/*
* Author: Jon Trulson <jtrulson@ics.com>
* 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.
*/
#include <unistd.h>
#include <math.h>
#include <iostream>
#include <string>
#include "adafruitms1438.h"
using namespace upm;
using namespace std;
AdafruitMS1438::AdafruitMS1438(int bus, uint8_t address) :
m_pca9685(new PCA9685(bus, address))
{
setupPinMaps();
// set a default period of 50Hz
setPWMPeriod(50);
// disable all PWM's (4 of them). They are shared with each other
// (stepper/DC), so just disable the DC motors here
disableMotor(MOTOR_M1);
disableMotor(MOTOR_M2);
disableMotor(MOTOR_M3);
disableMotor(MOTOR_M4);
// Set all 'on time' registers to 0
m_pca9685->ledOnTime(PCA9685_ALL_LED, 0);
// set the default stepper config at 200 steps per rev
stepConfig(STEPMOTOR_M12, 200);
stepConfig(STEPMOTOR_M34, 200);
}
AdafruitMS1438::~AdafruitMS1438()
{
delete m_pca9685;
}
void AdafruitMS1438::initClock(STEPMOTORS_T motor)
{
gettimeofday(&m_stepConfig[motor].startTime, NULL);
}
uint32_t AdafruitMS1438::getMillis(STEPMOTORS_T motor)
{
struct timeval elapsed, now;
uint32_t elapse;
// get current time
gettimeofday(&now, NULL);
struct timeval startTime = m_stepConfig[motor].startTime;
// compute the delta since m_startTime
if( (elapsed.tv_usec = now.tv_usec - startTime.tv_usec) < 0 )
{
elapsed.tv_usec += 1000000;
elapsed.tv_sec = now.tv_sec - startTime.tv_sec - 1;
}
else
{
elapsed.tv_sec = now.tv_sec - startTime.tv_sec;
}
elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000));
// never return 0
if (elapse == 0)
elapse = 1;
return elapse;
}
// setup the pin mappings of the pca9685 outputs to the proper motor controls
void AdafruitMS1438::setupPinMaps()
{
// first the dc motors
m_dcMotors[0] = (DC_PINMAP_T){ 8, 10, 9 };
m_dcMotors[1] = (DC_PINMAP_T){ 13, 11, 12 };
m_dcMotors[2] = (DC_PINMAP_T){ 2, 4, 3 };
m_dcMotors[3] = (DC_PINMAP_T){ 7, 5, 6 };
// now the 2 steppers
m_stepMotors[0] = (STEPPER_PINMAP_T){ 8, 10, 9,
13, 11, 12 };
m_stepMotors[1] = (STEPPER_PINMAP_T){ 2, 4, 3,
7, 5, 6 };
}
void AdafruitMS1438::setPWMPeriod(float hz)
{
// must be in sleep mode to set the prescale register
m_pca9685->setModeSleep(true);
m_pca9685->setPrescaleFromHz(hz);
m_pca9685->setModeSleep(false);
}
void AdafruitMS1438::enableMotor(DCMOTORS_T motor)
{
m_pca9685->ledFullOff(m_dcMotors[motor].pwm, false);
}
void AdafruitMS1438::disableMotor(DCMOTORS_T motor)
{
m_pca9685->ledFullOff(m_dcMotors[motor].pwm, true);
}
void AdafruitMS1438::enableStepper(STEPMOTORS_T motor)
{
m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, false);
m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, false);
}
void AdafruitMS1438::disableStepper(STEPMOTORS_T motor)
{
m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, true);
m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, true);
}
void AdafruitMS1438::setMotorSpeed(DCMOTORS_T motor, int speed)
{
if (speed < 0)
speed = 0;
if (speed > 100)
speed = 100;
float percent = float(speed) / 100.0;
// make sure that the FullOn bit is turned off, or the speed setting
// (PWM duty cycle) won't have any effect.
