servo  2.0.0.0
servo.h
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1 /*
2  * MikroSDK - MikroE Software Development Kit
3  * Copyright© 2020 MikroElektronika d.o.o.
4  *
5  * Permission is hereby granted, free of charge, to any person
6  * obtaining a copy of this software and associated documentation
7  * files (the "Software"), to deal in the Software without restriction,
8  * including without limitation the rights to use, copy, modify, merge,
9  * publish, distribute, sublicense, and/or sell copies of the Software,
10  * and to permit persons to whom the Software is furnished to do so,
11  * subject to the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
18  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
19  * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
20  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
21  * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE
22  * OR OTHER DEALINGS IN THE SOFTWARE.
23  */
24 
33 // ----------------------------------------------------------------------------
34 
35 #ifndef SERVO_H
36 #define SERVO_H
37 
38 #include "drv_digital_out.h"
39 #include "drv_digital_in.h"
40 #include "drv_i2c_master.h"
41 
42 // -------------------------------------------------------------- PUBLIC MACROS
52 #define SERVO_MAP_MIKROBUS( cfg, mikrobus ) \
53  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
54  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
55  cfg.oe = MIKROBUS( mikrobus, MIKROBUS_CS )
56 
62 #define SERVO_RETVAL uint8_t
63 
64 #define SERVO_OK 0x00
65 #define SERVO_INIT_ERROR 0xFF
66 
72 #define SERVO_REG_MODE_1 0x00
73 #define SERVO_REG_MODE_2 0x01
74 #define SERVO_REG_SUB_ADDRESS_1 0x02
75 #define SERVO_REG_SUB_ADDRESS_2 0x03
76 #define SERVO_REG_SUB_ADDRESS_3 0x04
77 #define SERVO_REG_ALL_CALL_ADR 0x05
78 
79 #define SERVO_REG_MOTOR_1_ON_L 0x06
80 #define SERVO_REG_MOTOR_1_ON_H 0x07
81 #define SERVO_REG_MOTOR_1_OFF_L 0x08
82 #define SERVO_REG_MOTOR_1_OFF_H 0x09
83 #define SERVO_REG_MOTOR_2_ON_L 0x0A
84 #define SERVO_REG_MOTOR_2_ON_H 0x0B
85 #define SERVO_REG_MOTOR_2_OFF_L 0x0C
86 #define SERVO_REG_MOTOR_2_OFF_H 0x0D
87 #define SERVO_REG_MOTOR_3_ON_L 0x0E
88 #define SERVO_REG_MOTOR_3_ON_H 0x0F
89 #define SERVO_REG_MOTOR_3_OFF_L 0x10
90 #define SERVO_REG_MOTOR_3_OFF_H 0x11
91 #define SERVO_REG_MOTOR_4_ON_L 0x12
92 #define SERVO_REG_MOTOR_4_ON_H 0x13
93 #define SERVO_REG_MOTOR_4_OFF_L 0x14
94 #define SERVO_REG_MOTOR_4_OFF_H 0x15
95 #define SERVO_REG_MOTOR_5_ON_L 0x16
96 #define SERVO_REG_MOTOR_5_ON_H 0x17
97 #define SERVO_REG_MOTOR_5_OFF_L 0x18
98 #define SERVO_REG_MOTOR_5_OFF_H 0x19
99 #define SERVO_REG_MOTOR_6_ON_L 0x1A
100 #define SERVO_REG_MOTOR_6_ON_H 0x1B
