servo: Added new module servo

Signed-off-by: Kiveisha Yevgeniy <yevgeniy.kiveisha@intel.com>

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})

examples/es08a.cxx

@@ -0,0 +1,68 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "es08a.h"
+#include <signal.h>
+#include <stdlib.h>
+
+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;
+}

src/CMakeLists.txt

@@ -5,3 +5,4 @@ add_subdirectory (buzzer)
 add_subdirectory (ledbar)
 add_subdirectory (4digitdisplay)
 add_subdirectory (nrf24l01)
+add_subdirectory (servo)

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})

src/servo/es08a.cxx

@@ -0,0 +1,39 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.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.
+ */
+
+#include <iostream>
+#include <unistd.h>
+
+#include "es08a.h"
+
+using namespace upm;
+
+ES08A::ES08A (int pin) : Servo(pin) {
+    m_name     = "ES08A";
+    m_maxAngle = 180.0;
+}
+
+ES08A::~ES08A() {
+
+}

src/servo/es08a.h

@@ -0,0 +1,40 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.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 <string>
+#include "servo.h"
+
+namespace upm {
+
+#define MIN_PULSE_WIDTH      600
+#define MAX_PULSE_WIDTH      2500
+
+class ES08A : public Servo {
+    public:
+        ES08A (int pin);
+        ~ES08A ();
+};
+
+}

src/servo/jsupm_es08a.i

@@ -0,0 +1,7 @@
+%module jsupm_es08a
+
+%{
+    #include "es08a.h"
+%}
+
+%include "es08a.h"

src/servo/pyupm_es08a.i

@@ -0,0 +1,8 @@
+%module pyupm_es08a
+
+%feature("autodoc", "3");
+
+%include "es08a.h"
+%{
+    #include "es08a.h"
+%}

src/servo/servo.cxx

@@ -0,0 +1,88 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.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.
+ */
+
+#include <iostream>
+#include <unistd.h>
+#include <stdlib.h>
+
+#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));
+}

src/servo/servo.h

@@ -0,0 +1,58 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.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 <string>
+#include <maa/pwm.h>
+
+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;
+};
+
+}