es08a.h

Go to the documentation of this file.

/*
 * 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"

#define ES08A_MIN_PULSE_WIDTH             600
#define ES08A_MAX_PULSE_WIDTH             2200
#define ES08A_PERIOD                      20000
#define ES08A_MAX_ANGLE                   180.0

typedef struct _es08a_context {
    mraa_pwm_context    pwm;
    uint16_t            servo_pin;
    uint32_t            max_pulse_width;
    uint32_t            min_pulse_width;
} *es08a_context;

es08a_context es08a_init(int32_t pin, int32_t min_pulse_width,
                         int32_t max_pulse_width);

void es08a_halt(es08a_context dev);

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);

void es08a_set_min_pulse_width (es08a_context dev, int width);

void es08a_set_max_pulse_width (es08a_context dev, int width);

int es08a_get_min_pulse_width (es08a_context dev);

int es08a_get_max_pulse_width (es08a_context dev);

#endif /* ES08A_H_ */