Revision 2:1d2251574d35, committed 2014-10-21

Comitter:

dudanian

Date:

Tue Oct 21 06:04:24 2014 +0000

Parent:

1:ba4e0390f72e

Child:

3:3b04a122e508

Commit message:

Big changes to the code. Removed Servo files and made an inner class inside TLC5940Servo.

Changed in this revision

--- a/Servo.cpp	Tue Oct 21 02:32:57 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,73 +0,0 @@
-/* mbed R/C Servo Library
- *  
- * Copyright (c) 2007-2010 sford, cstyles
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
- 
-#include "Servo.h"
-#include "mbed.h"
-
-static float clamp(float value, float min, float max) {
-    if(value < min) {
-        return min;
-    } else if(value > max) {
-        return max;
-    } else {
-        return value;
-    }
-}
-
-Servo::Servo() {
-    calibrate();
-    write(0.5);
-}
-
-// used source code, but converted pwm pulse to 12 bit value
-// assuming 20ms period, divide to get percentage and multiply to get value
-void Servo::write(float percent) {
-    float offset = _range * 2.0 * (percent - 0.5);
-    _pw = (int)((0.0015 + clamp(offset, -_range, _range))/0.02 * 4096.0);
-    _p = clamp(percent, 0.0, 1.0);
-}
-
-/*void Servo::position(float degrees) {
-    /* not used for now
-    float offset = _range * (degrees / _degrees);
-    _pw = 0.0015 + clamp(offset, -_range, _range); // need to change
-    
-}*/
-
-void Servo::calibrate(float range, float degrees) {
-    _range = range;
-    _degrees = degrees;
-}
-
-float Servo::read() {
-    return _p;
-}
-
-int Servo::pulsewidth() {
-    return _pw;
-}
-
-float& Servo::operator= (float percent) { 
-    write(percent);
-    return _p;
-}

--- a/Servo.h	Tue Oct 21 02:32:57 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,74 +0,0 @@
-/* mbed R/C Servo Library
- * Copyright (c) 2007-2010 sford, cstyles
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-  
-#ifndef SERVO_H
-#define SERVO_H
-
-#include "mbed.h"
-
-/** 
- * Servo control class, modified to be used with the TLC5940 PWM IC
- *
- */
-class Servo {
-
-public:
-    /** Create a servo object NOT connected to a specified PwmOut pin
-     */
-    Servo();
-    
-    /** Set the servo position, normalised to it's full range
-     *
-     * @param percent A normalised number 0.0-1.0 to represent the full range.
-     */
-    void write(float percent);
-    
-    /**  Read the servo motors current position
-     *
-     * @param returns A normalised number 0.0-1.0  representing the full range.
-     */
-    float read();
-
-    /**  Read the servo motors current pulse width converted to TLC5940 PWM value
-     *
-     * @param returns A number between 0 and 4096 representing a pulse width.
-     */
-    int pulsewidth();
-    
-    /**  Allows calibration of the range and angles for a particular servo
-     *
-     * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
-     * @param degrees Angle from centre to maximum/minimum position in degrees
-     */
-    void calibrate(float range = 0.0005, float degrees = 45.0); 
-        
-    /**  Shorthand for the write and read functions */
-    float& operator= (float percent);
-
-protected:
-    int _pw;
-    float _range;
-    float _degrees;
-    float _p;
-};
-
-#endif

--- a/TLC5940Servo.cpp	Tue Oct 21 02:32:57 2014 +0000
+++ b/TLC5940Servo.cpp	Tue Oct 21 06:04:24 2014 +0000
@@ -1,71 +1,118 @@
 #include "TLC5940Servo.h"
 
-TLC5940Servo::TLC5940Servo(PinName MOSI, PinName SCLK, PinName XLAT, PinName BLANK, 
-        PinName GSCLK, const int number) : number(number), spi(MOSI, NC, SCLK), gsclk(GSCLK),
-                                           blank(BLANK), xlat(XLAT), newData(false), need_xlat(false)
-{   
-    // Configure SPI to 12 bits and SPI_SPEED
+TLC5940Servo::TLC5940Servo(PinName MOSI, PinName SCLK, PinName XLAT, PinName BLANK,
+                           PinName GSCLK, const int number) : number(number), spi(MOSI, NC, SCLK), gsclk(GSCLK),
+    blank(BLANK), xlat(XLAT), newData(false), need_xlat(false) {
     spi.format(12, 0);
     spi.frequency(SPI_SPEED);
-    
-    // Set output pin states
+
     xlat = 0;
     blank = 1;
-    
-    // Call the reset function every 4096 PWM outputs
+
     reset_ticker.attach_us(this, &TLC5940Servo::reset, (1000000.0/GSCLK_SPEED) * 4096.0);
-    
-    // Configure FastPWM output for GSCLK frequency at 50% duty cycle
+
     gsclk.period_us(1000000.0/GSCLK_SPEED);
     gsclk.write(.5);
 
