md: C implementation; C++ wraps C
Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson
337
src/md/md.hpp
337
src/md/md.hpp
@@ -1,6 +1,6 @@
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2014 Intel Corporation.
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* Copyright (c) 2014-2016 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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@@ -23,234 +23,165 @@
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*/
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#pragma once
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#include <stdint.h>
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#include <sys/time.h>
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#include <string>
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#include <mraa/types.hpp>
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#include <mraa/i2c.hpp>
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#define MD_I2C_BUS 0
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#define MD_DEFAULT_I2C_ADDR 0x0f
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#include <md.h>
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namespace upm {
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/**
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* @brief I2C Motor Driver library
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* @defgroup md libupm-md
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* @ingroup seeed i2c motor robok
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*/
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/**
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* @library md
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* @sensor md
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* @comname I2C Motor Driver
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* @altname Grove Motor Driver
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* @type motor
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* @man seeed
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* @con i2c
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* @kit robok
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*
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* @brief API for the I2C Motor Driver
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*
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* This class implements support for the I2C Motor Driver.
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* This device can support a single 4-wire stepper motor, or two
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* 2-wire DC motors. The device contains an Atmel* ATmega8L
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* microcontroller that manages an L298N H-bridge driver chip.
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*
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* This device supports an I2C bus speed of 100Khz only.
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*
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* The module does not provide any telemetry or status - it only
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* accepts I2C commands for its various operations.
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*
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* This module was tested with version 1.3 of the I2C Motor
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* Driver.
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*
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* For stepper operation, this driver can run in one of two modes -
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* Mode 1, where this driver handles the stepping operation, and
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* Mode 2, where this driver simply sends commands to the
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* Motor Driver, and it handles the stepping operation. Mode2
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* requires updated (and working) firmware to be loaded onto the
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* device.
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*
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* The default stepper operation mode is Mode1, which is generally
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* more flexible and is supported on all firmware revisions.
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*
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* @image html md.jpg
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* An example showing the use of a DC motor
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* @snippet md.cxx Interesting
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* An example showing the use of a 4-wire stepper
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* @snippet md-stepper.cxx Interesting
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*/
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class MD {
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public:
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// MD registers
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typedef enum { SET_SPEED = 0x82,
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SET_PWM_FREQ = 0x84,
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SET_DIRECTION = 0xaa,
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SET_MOTOR_A = 0xa1, // not documented
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SET_MOTOR_B = 0xa5, // not documented
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STEPPER_ENABLE = 0x1a,
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STEPPER_DISABLE = 0x1b,
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STEPPER_NUM_STEPS = 0x1c
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} REG_T;
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// legal directions for the stepper
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typedef enum { STEP_DIR_CCW = 0x01,
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STEP_DIR_CW = 0x00
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} STEP_DIRECTION_T;
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// legal directions for individual DC motors
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typedef enum { DIR_CCW = 0x02,
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DIR_CW = 0x01
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} DC_DIRECTION_T;
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// stepper modes
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typedef enum { STEP_MODE1 = 0x00,
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STEP_MODE2 = 0x01
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} STEP_MODE_T;
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/**
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* MD constructor
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*
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* @param bus I2C bus to use
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* @param address I2C address to use
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* @brief I2C Motor Driver library
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* @defgroup md libupm-md
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* @ingroup seeed i2c motor robok
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*/
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MD(int bus=MD_I2C_BUS,
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uint8_t address=MD_DEFAULT_I2C_ADDR);
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/**
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* MD destructor
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*/
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~MD();
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/**
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* Composes and writes a 3-byte packet to the controller
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* @library md
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* @sensor md
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* @comname I2C Motor Driver
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* @altname Grove Motor Driver
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* @type motor
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* @man seeed
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* @con i2c
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* @kit robok
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*
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* @param reg Register location
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* @param data1 First byte of data
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* @param data2 Second byte of data
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* @return True if successful
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*/
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bool writePacket(REG_T reg, uint8_t data1, uint8_t data2);
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/**
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* To control DC motors, sets the speed of motors A & B.
