bsServoDevice.h File Reference

interface to the servo motor control module BM7004. More...

#include <bluemelon/types.h>
#include <bluesense/external/bsDeviceInterface.h>

Defines
#define	BLUESENSE_SERVOCONTROLLER_SERVOCOUNT   8
Typedefs
typedef _bsServoDevice_specificsStruct *	bsServoDevice_specifics_t
Enumerations
enum	bsServoDevice_portEnum
Functions
DECLSPEC bsServoDevice_specifics_t	bsServoDevice_getDeviceSpecifics (bsDeviceTable_deviceInfo_t deviceInstancePtr)
DECLSPEC uint8_t	bsServoDevice_requestSetAngles (bsServoDevice_specifics_t srvDev, uint8_t relevantAngles, uint8_t *angles)
DECLSPEC uint8_t	bsServoDevice_requestSetAngle (bsServoDevice_specifics_t srvDev, bsServoDevice_portEnum port, uint8_t angle)
DECLSPEC uint8_t	bsServoDevice_requestGetAngles (bsServoDevice_specifics_t srvDev)
DECLSPEC void	bsServoDevice_getPendingAngles (bsServoDevice_specifics_t srvDev, uint8_t *angles)
DECLSPEC uint8_t	bsServoDevice_getPendingAngle (bsServoDevice_specifics_t srvDev, bsServoDevice_portEnum port)
DECLSPEC uint8_t	bsServoDevice_getRequestSetAnglesDone (bsServoDevice_specifics_t srvDev)
DECLSPEC uint8_t	bsServoDevice_getCurrentAngle (bsServoDevice_specifics_t srvDev, bsServoDevice_portEnum port)
DECLSPEC void	bsServoDevice_getCurrentAngles (bsServoDevice_specifics_t srvDev, uint8_t *angleArray)
DECLSPEC uint8_t	bsServoDevice_requestSetConfiguration (bsServoDevice_specifics_t srvDev, uint8_t offset)
DECLSPEC uint8_t	bsServoDevice_requestGetConfiguration (bsServoDevice_specifics_t srvDev)
DECLSPEC uint8_t	bsServoDevice_getRequestSetConfigDone (bsServoDevice_specifics_t srvDev)
DECLSPEC uint8_t	bsServoDevice_getRequestGetConfigDone (bsServoDevice_specifics_t srvDev)
DECLSPEC uint8_t	bsServoDevice_configPending (bsServoDevice_specifics_t srvDev)
DECLSPEC uint8_t	bsServoDevice_getCurrentOffset (bsServoDevice_specifics_t srvDev)
DECLSPEC void	bsServoDevice_reset (bsServoDevice_specifics_t srvDev)
DECLSPEC void	bsServoDevice_setTimeOutUs (bsServoDevice_specifics_t srvDev, uint32_t timeOutUs)
DECLSPEC uint32_t	bsServoDevice_getTimeOutUs (bsServoDevice_specifics_t srvDev)

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Detailed Description

interface to the servo motor control module BM7004.

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Define Documentation

#define BLUESENSE_SERVOCONTROLLER_SERVOCOUNT   8

The number of servos that can be controlled Examples: servo.c.

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Typedef Documentation

typedef struct _bsServoDevice_specificsStruct* bsServoDevice_specifics_t

This (opaque) structure represents the device specific data of a servo device. Examples: servo.c.

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Enumeration Type Documentation

enum bsServoDevice_portEnum

This enumeration describes the servo output ports

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Function Documentation

DECLSPEC uint8_t bsServoDevice_configPending (  bsServoDevice_specifics_t  srvDev  )

Checks if a configuration is being currently being set or being retrieved Parameters: srvDev  a pointer to the servoDevice's instance specific data Returns: 1 if busy, 0 if done

DECLSPEC uint8_t bsServoDevice_getCurrentAngle (  bsServoDevice_specifics_t  srvDev, bsServoDevice_portEnum  port )

Returns the current set angle of a specific servo. Parameters: srvDev  a pointer to the servoDevice's instance specific data port  the port of the servo motor. See also: bsServoDevice_portEnum Returns: the angle off the servo.

