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authorNicolas Schodet2013-04-07 15:13:30 +0200
committerNicolas Schodet2013-04-07 17:01:32 +0200
commit8839bc9dca03c15f24fccc1abc774cc7dcc98d8a (patch)
tree60de424dd317859418d7313568c2b2898476c044 /digital
parent8a4442241c8f99947297da8b1f238c9e1c5e28ce (diff)
digital/io-hub/src/apbirthday: add I2C potentiometer control
Diffstat (limited to 'digital')
-rw-r--r--digital/io-hub/src/apbirthday/Makefile1
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc9
-rw-r--r--digital/io-hub/src/apbirthday/robot.hh3
-rw-r--r--digital/io-hub/src/common-cc/potentiometer.cc51
-rw-r--r--digital/io-hub/src/common-cc/potentiometer.hh42
5 files changed, 106 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/Makefile b/digital/io-hub/src/apbirthday/Makefile
index 18f10fe2..9eacfcb1 100644
--- a/digital/io-hub/src/apbirthday/Makefile
+++ b/digital/io-hub/src/apbirthday/Makefile
@@ -5,6 +5,7 @@ PROGS = apbirthday
apbirthday_SOURCES = main.cc robot.cc hardware.host.cc hardware.stm32.cc \
simu_report.host.cc zb_avrisp.stm32.cc \
i2c_queue.cc asserv.cc mimot.cc beacon.cc \
+ potentiometer.cc \
pressure.cc chrono.host.cc chrono.stm32.cc debounce.cc \
radar.cc radar_2013.cc obstacles.cc path.cc \
outputs.cc \
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index 806d5aae..23c9665d 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -34,6 +34,7 @@ Robot::Robot ()
: main_i2c_queue_ (hardware.main_i2c), zb_i2c_queue_ (hardware.zb_i2c),
asserv (main_i2c_queue_, BOT_SCALE),
mimot (main_i2c_queue_),
+ pot_regul (main_i2c_queue_, 0),
beacon (zb_i2c_queue_),
dev_proto (*this, hardware.dev_uart),
zb_proto (*this, hardware.zb_uart),
@@ -247,6 +248,14 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size
ucoo::bytes_pack (args[4], args[5]));
}
break;
+ case c ('p', 2):
+ // Set potentiometer wiper.
+ // - 1b: wiper index.
+ // - 1h: wiper value.
+ // - 1b: 01 for eeprom, 00 for volatile.
+ pot_regul.set_wiper (args[0], ucoo::bytes_pack (args[1], args[2]),
+ args[3] ? true : false);
+ break;
case c ('A', 1):
// Asserv position stats.
// 1B: stat interval.
diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh
index 67356694..b17c0dae 100644
--- a/digital/io-hub/src/apbirthday/robot.hh
+++ b/digital/io-hub/src/apbirthday/robot.hh
@@ -26,6 +26,7 @@
#include "hardware.hh"
#include "asserv.hh"
#include "beacon.hh"
+#include "potentiometer.hh"
#include "fsm_queue.hh"
#include "chrono.hh"
#include "pressure.hh"
@@ -65,6 +66,8 @@ class Robot : public ucoo::Proto::Handler
Asserv asserv;
/// Public access to mimot class.
Mimot mimot;
+ /// Public access to potentiometer class.
+ Potentiometer pot_regul;
/// Public access to beacon class.
Beacon beacon;
private:
diff --git a/digital/io-hub/src/common-cc/potentiometer.cc b/digital/io-hub/src/common-cc/potentiometer.cc
new file mode 100644
index 00000000..a5a519bb
--- /dev/null
+++ b/digital/io-hub/src/common-cc/potentiometer.cc
@@ -0,0 +1,51 @@
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "potentiometer.hh"
+
+Potentiometer::Potentiometer (I2cQueue &queue, int a2a1a0)
+ : I2cQueue::Slave (queue, 0x50 | (a2a1a0 << 1), 0)
+{
+}
+
+void
+Potentiometer::recv_status (const uint8_t *status)
+{
+}
+
+void
+Potentiometer::send_command (int mem_addr, int data)
+{
+ uint8_t buf[] = {
+ (uint8_t) ((mem_addr << 4) | ((data >> 8) & 1)),
+ (uint8_t) (data & 0xff),
+ };
+ send (buf, sizeof (buf), I2cQueue::RAW);
+}
+
+void
+Potentiometer::set_wiper (int index, int data, bool eeprom)
+{
+ send_command (index + (eeprom ? 2 : 0), data);
+}
+
diff --git a/digital/io-hub/src/common-cc/potentiometer.hh b/digital/io-hub/src/common-cc/potentiometer.hh
new file mode 100644
index 00000000..a7204af8
--- /dev/null
+++ b/digital/io-hub/src/common-cc/potentiometer.hh
@@ -0,0 +1,42 @@
+#ifndef potentiometer_hh
+#define potentiometer_hh
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "i2c_queue.hh"
+
+/// I2C potentiometer, MCP4661.
+class Potentiometer : public I2cQueue::Slave
+{
+ public:
+ /// Constructor with address variable part.
+ Potentiometer (I2cQueue &queue, int a2a1a0);
+ /// See I2cQueue::Slave::recv_status.
+ void recv_status (const uint8_t *status);
+ /// Send a low level command.
+ void send_command (int mem_addr, int data);
+ /// Set wiper to specified level.
+ void set_wiper (int index, int data, bool eeprom = false);
+};
+
+#endif // potentiometer_hh