md.h File Reference

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API Description

/*
 * Author: Jon Trulson <jtrulson@ics.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.
 */

#include <unistd.h>
#include <stdio.h>

#include <md.h>
#include <upm_utilities.h>


int main(int argc, char **argv)
{
  // Instantiate an I2C Motor Driver on I2C bus 0

  md_context motors = md_init(MD_I2C_BUS, MD_DEFAULT_I2C_ADDR);

  if (!motors)
  {
      printf("md_init() failed\n");
      return 1;
  }

  // set direction to CW and set speed to 50%
  printf("Spin M1 and M2 at half speed for 3 seconds\n");
  md_set_motor_directions(motors, MD_DIR_CW, MD_DIR_CW);
  md_set_motor_speeds(motors, 127, 127);

  upm_delay(3);
  // counter clockwise
  printf("Reversing M1 and M2 for 3 seconds\n");
  md_set_motor_directions(motors, MD_DIR_CCW, MD_DIR_CCW);
  upm_delay(3);

  printf("Stopping motors\n");
  md_set_motor_speeds(motors, 0, 0);

  printf("Exiting...\n");

  md_close(motors);
  return 0;
}

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Data Structures
struct	_md_context

Functions
md_context	md_init (int bus, uint8_t address)
void	md_close (md_context dev)
bool	md_write_packet (const md_context dev, MD_REG_T reg, uint8_t data1, uint8_t data2)
bool	md_set_motor_speeds (const md_context dev, uint8_t speedA, uint8_t speedB)
bool	md_set_pwm_frequency_prescale (const md_context dev, uint8_t freq)
bool	md_set_motor_directions (const md_context dev, MD_DC_DIRECTION_T dirA, MD_DC_DIRECTION_T dirB)
bool	md_enable_stepper (const md_context dev, MD_STEP_DIRECTION_T dir, uint8_t speed)
bool	md_disable_stepper (const md_context dev)
bool	md_set_stepper_steps (const md_context dev, unsigned int steps)
void	md_config_stepper (const md_context dev, unsigned int stepsPerRev, MD_STEP_MODE_T mode)

Typedefs
typedef struct _md_context *	md_context

Function Documentation

md_context md_init	(	int	bus,
		uint8_t	address
	)

MD initializer.

Parameters

bus	I2C bus to use
address	I2C address to use

Returns

Device context.

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void md_close

(

md_context

dev

)

MD close.

Parameters

dev	Device context.

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bool md_write_packet	(	const md_context	dev,
		MD_REG_T	reg,
		uint8_t	data1,
		uint8_t	data2
	)

Composes and writes a 3-byte packet to the controller

Parameters

dev	Device context.
reg	Register location
data1	First byte of data
data2	Second byte of data

Returns

True if successful

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bool md_set_motor_speeds	(	const md_context	dev,
		uint8_t	speedA,
		uint8_t	speedB
	)

To control DC motors, sets the speed of motors A & B. Valid values are 0-255.

Parameters

dev	Device context.
speedA	Speed of motor A
speedB	Speed of motor B

Returns

True if successful

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bool md_set_pwm_frequency_prescale	(	const md_context	dev,
		uint8_t	freq
	)

To control DC motors, sets the PWM frequency prescale factor. Note: this register is not ducumented other than to say the default value is 0x03. Presumably, this is the timer prescale factor used on the ATMega MCU timer driving the PWM.

Parameters

dev	Device context.
freq	PWM prescale frequency; default should be 0x03

Returns

True if successful

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bool md_set_motor_directions	(	const md_context	dev,
		MD_DC_DIRECTION_T	dirA,
		MD_DC_DIRECTION_T	dirB
	)

To control DC motors, sets the directions of motors A & B

Parameters

dev	Device context.
dirA	Direction for motor A, MD_DIR_CW or MD_DIR_CCW
dirB	Direction for motor B, MD_DIR_CW or MD_DIR_CCW

Returns

True if successful

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bool md_enable_stepper	(	const md_context	dev,
		MD_STEP_DIRECTION_T	dir,
		uint8_t	speed
	)

To control a stepper motor, sets its direction and speed, and then starts operation. For Mode2, this method will return immediately. For Mode1 (the default) this method returns when the number of steps specified by md_set_stepper_steps() has completed.

Parameters

dev	Device context.
dir	Direction, MD_STEP_DIR_CW or MD_STEP_DIR_CCW
speed	Motor speed. Valid range is 1-255. For Mode 1 (default), this specifies the speed in RPM's. For Mode 2, speed is multiplied by 4ms by the board, so higher numbers will mean a slower speed.

Returns

True if successful

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bool md_disable_stepper

(

const md_context

dev

)

To control a stepper motor, stops the stepper motor.

Parameters

dev	Device context.

Returns

True if successful

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bool md_set_stepper_steps	(	const md_context	dev,
		unsigned int	steps
	)

To control a stepper motor, specifies the number of steps to execute. For Mode2, valid values are between 1-255, 255 means continuous rotation.

For Mode1 (the default) steps can be any positive integer.

Parameters

dev	Device context.
steps	Number of steps to execute. 255 (only in Mode2) means continuous rotation.

Returns

True if successful

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void md_config_stepper	(	const md_context	dev,
		unsigned int	stepsPerRev,
		MD_STEP_MODE_T	mode
	)

Configure the initial Stepper parameters. This should be called before any other stepper method.

Parameters

dev	Device context.
stepsPerRev	The number of steps required to complete one full revolution.
mode	The stepper operating mode. MD_STEP_MODE1 is more flexible, and is handled directly by this driver. MD_STEP_MODE2 is handled completely by the MCU on board the motor driver, but is much more restrictive and requires updated firmware. We generally recommend MODE1.

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Typedef Documentation

typedef struct _md_context * md_context

Device context