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* Valid values are 0-255.
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* @brief API for the I2C Motor Driver
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*
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* @param speedA Speed of motor A
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* @param speedB Speed of motor B
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* @return True if successful
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*/
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bool setMotorSpeeds(uint8_t speedA, uint8_t speedB);
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/**
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* To control DC motors, sets the PWM frequency prescale
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* factor. Note: this register is not ducumented other than to say
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* the default value is 0x03. Presumably, this is the timer
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* prescale factor used on the ATMega MCU timer driving the PWM.
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* This class implements support for the I2C Motor Driver.
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* This device can support a single 4-wire stepper motor, or two
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* 2-wire DC motors. The device contains an Atmel* ATmega8L
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* microcontroller that manages an L298N H-bridge driver chip.
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*
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* @param freq PWM prescale frequency; default is 0x03
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* @return True if successful
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*/
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bool setPWMFrequencyPrescale(uint8_t freq=0x03);
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/**
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* To control DC motors, sets the directions of motors A & B
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* This device supports an I2C bus speed of 100Khz only.
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*
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* @param dirA Direction for motor A, DIR_CW or DIR_CCW
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* @param dirB Direction for motor B, DIR_CW or DIR_CCW
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* @return True if successful
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*/
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bool setMotorDirections(DC_DIRECTION_T dirA, DC_DIRECTION_T dirB);
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/**
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* To control a stepper motor, sets its direction and speed, and
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* then starts operation. For Mode2, this method will return
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* immediately. For Mode1 (the default) this method returns when
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* the number of steps specified by setStepperSteps() has
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* completed.
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* The module does not provide any telemetry or status - it only
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* accepts I2C commands for its various operations.
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*
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* @param dir Direction, STEP_DIR_CW or STEP_DIR_CCW
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* @param speed Motor speed. Valid range is 1-255. For Mode 1
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* (default), this specifies the speed in RPM's. For Mode 2,
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* speed is multiplied by 4ms by the board, so higher numbers
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* will mean a slower speed.
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* @return True if successful
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*/
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bool enableStepper(STEP_DIRECTION_T dir, uint8_t speed);
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/**
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* To control a stepper motor, stops the stepper motor.
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* This module was tested with version 1.3 of the I2C Motor
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* Driver.
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*
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* @return True if successful
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*/
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bool disableStepper();
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/**
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* To control a stepper motor, specifies the number of steps to
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* execute. For Mode2, valid values are between 1-255, 255 means
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* continuous rotation.
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* For stepper operation, this driver can run in one of two modes -
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* Mode 1, where this driver handles the stepping operation, and
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* Mode 2, where this driver simply sends commands to the
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* Motor Driver, and it handles the stepping operation. Mode2
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* requires updated (and working) firmware to be loaded onto the
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* device.
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*
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* For Mode1 (the default) steps can be any positive integer.
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* The default stepper operation mode is Mode1, which is generally
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* more flexible and is supported on all firmware revisions.
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*
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* @param steps Number of steps to execute. 255 (only in Mode2)
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* means continuous rotation.
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* @return True if successful
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* @image html md.jpg
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* An example showing the use of a DC motor
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* @snippet md.cxx Interesting
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* An example showing the use of a 4-wire stepper
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* @snippet md-stepper.cxx Interesting
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*/
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bool setStepperSteps(unsigned int steps);
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class MD {
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/**
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* Configure the initial Stepper parameters. This should be
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* called before any other stepper method.
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*
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* @param stepsPerRev The number of steps required to complete one
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* full revolution.
