M5AtomMotionSolarTracker/AtomMotion.cpp at master · AdamJHowell/M5AtomMotionSolarTracker · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
#include "AtomMotion.h"

void AtomMotion::Init()
{
	Wire.begin( 25, 21 );
}

void AtomMotion::Write1Byte( uint8_t address, uint8_t Register_address, uint8_t data )
{
	Wire.beginTransmission( address );
	Wire.write( Register_address );
	Wire.write( data );
	Wire.endTransmission();
}

void AtomMotion::Write2Byte( uint8_t address, uint8_t Register_address, uint16_t data )
{
	Wire.beginTransmission( address );
	Wire.write( Register_address );
	Wire.write( data >> 8 );	// MSB
	Wire.write( data & 0xFF ); // LSB

	Wire.endTransmission();
}

uint8_t AtomMotion::ReadBytes( uint8_t address, uint8_t subAddress, uint8_t count, uint8_t *dest )
{
	Wire.beginTransmission( address ); // Initialize the Tx buffer
	Wire.write( subAddress );			  // Put slave register address in Tx buffer
	uint8_t i = 0;
	if( Wire.endTransmission( false ) == 0 && Wire.requestFrom( address, ( uint8_t )count ) )
	{
		while( Wire.available() )
		{
			dest[i++] = Wire.read();
		}
		return true;
	}
	return false;
}

/*******************************************************************************/

uint8_t AtomMotion::SetServoAngle( uint8_t Servo_CH, uint8_t angle )
{
	uint8_t Register_address = Servo_CH - 1;
	if( Register_address > 3 ) return 1;
	Write1Byte( SERVO_ADDRESS, Register_address, angle );
	return 0;
}

uint8_t AtomMotion::SetServoPulse( uint8_t Servo_CH,
											  uint16_t width ) // 0x10        ->16
{
	uint8_t servo_ch = Servo_CH - 1;
	uint8_t Register_address = 2 * servo_ch + 16;
	if( Register_address % 2 == 1 || Register_address > 32 ) return 1;
	Write2Byte( SERVO_ADDRESS, Register_address, width );
	return 0;
}

uint8_t AtomMotion::SetMotorSpeed( uint8_t Motor_CH, int8_t speed ) // 0x10 ->16
{
	uint8_t servo_ch = Motor_CH - 1;
	if( servo_ch > 1 ) return 1;
	uint8_t Register_address = servo_ch + 32;
	Write1Byte( SERVO_ADDRESS, Register_address, ( uint8_t )speed );
	return 0;
}

uint8_t AtomMotion::ReadServoAngle( uint8_t Servo_CH )
{
	uint8_t data = 0;
	uint8_t Register_address = Servo_CH - 1;
	ReadBytes( SERVO_ADDRESS, Register_address, 1, &data );
	return data;
}

uint16_t AtomMotion::ReadServoPulse( uint8_t Servo_CH )
{
	uint8_t data[2];
	uint8_t servo_ch = Servo_CH - 1;
	uint8_t Register_address = 2 * servo_ch | 0x10;
	ReadBytes( SERVO_ADDRESS, Register_address, 2, data );
	return ( data[0] << 8 ) + data[1];
}

int8_t AtomMotion::ReadMotorSpeed( uint8_t Motor_CH )
{
	int8_t data = 0;
	uint8_t servo_ch = Motor_CH - 1;
	if( servo_ch > 1 ) return 1;
	uint8_t Register_address = servo_ch | 0x20;
	ReadBytes( SERVO_ADDRESS, Register_address, 1, ( uint8_t * )&data );
	return data;
}