-    // Create a data buffer to store the current Servo states
-    dataBuffer = new int[16 * number]();
+    servos = new Servo[16 * number];
 }
 
-TLC5940Servo::~TLC5940Servo()
-{
-    // Delete the buffer
-    delete[] dataBuffer;
+TLC5940Servo::~TLC5940Servo() {
+    delete[] servos;
+}
+
+void TLC5940Servo::calibrate(int index, float range, float degrees) {
+    servos[index].calibrate(range, degrees);
 }
 
-
-int& TLC5940Servo::operator[](int index)
-{
-    // Return the start of the correct data chunk
-    newData = true;
-    return dataBuffer[index];
+void TLC5940Servo::calibrate(float range, float degrees) {
+    for (int i = 0; i < 16 * number; i++)
+        servos[i].calibrate(range, degrees);
 }
 
-void TLC5940Servo::reset()
-{
+TLC5940Servo::Servo& TLC5940Servo::operator[](int index) {
+    newData = true;
+    return servos[index];
+}
+
+// most complicated method, heavily commented
+void TLC5940Servo::reset() {
     gsclk.write(0); // turn off gsclk
     blank = 1; // start reset
-    
+
     // latch data if new data was written
     if (need_xlat) {
         xlat = 1;
         xlat = 0;
-        
+
         need_xlat = false;
     }
-    
+
     blank = 0; // turn off reset
     gsclk.write(.5); // restart gsclk
 
     if (newData) {
-        
-        // Send GS data backwards - this makes the GS_buffer[0] index correspond to OUT0 
-        for (int i = (16 * number) - 1; i >= 0; i--)
-        {
+
+        // Send data backwards - this makes servos[0] index correspond to OUT0
+        for (int i = (16 * number) - 1; i >= 0; i--) {
             // Get the lower 12 bits of the buffer and send
-            spi.write(dataBuffer[i] & 0xFFF);
+            spi.write(servos[i].pulsewidth() & 0xFFF);
         }
-        
+
         // Latch after current GS data is done being displayed
         need_xlat = true;
-        
+
         // No new data to send (we just sent it!)
         newData = false;
     }
-}
\ No newline at end of file
+}
+
+/**
+ * TLC5940 Inner Servo class
+ * 
+ * Helps to abstract some of the details away
+ */
+static float clamp(float value, float min, float max) {
+    if(value < min) {
+        return min;
+    } else if(value > max) {
+        return max;
+    } else {
+        return value;
+    }
+}
+
+TLC5940Servo::Servo::Servo() {
+    calibrate();
+    write(0.5);
+}
+
+// used source code, but converted pwm pulse to 12 bit value
+// assuming 20ms period, divide to get percentage and multiply to get value
+void TLC5940Servo::Servo::write(float percent) {
+    float offset = _range * 2.0 * (percent - 0.5);
+    _pw = (int)(4095 - ((0.0015 + clamp(offset, -_range, _range))/0.02 * 4096.0));
+    _p = clamp(percent, 0.0, 1.0);
+}
+
+void TLC5940Servo::Servo::calibrate(float range, float degrees) {
+    _range = range;
+    _degrees = degrees;
+}
+
+float TLC5940Servo::Servo::read() {
+    return _p;
+}
+
+int TLC5940Servo::Servo::pulsewidth() {
+    return _pw;
+}
+
+TLC5940Servo::Servo& TLC5940Servo::Servo::operator= (float percent) { 
+    write(percent);
+    return *this;
+}
+
+TLC5940Servo::Servo::operator float() {
+    return read();
+}

--- a/TLC5940Servo.h	Tue Oct 21 02:32:57 2014 +0000
+++ b/TLC5940Servo.h	Tue Oct 21 06:04:24 2014 +0000
@@ -2,7 +2,7 @@
 #define TLC5940Servo_H
 
 #include "FastPWM.h"
- 
+
 /**
   * SPI speed used by the mbed to communicate with the TLC5940
   * The TLC5940 supports up to 30Mhz. This should be kept as high
@@ -14,65 +14,81 @@
   * The rate at which the GSCLK pin is pulsed
   * This also controls how often the reset function is called
   * The rate at which the reset function is called can be calculated by: (1/GSCLK_SPEED) * 4096
-  * 
-  * Since the Servo period is 20ms (50Hz), we set this clock to 50*4096 = 204,800Hz according to the eqn above
-  * Also, since this clock is so slow, there is no real limit to the number of TLC5940s you can chain
+  *
+  * Since the Servo period is 20ms (50Hz), we set this clock to 50*4096 = 204,800Hz according to the equation above
+  * Also, since this clock is so slow, there is almost no limit to the number of TLC5940s you can chain
   */
 #define GSCLK_SPEED 204800
 