101 #define SERVO_REG_MOTOR_6_OFF_L 0x1C
102 #define SERVO_REG_MOTOR_6_OFF_H 0x1D
103 #define SERVO_REG_MOTOR_7_ON_L 0x1E
104 #define SERVO_REG_MOTOR_7_ON_H 0x1F
105 #define SERVO_REG_MOTOR_7_OFF_L 0x20
106 #define SERVO_REG_MOTOR_7_OFF_H 0x21
107 #define SERVO_REG_MOTOR_8_ON_L 0x22
108 #define SERVO_REG_MOTOR_8_ON_H 0x23
109 #define SERVO_REG_MOTOR_8_OFF_L 0x24
110 #define SERVO_REG_MOTOR_8_OFF_H 0x25
111 #define SERVO_REG_MOTOR_9_ON_L 0x26
112 #define SERVO_REG_MOTOR_9_ON_H 0x27
113 #define SERVO_REG_MOTOR_9_OFF_L 0x28
114 #define SERVO_REG_MOTOR_9_OFF_H 0x29
115 #define SERVO_REG_MOTOR_10_ON_L 0x2A
116 #define SERVO_REG_MOTOR_10_ON_H 0x2B
117 #define SERVO_REG_MOTOR_10_OFF_L 0x2C
118 #define SERVO_REG_MOTOR_10_OFF_H 0x2D
119 #define SERVO_REG_MOTOR_11_ON_L 0x2E
120 #define SERVO_REG_MOTOR_11_ON_H 0x2F
121 #define SERVO_REG_MOTOR_11_OFF_L 0x30
122 #define SERVO_REG_MOTOR_11_OFF_H 0x31
123 #define SERVO_REG_MOTOR_12_ON_L 0x32
124 #define SERVO_REG_MOTOR_12_ON_H 0x33
125 #define SERVO_REG_MOTOR_12_OFF_L 0x34
126 #define SERVO_REG_MOTOR_12_OFF_H 0x35
127 #define SERVO_REG_MOTOR_13_ON_L 0x36
128 #define SERVO_REG_MOTOR_13_ON_H 0x37
129 #define SERVO_REG_MOTOR_13_OFF_L 0x38
130 #define SERVO_REG_MOTOR_13_OFF_H 0x39
131 #define SERVO_REG_MOTOR_14_ON_L 0x3A
132 #define SERVO_REG_MOTOR_14_ON_H 0x3B
133 #define SERVO_REG_MOTOR_14_OFF_L 0x3C
134 #define SERVO_REG_MOTOR_14_OFF_H 0x3D
135 #define SERVO_REG_MOTOR_15_ON_L 0x3E
136 #define SERVO_REG_MOTOR_15_ON_H 0x3F
137 #define SERVO_REG_MOTOR_15_OFF_L 0x40
138 #define SERVO_REG_MOTOR_15_OFF_H 0x41
139 #define SERVO_REG_MOTOR_16_ON_L 0x42
140 #define SERVO_REG_MOTOR_16_ON_H 0x43
141 #define SERVO_REG_MOTOR_16_OFF_L 0x44
142 #define SERVO_REG_MOTOR_16_OFF_H 0x45
143 
144 #define SERVO_REG_ALL_MOTOR_ON_L 0xFA
145 #define SERVO_REG_ALL_MOTOR_ON_H 0xFB
146 #define SERVO_REG_ALL_MOTOR_OFF_L 0xFC
147 #define SERVO_REG_ALL_MOTOR_OFF_H 0xFD
148 #define SERVO_REG_PRE_SCALE 0xFE
149 #define SERVO_REG_TEST_MODE 0xFF
150 
156 #define SERVO_MODE1_RESTART_ENABLE 0x01 << 7
157 #define SERVO_MODE1_RESTART_DISABLE 0x00 << 7
158 #define SERVO_MODE1_INTERNAL_CLOCK 0x00 << 6
159 #define SERVO_MODE1_EXTCLK_PIN_CLOCK 0x01 << 6
160 #define SERVO_MODE1_AUTO_INCREMENT_ENABLE 0x01 << 5
161 #define SERVO_MODE1_AUTO_INCREMENT_DISABLE 0x00 << 5
162 #define SERVO_MODE1_NORMAL_MODE 0x00 << 4
163 #define SERVO_MODE1_LOW_POWER_MODE 0x01 << 4
164 #define SERVO_MODE1_USE_SUBADR_1 0x01 << 3
165 #define SERVO_MODE1_NO_USE_SUBADR_1 0x00 << 3
166 #define SERVO_MODE1_USE_SUBADR_2 0x01 << 2
167 #define SERVO_MODE1_NO_USE_SUBADR_2 0x00 << 2
168 #define SERVO_MODE1_USE_SUBADR_3 0x01 << 1
169 #define SERVO_MODE1_NO_USE_SUBADR_3 0x00 << 1
