grovemd.hpp

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * 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 <stdint.h>
#include <sys/time.h>
#include <string>
#include <mraa/types.hpp>
#include <mraa/i2c.hpp>

#define GROVEMD_I2C_BUS 0
#define GROVEMD_DEFAULT_I2C_ADDR 0x0f

namespace upm {
  class GroveMD {

  public:
    // GroveMD registers
    typedef enum { SET_SPEED           = 0x82,
                   SET_PWM_FREQ        = 0x84,
                   SET_DIRECTION       = 0xaa,
                   SET_MOTOR_A         = 0xa1, // not documented
                   SET_MOTOR_B         = 0xa5, // not documented
                   STEPPER_ENABLE      = 0x1a, 
                   STEPPER_DISABLE     = 0x1b,
                   STEPPER_NUM_STEPS   = 0x1c
    } REG_T;

    // legal directions for the stepper
    typedef enum { STEP_DIR_CCW    = 0x01,
                   STEP_DIR_CW     = 0x00
    } STEP_DIRECTION_T;
    
    // legal directions for individual DC motors
    typedef enum { DIR_CCW    = 0x02,
                   DIR_CW     = 0x01
    } DC_DIRECTION_T;
    
    // stepper modes
    typedef enum { STEP_MODE1 = 0x00,
                   STEP_MODE2 = 0x01
    } STEP_MODE_T;
    
    GroveMD(int bus=GROVEMD_I2C_BUS, 
            uint8_t address=GROVEMD_DEFAULT_I2C_ADDR);

    ~GroveMD();

    bool writePacket(REG_T reg, uint8_t data1, uint8_t data2);

    bool setMotorSpeeds(uint8_t speedA, uint8_t speedB);

    bool setPWMFrequencyPrescale(uint8_t freq=0x03);

    bool setMotorDirections(DC_DIRECTION_T dirA, DC_DIRECTION_T dirB);

    bool enableStepper(STEP_DIRECTION_T dir, uint8_t speed);

    bool disableStepper();

    bool setStepperSteps(unsigned int steps);

    void configStepper(unsigned int stepsPerRev, STEP_MODE_T mode=STEP_MODE1);

  protected:
    mraa::I2c m_i2c;
    uint8_t m_addr;

  private:
    // steps per revolution
    int m_stepsPerRev;
    int m_currentStep;
    uint32_t m_stepDelay;
    uint32_t m_totalSteps;
    STEP_MODE_T m_stepMode;

    void stepperStep();

    // step direction: - 1 = forward, -1 = backward
    int m_stepDirection;

    // This is a NOOP value used to pad packets
    static const uint8_t GROVEMD_NOOP = 0x01;
    // our timer
    struct timeval m_startTime;

    uint32_t getMillis();

    void initClock();

  };
}