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* @param mode The stepper operating mode, default STEP_MODE1
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* @return Elapsed milliseconds
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*/
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void configStepper(unsigned int stepsPerRev, STEP_MODE_T mode=STEP_MODE1);
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public:
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/**
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* MD constructor
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*
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* @param bus I2C bus to use
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* @param address I2C address to use
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*/
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MD(int bus=MD_I2C_BUS, uint8_t address=MD_DEFAULT_I2C_ADDR);
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protected:
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mraa::I2c m_i2c;
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uint8_t m_addr;
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/**
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* MD destructor
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*/
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~MD();
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private:
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// steps per revolution
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int m_stepsPerRev;
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int m_currentStep;
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uint32_t m_stepDelay;
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uint32_t m_totalSteps;
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STEP_MODE_T m_stepMode;
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/**
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* Composes and writes a 3-byte packet to the controller
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*
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* @param reg Register location
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* @param data1 First byte of data
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* @param data2 Second byte of data
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* @return True if successful
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*/
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bool writePacket(MD_REG_T reg, uint8_t data1, uint8_t data2);
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/**
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* Steps the motor one tick
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*
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*/
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void stepperStep();
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/**
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* To control DC motors, sets the speed of motors A & B.
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* Valid values are 0-255.
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*
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* @param speedA Speed of motor A
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* @param speedB Speed of motor B
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* @return True if successful
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*/
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bool setMotorSpeeds(uint8_t speedA, uint8_t speedB);
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// step direction: - 1 = forward, -1 = backward
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int m_stepDirection;
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/**
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* To control DC motors, sets the PWM frequency prescale
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* factor. Note: this register is not ducumented other than to say
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* the default value is 0x03. Presumably, this is the timer
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* prescale factor used on the ATMega MCU timer driving the PWM.
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*
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* @param freq PWM prescale frequency; default is 0x03
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* @return True if successful
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*/
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bool setPWMFrequencyPrescale(uint8_t freq=0x03);
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// This is a NOOP value used to pad packets
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static const uint8_t MD_NOOP = 0x01;
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// our timer
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struct timeval m_startTime;
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/**
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* To control DC motors, sets the directions of motors A & B
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*
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* @param dirA Direction for motor A, DIR_CW or DIR_CCW
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* @param dirB Direction for motor B, DIR_CW or DIR_CCW
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* @return True if successful
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*/
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bool setMotorDirections(MD_DC_DIRECTION_T dirA, MD_DC_DIRECTION_T dirB);
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/**
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* Returns the number of milliseconds elapsed since initClock()
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* was last called.
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*
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* @return Elapsed milliseconds
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*/
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uint32_t getMillis();
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/**
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* To control a stepper motor, sets its direction and speed, and
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* then starts operation. For Mode2, this method will return
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* immediately. For Mode1 (the default) this method returns when
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* the number of steps specified by setStepperSteps() has
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* completed.
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*
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* @param dir Direction, STEP_DIR_CW or STEP_DIR_CCW
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* @param speed Motor speed. Valid range is 1-255. For Mode 1
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* (default), this specifies the speed in RPM's. For Mode 2,
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* speed is multiplied by 4ms by the board, so higher numbers
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* will mean a slower speed.
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* @return True if successful
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*/
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bool enableStepper(MD_STEP_DIRECTION_T dir, uint8_t speed);
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/**
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* Resets the clock
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*
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*/
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void initClock();
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/**
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* To control a stepper motor, stops the stepper motor.
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*
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* @return True if successful
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*/
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bool disableStepper();
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};
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/**
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* To control a stepper motor, specifies the number of steps to
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* execute. For Mode2, valid values are between 1-255, 255 means
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* continuous rotation.
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*
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* For Mode1 (the default) steps can be any positive integer.
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*
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* @param steps Number of steps to execute. 255 (only in Mode2)
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* means continuous rotation.
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* @return True if successful
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*/
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bool setStepperSteps(unsigned int steps);
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/**
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* Configure the initial Stepper parameters. This should be
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* called before any other stepper method.
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*
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* @param stepsPerRev The number of steps required to complete one
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* full revolution.
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* @param mode The stepper operating mode, default STEP_MODE1
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* @return Elapsed milliseconds
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*/
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void configStepper(unsigned int stepsPerRev,
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MD_STEP_MODE_T mode=MD_STEP_MODE1);
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protected:
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md_context m_md;
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};
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}
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