From 356b1dd43c89a412f97c4a8afdfaddd652a0d705 Mon Sep 17 00:00:00 2001 From: Kiveisha Yevgeniy Date: Tue, 3 Jun 2014 16:23:26 +0000 Subject: [PATCH] servo: Added new module servo Signed-off-by: Kiveisha Yevgeniy --- examples/CMakeLists.txt | 3 ++ examples/es08a.cxx | 68 +++++++++++++++++++++++++++++++++++++ src/CMakeLists.txt | 1 + src/servo/CMakeLists.txt | 4 +++ src/servo/es08a.cxx | 39 +++++++++++++++++++++ src/servo/es08a.h | 40 ++++++++++++++++++++++ src/servo/jsupm_es08a.i | 7 ++++ src/servo/pyupm_es08a.i | 8 +++++ src/servo/servo.cxx | 88 ++++++++++++++++++++++++++++++++++++++++++++++++ src/servo/servo.h | 58 +++++++++++++++++++++++++++++++ 10 files changed, 316 insertions(+) create mode 100644 examples/es08a.cxx create mode 100644 src/servo/CMakeLists.txt create mode 100644 src/servo/es08a.cxx create mode 100644 src/servo/es08a.h create mode 100644 src/servo/jsupm_es08a.i create mode 100644 src/servo/pyupm_es08a.i create mode 100644 src/servo/servo.cxx create mode 100644 src/servo/servo.h diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 44ffc36..ddaf11b 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -8,6 +8,7 @@ add_executable (led-bar led-bar.cxx) add_executable (seg-lcd 4digitdisplay.cxx) add_executable (nrf_transmitter nrf_transmitter.cxx) add_executable (nrf_receiver nrf_receiver.cxx) +add_executable (es08a es08a.cxx) include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l) include_directories (${PROJECT_SOURCE_DIR}/src/grove) @@ -16,6 +17,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/buzzer) include_directories (${PROJECT_SOURCE_DIR}/src/ledbar) include_directories (${PROJECT_SOURCE_DIR}/src/4digitdisplay) include_directories (${PROJECT_SOURCE_DIR}/src/nrf24l01) +include_directories (${PROJECT_SOURCE_DIR}/src/servo) target_link_libraries (compass hmc5883l ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (groveled grove ${CMAKE_THREAD_LIBS_INIT}) @@ -27,3 +29,4 @@ target_link_libraries (led-bar ledbar ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (seg-lcd 4digitdisplay ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (nrf_transmitter nrf24l01 ${CMAKE_THREAD_LIBS_INIT}) target_link_libraries (nrf_receiver nrf24l01 ${CMAKE_THREAD_LIBS_INIT}) +target_link_libraries (es08a servo ${CMAKE_THREAD_LIBS_INIT}) diff --git a/examples/es08a.cxx b/examples/es08a.cxx new file mode 100644 index 0000000..c82bb25 --- /dev/null +++ b/examples/es08a.cxx @@ -0,0 +1,68 @@ +/* + * Author: Yevgeniy Kiveisha + * Copyright (c) 2014 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. + */ + +#include +#include +#include "es08a.h" +#include +#include + +int running = 0; + +void +sig_handler(int signo) +{ + printf("got signal\n"); + if (signo == SIGINT) { + printf("exiting application\n"); + running = 1; + } +} + +int +main(int argc, char **argv) +{ + upm::ES08A *servo = new upm::ES08A(5); + + signal(SIGINT, sig_handler); + + int clock = 0; + while (!running) { + for (int i = 0; i < 18; i++) { + servo->setAngle (clock); + clock += 10; + } + + for (int i = 0; i < 18; i++) { + servo->setAngle (clock); + clock -= 10; + } + } + + std::cout << "exiting application" << std::endl; + + delete servo; + + return 0; +} diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 87264f5..7089684 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -5,3 +5,4 @@ add_subdirectory (buzzer) add_subdirectory (ledbar) add_subdirectory (4digitdisplay) add_subdirectory (nrf24l01) +add_subdirectory (servo) diff --git a/src/servo/CMakeLists.txt b/src/servo/CMakeLists.txt new file mode 100644 index 0000000..1bd9e5d --- /dev/null +++ b/src/servo/CMakeLists.txt @@ -0,0 +1,4 @@ +set (libname "servo") +add_library (servo SHARED servo.cxx es08a.cxx) +include_directories (${MAA_INCLUDE_DIR}) +target_link_libraries (servo ${MAA_LIBRARIES}) diff --git a/src/servo/es08a.cxx b/src/servo/es08a.cxx