From 8839bc9dca03c15f24fccc1abc774cc7dcc98d8a Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 7 Apr 2013 15:13:30 +0200 Subject: digital/io-hub/src/apbirthday: add I2C potentiometer control --- digital/io-hub/src/apbirthday/Makefile | 1 + digital/io-hub/src/apbirthday/robot.cc | 9 +++++ digital/io-hub/src/apbirthday/robot.hh | 3 ++ digital/io-hub/src/common-cc/potentiometer.cc | 51 +++++++++++++++++++++++++++ digital/io-hub/src/common-cc/potentiometer.hh | 42 ++++++++++++++++++++++ 5 files changed, 106 insertions(+) create mode 100644 digital/io-hub/src/common-cc/potentiometer.cc create mode 100644 digital/io-hub/src/common-cc/potentiometer.hh (limited to 'digital/io-hub') 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 -- cgit v1.2.3