170 #define SERVO_MODE1_USE_ALL_CALL_ADR 0x01
171 #define SERVO_MODE1_NO_USE_ALL_CALL_ADR 0x00
172 
178 #define SERVO_MODE2_OUT_LOGIC_NOT_INVERTED 0x00 << 4
179 #define SERVO_MODE2_OUT_LOGIC_INVERTED 0x01 << 4
180 #define SERVO_MODE2_OUT_CHANGE_ON_STOP_CMD 0x00 << 3
181 #define SERVO_MODE2_OUT_CHANGE_ON_ACK_CMD 0x01 << 3
182 #define SERVO_MODE2_OPEN_DRAIN_STRUCTURE 0x00 << 2
183 #define SERVO_MODE2_TOTEM_POLE_STRUCTURE 0x01 << 2
184 
190 #define SERVO_DEFAULT_LOW_RESOLUTION 0
191 #define SERVO_DEFAULT_HIGH_RESOLUTION 330
192 
193 #define SERVO_GENERAL_CALL_ADR 0x00
194 #define SERVO_SOFT_RESET 0x06
195 
196 #define SERVO_VREF_3300 3300
197 #define SERVO_VREF_5000 5000
198 
204 #define SERVO_MOTOR_1 0x06
205 #define SERVO_MOTOR_2 0x0A
206 #define SERVO_MOTOR_3 0x0E
207 #define SERVO_MOTOR_4 0x12
208 #define SERVO_MOTOR_5 0x16
209 #define SERVO_MOTOR_6 0x1A
210 #define SERVO_MOTOR_7 0x1E
211 #define SERVO_MOTOR_8 0x22
212 #define SERVO_MOTOR_9 0x26
213 #define SERVO_MOTOR_10 0x2A
214 #define SERVO_MOTOR_11 0x2E
215 #define SERVO_MOTOR_12 0x32
216 #define SERVO_MOTOR_13 0x36
217 #define SERVO_MOTOR_14 0x3A
218 #define SERVO_MOTOR_15 0x3E
219 #define SERVO_MOTOR_16 0x42
220 
221 #define SERVO_POSITIVE_CH0_NEGATIVE_CH1 0xA0
222 #define SERVO_POSITIVE_CH2_NEGATIVE_CH3 0xA1
223 #define SERVO_POSITIVE_CH4_NEGATIVE_CH5 0xA2
224 #define SERVO_POSITIVE_CH6_NEGATIVE_CH7 0xA3
225 #define SERVO_POSITIVE_CH8_NEGATIVE_CH9 0xA4
226 #define SERVO_POSITIVE_CH10_NEGATIVE_CH11 0xA5
227 #define SERVO_POSITIVE_CH12_NEGATIVE_CH13 0xA6
228 #define SERVO_POSITIVE_CH14_NEGATIVE_CH15 0xA7
229 #define SERVO_POSITIVE_CH1_NEGATIVE_CH0 0xA8
230 #define SERVO_POSITIVE_CH3_NEGATIVE_CH2 0xA9
231 #define SERVO_POSITIVE_CH5_NEGATIVE_CH4 0xAA
232 #define SERVO_POSITIVE_CH7_NEGATIVE_CH6 0xAB
233 #define SERVO_POSITIVE_CH9_NEGATIVE_CH8 0xAC
234 #define SERVO_POSITIVE_CH11_NEGATIVE_CH10 0xAD
235 #define SERVO_POSITIVE_CH13_NEGATIVE_CH12 0xAE
236 #define SERVO_POSITIVE_CH15_NEGATIVE_CH14 0xAF
237 
238 #define SERVO_POSITIVE_CH0 0xB0
239 #define SERVO_POSITIVE_CH2 0xB1
240 #define SERVO_POSITIVE_CH4 0xB2
241 #define SERVO_POSITIVE_CH6 0xB3
242 #define SERVO_POSITIVE_CH8 0xB4
243 #define SERVO_POSITIVE_CH10 0xB5
244 #define SERVO_POSITIVE_CH12 0xB6
245 #define SERVO_POSITIVE_CH14 0xB7
246 #define SERVO_POSITIVE_CH1 0xB8
247 #define SERVO_POSITIVE_CH3 0xB9
248 #define SERVO_POSITIVE_CH5 0xBA
249 #define SERVO_POSITIVE_CH7 0xBB
250 #define SERVO_POSITIVE_CH9 0xBC
251 #define SERVO_POSITIVE_CH11 0xBD
252 #define SERVO_POSITIVE_CH13 0xBE
253 #define SERVO_POSITIVE_CH15 0xBF
254  // End group macro
257 // --------------------------------------------------------------- PUBLIC TYPES
