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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.
*/
#pragma once
#include <mraa/i2c.h>
#define MAX_BUFFER_LENGTH 6
#define SERVO_MIN 0
#define SERVO_MAX 180
#define SERVO_FREQ 60
#define PCA9685_SUBADR1 0x2
#define PCA9685_SUBADR2 0x3
#define PCA9685_SUBADR3 0x4
#define PCA9685_MODE1 0x0
#define PCA9685_PRESCALE 0xFE
#define LED0_ON_L 0x6
#define LED0_ON_H 0x7
#define LED0_OFF_L 0x8
#define LED0_OFF_H 0x9
#define ALLLED_ON_L 0xFA
#define ALLLED_ON_H 0xFB
#define ALLLED_OFF_L 0xFC
#define ALLLED_OFF_H 0xFD
#define PCA9685_MODE1_REG 0x00
#define PCA9685_PRESCALE_REG 0xFE
#define LED0_REG 0x06
namespace upm {
/**
* @brief Adafruit PCA9685-based Servo Shield library
* @defgroup adafruitss libupm-adafruitss
* @ingroup adafruit i2c servos
*/
/**
* @library adafruitss
* @sensor adafruitss
* @comname Adafruit Servo Shield
* @type servos
* @man adafruit
* @web http://www.adafruit.com/product/1411
* @con i2c
*
* @brief API for the Adafruit Servo Shield
*
* UPM library for the PCA9685-based Adafruit 16-channel servo shield. If 3
* or more GWS servos are attached, results could be unpredictable. Adafruit
* Industries recommend installing a capacitor on the board, which should
* alleviate the issue. Sizing depends on servos and their number.
*
* @image html adafruitss.jpg
* @snippet adafruitss.cxx Interesting
*/
class adafruitss {
public:
/**
* Creates an adafruitss object
*
* @param bus Number of the used I2C bus
* @param i2c_address Address of the servo shield on the I2C bus
*/
adafruitss(int bus, int i2c_address);
int update(void);
/**
* Sets the frequency of the servos
*
* @param freq Frequency at which the servos operate
*/
void setPWMFreq(float freq);
/**
* Moves one of the servos to a specified angle
*
* @param port Port of the servo on the shield (servo number)
* @param servo_type Can be 0 = standard (1ms to 2ms), 1 = extended
* (0.6ms to 2.4ms), or 2 = extended (0.8ms to 2.2ms)
* @param degrees Angle to set the servo to
*/
void servo(uint8_t port, uint8_t servo_type, float degrees);
private:
int pca9685_addr;
mraa_i2c_context m_i2c;
uint8_t m_rx_tx_buf[MAX_BUFFER_LENGTH];
float _duration_1ms;
};
}
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