Servo: Adding C Source

Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>
2016-09-09 19:14:33 -07:00
parent 980d10d1a4
commit cfdc8cff1d
7 changed files with 675 additions and 5 deletions
--- a/src/servo/es08a.h
+++ b/src/servo/es08a.h
@@ -0,0 +1,137 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ *         Abhishek Malik <abhishek.malik@intel.com>
+ * Copyright (c) 2016 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.
+ */
+
+#ifndef ES08A_H_
+#define ES08A_H_
+
+#include <string.h>
+#include <stdlib.h>
+#include <unistd.h>
+
+#include "upm.h"
+#include "mraa/pwm.h"
+
+/**
+ * @library servo
+ * @sensor es08a
+ * @comname ES08A Servo
+ * @altname Grove Servo
+ * @type servos
+ * @man emax
+ * @web http://www.seeedstudio.com/wiki/Grove_-_Servo
+ * @con pwm
+ * @kit gsk
+ *
+ * @brief API for the ES08A Servo
+ *
+ * This module defines the ES08A interface for ES08A servos.
+ * Like other servos, the ES08A servo has a shaft that can be controlled
+ * by setting the desired angle. There are also routines for setting
+ * and getting the minimum and maximum pulse width as well as the
+ * maximum period.
+ *
+ * @image html es08a.jpg
+ * @snippet es08a.c Interesting
+ */
+
+#define ES08A_MIN_PULSE_WIDTH             600
+#define ES08A_MAX_PULSE_WIDTH             2200
+#define ES08A_PERIOD                      20000
+#define ES08A_MAX_ANGLE                   180.0
+
+/**
+ * device context
+ */
+typedef struct _es08a_context {
+    mraa_pwm_context    pwm;
+    uint16_t            servo_pin;
+    uint32_t            max_pulse_width;
+    uint32_t            min_pulse_width;
+} *es08a_context;
+
+/**
+ * Instantiates a the servo at the given pin
+ *
+ * @param pin Servo pin number
+ * @param minPulseWidth Minimum pulse width, in microseconds
+ * @param maxPulseWidth Maximum pulse width, in microseconds
+ * @param waitAndDisablePwm If 1, PWM is enabled only during the
+ * setAngle() execution for a period of 1 second, and then turned back
+ * off. If 0, PWM remains on afterward.
+ */
+
+
+es08a_context es08a_init(int32_t pin, int32_t min_pulse_width,
+                         int32_t max_pulse_width);
+
+/**
+ * Halts PWM for this servo and allows it to move freely.
+ */
+void es08a_halt(es08a_context dev);
+
+/**
+ * Sets the angle of the servo engine.
+ *
+ * @param angle Number between 0 and 180
+ * @return 0 if successful, non-zero otherwise
+ */
+upm_result_t es08a_set_angle(es08a_context dev, int32_t angle);
+
+/*
+ * Calculating relative pulse time to the value.
+ * */
+upm_result_t es08a_calc_pulse_travelling(const es08a_context dev,
+                                         int32_t* ret_val,
+                                         int32_t value);
+
+/**
+ * Sets the minimum pulse width
+ *
+ * @param width Minimum HIGH signal width
+ */
+void es08a_set_min_pulse_width (es08a_context dev, int width);
+
+/**
+ * Sets the maximum pulse width
+ *
+ * @param width Maximum HIGH signal width
+ */
+void es08a_set_max_pulse_width (es08a_context dev, int width);
+
+/**
+ * Returns the minimum pulse width
+ *
+ * @return Minimum pulse width
+ */
+int es08a_get_min_pulse_width (es08a_context dev);
+
+/**
+ * Returns the maximum pulse width
+ *
+ * @return Maximum pulse width
+ */
+int es08a_get_max_pulse_width (es08a_context dev);
+
+#endif /* ES08A_H_ */