 /**
-  *  This class controls a TLC5940 PWM driver to control Servo motors.
-  *  It supports sending grayscale PWM data calibrated for Servos, but it does not support error checking or writing the EEPROM.
-  *  This class uses the FastPWM library by Erik Olieman to continuously pulse the GSLCK pin without CPU intervention. After
-  *  4096 pulses, the private member funciton reset is called by the ticker. It resets the display by pulsing the BLANK pin. If new
-  *  data has been set to be sent by the function setNewData, it is sent here.
+  *  This class controls a TLC5940 PWM driver to control Servo motors. It supports sending grayscale PWM data calibrated for Servos,
+  *  but it does not support error checking or writing the EEPROM. After 4096 pulses, the private member funciton reset is called by
+  *  the ticker. It resets the driver by pulsing the BLANK pin. If new data has been set to be sent by the function setNewData, it
+  *  is sent here.
+  *  
+  *  This class is a heavily modified versoin of the TLC5940 library created by Spencer Davis. This class also uses the FastPWM
+  *  library by Erik Olieman to continuously pulse the GSLCK pin without CPU intervention. 
   */
-class TLC5940Servo
-{
+class TLC5940Servo {
 public:
+    /* 
+     * Servo inner class to abstract some of the details. Based off of the mbed official Servo class
+     */
+    class Servo {
+    public:
+        Servo();
+        void write(float percent);
+        void calibrate(float range=0.0005, float degrees=45.0);
+        float read();
+        int pulsewidth();
+        Servo& operator= (float percent);
+        operator float();
+    private:
+        float _p;
+        float _range;
+        float _degrees;
+        int _pw;
+    };
     /**
-      *  Set up the TLC5940
-      * 
-      *  @param MOSI - The MOSI pin of the SPI bus
-      *  @param SCLK - The SCK pin of the SPI bus
-      *  @param XLAT - The XLAT pin of the TLC5940(s)
-      *  @param BLANK - The BLANK pin of the TLC5940(s)
-      *  @param GSCLK - The GSCLK pin of the TLC5940(s)
-      *  @param number - The number of TLC5940s (optional)
+      * Set up the TLC5940
+      *
+      * @param MOSI - The MOSI pin of the SPI bus
+      * @param SCLK - The SCK pin of the SPI bus
+      * @param XLAT - The XLAT pin of the TLC5940(s)
+      * @param BLANK - The BLANK pin of the TLC5940(s)
+      * @param GSCLK - The GSCLK pin of the TLC5940(s)
+      * @param number - The number of TLC5940s (optional)
       */
     TLC5940Servo(PinName MOSI, PinName SCLK, PinName XLAT, PinName BLANK,
-            PinName GSCLK, const int number = 1);
-    
-    // Destructor used to delete memory
+                 PinName GSCLK, const int number = 1);
+
+    /**
+     * Destructor used to delete memory
+     */
     ~TLC5940Servo();
 
-    /**  Allows calibration of the range and angles for all servos
-     *
-     * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
-     * @param degrees Angle from centre to maximum/minimum position in degrees
-     */
-    void calibrate(float range, float degrees); 
-    
-    /**  Allows calibration of the range and angles for a particular servo
+    /**
+     * Allows calibration of the range and angles for a particular servo
      *
      * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
      * @param degrees Angle from centre to maximum/minimum position in degrees
      */
     void calibrate(int index, float range, float degrees);
-    
-    /**  Allows calibration of the range and angles for a particular servo
+
+    /**
+     * Allows calibration of the range and angles for all servos
      *
      * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
      * @param degrees Angle from centre to maximum/minimum position in degrees
      */
-    void calibrate(float *range, float *degrees);  
-    
+    void calibrate(float range, float degrees);
+
     /**
-      *  Set the next chunk of grayscale data to be sent
-      *  @param data - Array of 16 bit shorts containing 16 12 bit grayscale data chunks per TLC5940
-      *  @note These must be in intervals of at least (1/GSCLK_SPEED) * 4096 to be sent
+      * Array index operator for reading and writing from servos
+      *
+      * @param index Index of Servo in array
       */
-    int& operator[](int index);
+    Servo& operator[](int index);
 
 private:
     // SPI port - only MOSI and SCK are used
@@ -98,7 +114,7 @@
     volatile bool need_xlat;
 
     // Buffers to store data until it is sent
-    int* dataBuffer;
+    Servo* dataBuffer;
 
     // Function to reset the display and send the next chunks of data
     void reset();