m_pca9685->ledFullOn(m_dcMotors[motor].pwm, false);
// set the PWM duty cycle
m_pca9685->ledOffTime(m_dcMotors[motor].pwm, int(4095.0 * percent));
}
void AdafruitMS1438::setStepperSpeed(STEPMOTORS_T motor, int speed)
{
m_stepConfig[motor].stepDelay = 60 * 1000 /
m_stepConfig[motor].stepsPerRev / speed;
}
void AdafruitMS1438::setMotorDirection(DCMOTORS_T motor, DIRECTION_T dir)
{
if (dir & 0x01)
{
m_pca9685->ledFullOn(m_dcMotors[motor].in1, true);
m_pca9685->ledFullOff(m_dcMotors[motor].in1, false);
}
else
{
m_pca9685->ledFullOff(m_dcMotors[motor].in1, true);
m_pca9685->ledFullOn(m_dcMotors[motor].in1, false);
}
if (dir & 0x02)
{
m_pca9685->ledFullOn(m_dcMotors[motor].in2, true);
m_pca9685->ledFullOff(m_dcMotors[motor].in2, false);
}
else
{
m_pca9685->ledFullOff(m_dcMotors[motor].in2, true);
m_pca9685->ledFullOn(m_dcMotors[motor].in2, false);
}
}
void AdafruitMS1438::setStepperDirection(STEPMOTORS_T motor, DIRECTION_T dir)
{
switch (dir)
{
case DIR_CW:
m_stepConfig[motor].stepDirection = 1;
break;
case DIR_CCW:
m_stepConfig[motor].stepDirection = -1;
break;
default: // default to 1 if DIR_NONE specified
m_stepConfig[motor].stepDirection = 1;
break;
}
}
void AdafruitMS1438::stepConfig(STEPMOTORS_T motor, unsigned int stepsPerRev)
{
m_stepConfig[motor].stepsPerRev = stepsPerRev;
m_stepConfig[motor].currentStep = 0;
m_stepConfig[motor].stepDelay = 0;
m_stepConfig[motor].stepDirection = 1; // forward
// now, setup the control pins - we want both FULL ON and FULL OFF.
// Since FULL OFF has precedence, we can then control the steps by
// just turning on/off the FULL OFF bit for the relevant outputs
m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, true);
m_pca9685->ledFullOn(m_stepMotors[motor].pwmA, true);
m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, true);
m_pca9685->ledFullOn(m_stepMotors[motor].pwmB, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true);
m_pca9685->ledFullOn(m_stepMotors[motor].in1A, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true);
m_pca9685->ledFullOn(m_stepMotors[motor].in2A, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true);
m_pca9685->ledFullOn(m_stepMotors[motor].in1B, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true);
m_pca9685->ledFullOn(m_stepMotors[motor].in2B, true);
}
void AdafruitMS1438::stepperStep(STEPMOTORS_T motor)
{
int step = m_stepConfig[motor].currentStep % 4;
// Step I0 I1 I2 I3
// 1 1 0 1 0
// 2 0 1 1 0
// 3 0 1 0 1
// 4 1 0 0 1
// we invert the logic since we are essentially toggling an OFF bit,
// not an ON bit.
switch (step)
{
case 0: // 1010
m_pca9685->ledFullOff(m_stepMotors[motor].in1A, false);
m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in1B, false);
m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true);
break;
case 1: // 0110
m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in2A, false);
m_pca9685->ledFullOff(m_stepMotors[motor].in1B, false);
m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true);
break;
case 2: //0101
m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in2A, false);
m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in2B, false);
break;
case 3: //1001
m_pca9685->ledFullOff(m_stepMotors[motor].in1A, false);
m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in2B, false);
break;
}
}
void AdafruitMS1438::stepperSteps(STEPMOTORS_T motor, unsigned int steps)
{
while (steps > 0)
{
if (getMillis(motor) >= m_stepConfig[motor].stepDelay)
{
// reset the clock
initClock(motor);
m_stepConfig[motor].currentStep += m_stepConfig[motor].stepDirection;
if (m_stepConfig[motor].stepDirection == 1)
{
if (m_stepConfig[motor].currentStep >=
m_stepConfig[motor].stepsPerRev)
m_stepConfig[motor].currentStep = 0;
}
else
{
if (m_stepConfig[motor].currentStep <= 0)
m_stepConfig[motor].currentStep =
m_stepConfig[motor].stepsPerRev;
}
steps--;
stepperStep(motor);
}
}
}