channel servo shield. If 3 75 * or more GWS servos are attached, results could be unpredictable. Adafruit 76 * Industries recommend installing a capacitor on the board, which should 77 * alleviate the issue. Sizing depends on servos and their number. 78 * 79 * @image html adafruitss.jpg 80 * @snippet adafruitss.cxx Interesting 81 */ 82 83 class adafruitss { 84 public: 85 /** 86 * Creates an adafruitss object 87 * 88 * @param bus Number of the used I2C bus 89 * @param i2c_address Address of the servo shield on the I2C bus 90 */ 91 adafruitss(int bus, int i2c_address); 92 int update(void); 93 /** 94 * Sets the frequency of the servos 95 * 96 * @param freq Frequency at which the servos operate 97 */ 98 void setPWMFreq(float freq); 99 /** 100 * Moves one of the servos to a specified angle 101 * 102 * @param port Port of the servo on the shield (servo number) 103 * @param servo_type Can be 0 = standard (1ms to 2ms), 1 = extended 104 * (0.6ms to 2.4ms), or 2 = extended (0.8ms to 2.2ms) 105 * @param degrees Angle to set the servo to 106 */ 107 void servo(uint8_t port, uint8_t servo_type, float degrees); 108 109 private: 110 111 int pca9685_addr; 112 mraa_i2c_context m_i2c; 113 uint8_t m_rx_tx_buf[MAX_BUFFER_LENGTH]; 114 float _duration_1ms; 115 }; 116 117 } 118