263 typedef struct
264 {
265  uint8_t min_position;
266  uint8_t max_position;
267  uint16_t low_resolution;
268  uint16_t high_resolution;
269 
271 
272 typedef struct
273 {
274  uint8_t x;
275  uint8_t in_min;
276  uint8_t in_max;
277  uint16_t out_min;
278  uint16_t out_max;
279 
280 } servo_map_t;
281 
285 typedef struct
286 {
287  // Output pins
288 
289  digital_out_t oe;
290 
291  // Modules
292 
293  i2c_master_t i2c;
294 
295  // ctx variable
296 
299 
300  uint8_t min_pos;
301  uint8_t max_pos;
302  uint16_t vref;
303  uint16_t low_res;
304  uint16_t high_res;
305 
307 
308 } servo_t;
309 
313 typedef struct
314 {
315  // Communication gpio pins
316 
317  pin_name_t scl;
318  pin_name_t sda;
319 
320  // Additional gpio pins
321 
322  pin_name_t oe;
323 
324  // static variable
325 
326  uint32_t i2c_speed;
329 } servo_cfg_t;
330  // End types group
332 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
333 
339 #ifdef __cplusplus
340 extern "C"{
341 #endif
342 
352 
362 
371 
382 void servo_generic_write_of_pca9685 ( servo_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
383 
394 void servo_generic_write_of_of_ltc2497 ( servo_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
395 
406 void servo_generic_read_of_pca9685 ( servo_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
417 void servo_generic_read_of_ltc2497 ( servo_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
418 
427 void servo_setting ( servo_t *ctx, servo_pos_and_res_t pos_and_res );
428 
437 void servo_set_vref ( servo_t *ctx, uint16_t v_ref );
438 
449 void servo_stop ( servo_t *ctx );
450 
458 void servo_start ( servo_t *ctx );
459 
467 void servo_soft_reset ( servo_t *ctx );
468 
476 void servo_sleep ( servo_t *ctx );
477 
503 void servo_set_mode ( servo_t *ctx, uint8_t mode, uint8_t w_data );
504 
514 void servo_set_position ( servo_t *ctx, uint8_t motor, uint8_t position );
515 
524 void servo_set_freq ( servo_t *ctx, uint16_t freq );
525 
534 uint32_t servo_get_channel ( servo_t *ctx, uint8_t channel );
535 
544 uint16_t setvo_get_current ( servo_t *ctx, uint8_t channel );
545 
546 #ifdef __cplusplus
547 }
548 #endif
549 #endif // _SERVO_H_
550  // End public_function group
553 
554 // ------------------------------------------------------------------------- END
servo_map_t
Definition: servo.h:273
servo_pos_and_res_t::min_position
uint8_t min_position
Definition: servo.h:265
servo_generic_write_of_pca9685
void servo_generic_write_of_pca9685(servo_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function of pca9685.
setvo_get_current
uint16_t setvo_get_current(servo_t *ctx, uint8_t channel)
Functions for reading current in mA.
