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Consolidating pi hat daemons

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Matt
2021-07-09 19:20:12 -05:00
parent 89fc659bf6
commit 3a5f3f51e4
11 changed files with 2176 additions and 0 deletions
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MotorHatD/motorHat.c Normal file
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/* Methods for setting up the i2c channel to the
* motor board and some methods for initializing
* running the motors. i2c setup uses wiringPi library.
* Methods and header definitions from a RPI forum thread,
* specifically, the post by garagebrewer:
* https://www.raspberrypi.org/forums/viewtopic.php?t=112415&p=770234
*/
#include <wiringPiI2C.h>
#include <stdio.h>
#include "motorHat.h"
void setAllPWM(word i2c, word on, word off){
wiringPiI2CWriteReg8(i2c, PWM_ALL_LED_ON_L, on & 0xFF);
wiringPiI2CWriteReg8(i2c, PWM_ALL_LED_ON_H, on >> 8);
wiringPiI2CWriteReg8(i2c, PWM_ALL_LED_OFF_L, off & 0xFF);
wiringPiI2CWriteReg8(i2c, PWM_ALL_LED_OFF_H, off >> 8);
}
void setPWM(word i2c, word pin, word on, word off){
wiringPiI2CWriteReg8(i2c, PWM_LED0_ON_L + 4 * pin, on & 0xFF);
wiringPiI2CWriteReg8(i2c, PWM_LED0_ON_H + 4 * pin, on >> 8);
wiringPiI2CWriteReg8(i2c, PWM_LED0_OFF_L + 4 * pin, off & 0xFF);
wiringPiI2CWriteReg8(i2c, PWM_LED0_OFF_H + 4 * pin, off >> 8);
}
void setPin(word i2c, word pin, word value){
if(pin < 0 || pin > 15){
printf("PWM pin must be between 0 and 15 inclusive. Received '%d'\n", pin);
return;
}
switch(value){
case 0:
setPWM(i2c, pin, 0, 4096);
break;
case 1:
setPWM(i2c, pin, 4096, 0);
break;
default:
printf("PWM pin value must be 0 or 1. Received '%d'\n", pin);
return;
}
}
void runMotor(word i2c, word motor, word command){
word in1, in2, in3, in4;
switch(motor){
case 1:
in1 = PWM_M1_IN1;
in2 = PWM_M1_IN2;
break;
case 2:
in1 = PWM_M2_IN1;
in2 = PWM_M2_IN2;
break;
case 3:
in1 = PWM_M3_IN1;
in2 = PWM_M3_IN2;
break;
case 4:
in1 = PWM_M4_IN1;
in2 = PWM_M4_IN2;
break;
case 12:
case 21:
in1 = PWM_M1_IN1;
in2 = PWM_M1_IN2;
in3 = PWM_M2_IN1;
in4 = PWM_M2_IN2;
break;
default:
printf("Invalid motor number '%d'\n", motor);
return;
}
switch(command){
case MOTOR_FORWARD:
setPin(i2c, in2, 0);
setPin(i2c, in1, 1);
setPin(i2c, in4, 0);
setPin(i2c, in3, 1);
break;
case MOTOR_BACK:
setPin(i2c, in1, 0);
setPin(i2c, in2, 1);
setPin(i2c, in4, 0);
setPin(i2c, in3, 1);
break;
case MOTOR_RIGHT:
setPin(i2c, in1, 1);
setPin(i2c, in2, 0);
setPin(i2c, in3, 0);
setPin(i2c, in4, 0);
break;
case MOTOR_LEFT:
setPin(i2c, in1, 0);
setPin(i2c, in2, 0);
setPin(i2c, in3, 1);
setPin(i2c, in4, 0);
break;
case MOTOR_PIVOT_RIGHT:
setPin(i2c, in1, 1);
setPin(i2c, in2, 0);
setPin(i2c, in3, 0);
setPin(i2c, in4, 1);
break;
case MOTOR_PIVOT_LEFT:
setPin(i2c, in1, 0);
setPin(i2c, in2, 1);
setPin(i2c, in3, 1);
setPin(i2c, in4, 0);
break;
case MOTOR_RELEASE:
setPin(i2c, in1, 0);
setPin(i2c, in2, 0);
setPin(i2c, in4, 0);
setPin(i2c, in3, 0);
break;
default:
printf("Unsupported command '%d'\n", command);
return;
}
}
void setSpeed(word i2c, word motor, word speed){
if(speed < 0 || speed > 255){
printf("Speed must be between 0 and 255 inclusive. Received '%d'\n", speed);
return;
}
word pwm;
switch(motor){
case 1:
pwm = PWM_M1_PWM;
break;
case 2:
pwm = PWM_M2_PWM;
break;
case 3:
pwm = PWM_M3_PWM;
break;
case 4:
pwm = PWM_M4_PWM;
break;
default:
printf("Unsupported motor '%s'\n", motor);
break;
}
setPWM(i2c, pwm, 0, speed * 16);
}
void initMotor(word i2c, word motor){
runMotor(i2c, motor, MOTOR_RELEASE);
setSpeed(i2c, motor, 150);
runMotor(i2c, motor, MOTOR_FORWARD);
runMotor(i2c, motor, MOTOR_RELEASE);
}