new file mode 100644 index 0000000..01ecd82 --- /dev/null +++ b/src/servo/es08a.cxx @@ -0,0 +1,39 @@ +/* + * Author: Yevgeniy Kiveisha + * Copyright (c) 2014 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. + */ + +#include +#include + +#include "es08a.h" + +using namespace upm; + +ES08A::ES08A (int pin) : Servo(pin) { + m_name = "ES08A"; + m_maxAngle = 180.0; +} + +ES08A::~ES08A() { + +} diff --git a/src/servo/es08a.h b/src/servo/es08a.h new file mode 100644 index 0000000..c17dbc6 --- /dev/null +++ b/src/servo/es08a.h @@ -0,0 +1,40 @@ +/* + * Author: Yevgeniy Kiveisha + * Copyright (c) 2014 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 +#include "servo.h" + +namespace upm { + +#define MIN_PULSE_WIDTH 600 +#define MAX_PULSE_WIDTH 2500 + +class ES08A : public Servo { + public: + ES08A (int pin); + ~ES08A (); +}; + +} diff --git a/src/servo/jsupm_es08a.i b/src/servo/jsupm_es08a.i new file mode 100644 index 0000000..00e51d8 --- /dev/null +++ b/src/servo/jsupm_es08a.i @@ -0,0 +1,7 @@ +%module jsupm_es08a + +%{ + #include "es08a.h" +%} + +%include "es08a.h" diff --git a/src/servo/pyupm_es08a.i b/src/servo/pyupm_es08a.i new file mode 100644 index 0000000..3262ba3 --- /dev/null +++ b/src/servo/pyupm_es08a.i @@ -0,0 +1,8 @@ +%module pyupm_es08a + +%feature("autodoc", "3"); + +%include "es08a.h" +%{ + #include "es08a.h" +%} diff --git a/src/servo/servo.cxx b/src/servo/servo.cxx new file mode 100644 index 0000000..c117a9b --- /dev/null +++ b/src/servo/servo.cxx @@ -0,0 +1,88 @@ +/* + * Author: Yevgeniy Kiveisha + * Copyright (c) 2014 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. + */ + +#include +#include +#include + +#include "servo.h" + +using namespace upm; + +Servo::Servo (int pin) { + maa_result_t error = MAA_SUCCESS; + + m_maxAngle = 180.0; + m_servoPin = pin; + m_pwmServoContext = maa_pwm_init (m_servoPin); +} + +Servo::~Servo () { + +} + +/* + * X = between (MIN_PULSE_WIDTH , MAX_PULSE_WIDTH) + * + * X usec + * _______ + * |_______________________________________ + * 20000 usec + * + * Max period can be only 7968750(nses) which is ~8(msec) + * so the servo wil not work as expected. + * */ +maa_result_t Servo::setAngle (int angle) { + if (m_pwmServoContext == NULL) { + std::cout << "PWM context is NULL" << std::endl; + return MAA_ERROR_UNSPECIFIED; + } + + maa_pwm_enable (m_pwmServoContext, 1); + for (int cycles = 0; cycles < 128; cycles++) { + maa_pwm_period_us (m_pwmServoContext, MAX_PERIOD); + maa_pwm_pulsewidth_us (m_pwmServoContext, calcPulseTraveling(angle)); + } + maa_pwm_enable (m_pwmServoContext, 0); + + std::cout << "angle = " << angle << " ,pulse = " << calcPulseTraveling(angle) << std::endl; +} + +/* + * Calculating relative pulse time to the value. + * */ +int Servo::calcPulseTraveling (int value) { + // if bigger than the boundaries + if (value > m_maxAngle) { + return MAX_PULSE_WIDTH; + } + + // if less than the boundaries + if (value < 0) { + return MIN_PULSE_WIDTH; + } + + // the conversion + return (int) ((float)MIN_PULSE_WIDTH + ((float)value / m_maxAngle) * ((float)MAX_PULSE_WIDTH - (float)MIN_PULSE_WIDTH)); +} diff --git a/src/servo/servo.h b/src/servo/servo.h new file mode 100644 index 0000000..430a496 --- /dev/null +++ b/src/servo/servo.h @@ -0,0 +1,58 @@ +/* + * Author: Yevgeniy Kiveisha + * Copyright (c) 2014 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 +#include + +namespace upm { + +#define MIN_PULSE_WIDTH 600 +#define MAX_PULSE_WIDTH 2500 +#define MAX_PERIOD 7968 + +#define HIGH 1 +#define LOW 0 + +class Servo { + public: + Servo (int pin); + ~Servo(); + maa_result_t setAngle (int angle); + + std::string name() + { + return m_name; + } + protected: + int calcPulseTraveling (int value); + + std::string m_name; + int m_servoPin; + float m_maxAngle; + maa_pwm_context m_pwmServoContext; + // maa_gpio_context m_servoPinCtx; +}; + +} -- 2.7.4