SERVO_RETVAL
#define SERVO_RETVAL
Definition: servo.h:62
servo_generic_write_of_of_ltc2497
void servo_generic_write_of_of_ltc2497(servo_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic write function of ltc2497.
servo_map_t::in_max
uint8_t in_max
Definition: servo.h:276
servo_t::max_pos
uint8_t max_pos
Definition: servo.h:301
servo_t::pos_and_res
servo_pos_and_res_t pos_and_res
Definition: servo.h:306
servo_t
Click ctx object definition.
Definition: servo.h:286
servo_t::i2c
i2c_master_t i2c
Definition: servo.h:293
servo_generic_read_of_pca9685
void servo_generic_read_of_pca9685(servo_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function of pca9685.
servo_cfg_setup
void servo_cfg_setup(servo_cfg_t *cfg)
Config Object Initialization function.
servo_setting
void servo_setting(servo_t *ctx, servo_pos_and_res_t pos_and_res)
Setting function.
servo_generic_read_of_ltc2497
void servo_generic_read_of_ltc2497(servo_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len)
Generic read function of ltc2497.
servo_soft_reset
void servo_soft_reset(servo_t *ctx)
Soft reset function.
servo_init
SERVO_RETVAL servo_init(servo_t *ctx, servo_cfg_t *cfg)
Initialization function.
servo_t::oe
digital_out_t oe
Definition: servo.h:289
servo_stop
void servo_stop(servo_t *ctx)
Stop function.
servo_t::slave_address_of_pca9685
uint8_t slave_address_of_pca9685
Definition: servo.h:297
servo_pos_and_res_t::max_position
uint8_t max_position
Definition: servo.h:266
servo_map_t::out_max
uint16_t out_max
Definition: servo.h:278
servo_default_cfg
void servo_default_cfg(servo_t *ctx)
Click Default Configuration function.
servo_pos_and_res_t
Definition: servo.h:264
servo_set_mode
void servo_set_mode(servo_t *ctx, uint8_t mode, uint8_t w_data)
Set mode function.
servo_start
void servo_start(servo_t *ctx)
Start function.
servo_cfg_t::oe
pin_name_t oe
Definition: servo.h:322
servo_pos_and_res_t::low_resolution
uint16_t low_resolution
Definition: servo.h:267
servo_set_freq
void servo_set_freq(servo_t *ctx, uint16_t freq)
Set frequency function.
servo_set_vref
void servo_set_vref(servo_t *ctx, uint16_t v_ref)
Set Vref function.
servo_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: servo.h:326
servo_t::low_res
uint16_t low_res
Definition: servo.h:303
servo_sleep
void servo_sleep(servo_t *ctx)
Sleep function.
servo_t::vref
uint16_t vref
Definition: servo.h:302
servo_pos_and_res_t::high_resolution
uint16_t high_resolution
Definition: servo.h:268
servo_t::high_res
uint16_t high_res
Definition: servo.h:304
servo_map_t::x
uint8_t x
Definition: servo.h:274
servo_t::min_pos
uint8_t min_pos
Definition: servo.h:300
servo_cfg_t::scl
pin_name_t scl
Definition: servo.h:317
servo_t::slave_address_of_ltc2497
uint8_t slave_address_of_ltc2497
Definition: servo.h:298
servo_cfg_t::i2c_address_of_pca9685
uint8_t i2c_address_of_pca9685
Definition: servo.h:327
servo_map_t::out_min
uint16_t out_min
Definition: servo.h:277
servo_cfg_t
Click configuration structure definition.
Definition: servo.h:314
servo_get_channel
uint32_t servo_get_channel(servo_t *ctx, uint8_t channel)
Functions for reading adc value of current.
servo_cfg_t::sda
pin_name_t sda
Definition: servo.h:318
servo_set_position
void servo_set_position(servo_t *ctx, uint8_t motor, uint8_t position)
Set position function.
servo_map_t::in_min
uint8_t in_min
Definition: servo.h:275
servo_cfg_t::i2c_address_of_ltc2497
uint8_t i2c_address_of_ltc2497
Definition: servo.h:328