pwmServo.h

/*
 * Copyright (C) 2016 Tolga Ceylan
 *
 * CopyPolicy: Released under the terms of the GNU GPL v3.0.
 * This file incorporates work covered by the following copyright and  
 * permission notice:
 */
  /*************************************************** 
    This is a library for our Adafruit 16-channel PWM & Servo driver
    Pick one up today in the adafruit shop!
    ------> http://www.adafruit.com/products/815
    These displays use I2C to communicate, 2 pins are required to  
    interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4
    Adafruit invests time and resources providing this open source code, 
    please support Adafruit and open-source hardware by purchasing 
    products from Adafruit!
    Written by Limor Fried/Ladyada for Adafruit Industries.  
    BSD license, all text above must be included in any redistribution
   ****************************************************/
#ifndef PWMServo_H__
#define PWMServo_H__

#include <stdint.h>
#include <stdlib.h>
#include "timer.h"

namespace robo {

class I2C;
class Thread;

class PWMServo
{
public:

    PWMServo(I2C *driver, Thread *thr);
    ~PWMServo();

    int initialize(int address, float freq);
    void shutdown();
    int update(uint64_t now);

    int set_pwm(uint8_t num, uint16_t on, uint16_t off);
    int execute();

    bool is_initialized() const
    {
        return m_initialized && m_io_ready;
    }

private:
    uint8_t thr_get_prescale() const;

    void thr_reset();
    void thr_set_pwm_freq1();
    void thr_set_pwm_freq2();
    void thr_set_pwm(uint8_t *data);

    static void s_reset(void *arg, uint8_t *arg_blob);
    static void s_set_pwm_freq1(void *arg, uint8_t *arg_blob);
    static void s_set_pwm_freq2(void *arg, uint8_t *arg_blob);
    static void s_set_pwm(void *arg, uint8_t *arg_blob);

private:
    int m_address;
    float m_freq;

    I2C *m_driver;
    Thread *m_thread;

    bool     m_initialized;
    bool     m_io_ready;
    bool     m_start_pwm_freq2;
    uint8_t m_oldmode;
};
} // namespace robo

#endif /* PWMServo_H__ */