DECLSPEC void bsServoDevice_getCurrentAngles (  bsServoDevice_specifics_t  srvDev, uint8_t *  angleArray )

Fills an array with the current set angles. Parameters: srvDev  a pointer to the servoDevice's instance specific data angleArray  a pointer to an array of uint8_t angles with enough space for all servos. See also: BLUESENSE_SERVOCONTROLLER_SERVOCOUNT

DECLSPEC uint8_t bsServoDevice_getCurrentOffset (  bsServoDevice_specifics_t  srvDev  )

Returns the current set offset configuration parameter Parameters: srvDev  a pointer to the servoDevice's instance specific data Returns: The offset. The offset allows you to disposition the pwm duty cycle so as to fine tune the position of the servos.

DECLSPEC bsServoDevice_specifics_t bsServoDevice_getDeviceSpecifics (  bsDeviceTable_deviceInfo_t  deviceInstancePtr  )

Returns a Servo device instance from a device info pointer (obtained from the device table). Returns: the instance of an Servo Interface. Or null if the device is inaccessible (eg. wrong type, not found). Examples: servo.c.

DECLSPEC uint8_t bsServoDevice_getPendingAngle (  bsServoDevice_specifics_t  srvDev, bsServoDevice_portEnum  port )

Returns the angle of a specific servo, which is currently underway to the device Parameters: srvDev  a pointer to the servoDevice's instance specific data port  the servo motor port. See also: bsServoDevice_portEnum Returns: the angle to be set on the servo.

DECLSPEC void bsServoDevice_getPendingAngles (  bsServoDevice_specifics_t  srvDev, uint8_t *  angles )

Fills an array with angles which are currently underway to the device Parameters: srvDev  a pointer to the servoDevice's instance specific data angles  a pointer to an array of uint8_t angles with enough space for all servos. See also: BLUESENSE_SERVOCONTROLLER_SERVOCOUNT

DECLSPEC uint8_t bsServoDevice_getRequestGetConfigDone (  bsServoDevice_specifics_t  srvDev  )

Checks if the configuration request is finished Parameters: srvDev  a pointer to the servoDevice's instance specific data Returns: 1 if configuration was retrieved, 0 if still busy

DECLSPEC uint8_t bsServoDevice_getRequestSetAnglesDone (  bsServoDevice_specifics_t  srvDev  )

Checks if the angle set request is finished Parameters: srvDev  a pointer to the servoDevice's instance specific data Returns: 1 if request finished, 0 if request still busy

DECLSPEC uint8_t bsServoDevice_getRequestSetConfigDone (  bsServoDevice_specifics_t  srvDev  )

Checks if the configuration set request is finished Parameters: srvDev  a pointer to the servoDevice's instance specific data Returns: 1 if request finished, 0 if request still busy

DECLSPEC uint32_t bsServoDevice_getTimeOutUs (  bsServoDevice_specifics_t  srvDev  )

Returns the current set time out delay. The time out delay is used to check if a request was acknowledged in the set time. If an answer to a request is not received within the set time, the request is resent. Parameters: srvDev  a pointer to the servoDevice's instance specific data Returns: the time out value in microseconds.

DECLSPEC uint8_t bsServoDevice_requestGetAngles (  bsServoDevice_specifics_t  srvDev  )

Sends a request to retrieve the current set angles Parameters: srvDev  a pointer to the servoDevice's instance specific data

DECLSPEC uint8_t bsServoDevice_requestGetConfiguration (  bsServoDevice_specifics_t  srvDev  )

Request to obtain the configuration settings from a adcInput Device. Parameters: srvDev  a pointer to the servoDevice's instance specific data

DECLSPEC uint8_t bsServoDevice_requestSetAngle (  bsServoDevice_specifics_t  srvDev, bsServoDevice_portEnum  port, uint8_t  angle )

Requests the servo device to set one of its servos to a new angle Parameters: srvDev  a pointer to the servoDevice's instance specific data port  the servo motor port. See also: bsServoDevice_portEnum Parameters: angle  an uint8_t representing the new angle of the servo. Note that each angle is value between 0 and 255, the actual physical angle depends on the specifications of the connected servo.

DECLSPEC uint8_t bsServoDevice_requestSetAngles (  bsServoDevice_specifics_t  srvDev, uint8_t  relevantAngles, uint8_t *  angles )

Requests the servo device to set its servos to new angles Parameters: srvDev  a pointer to the servoDevice's instance specific data relevantAngles  a bit mask indicating which servos to update angles  a pointer to an array of uint8_t angles with enough space for all servos. See also: BLUESENSE_SERVOCONTROLLER_SERVOCOUNT Only those angles for which a bit in the bit mask is set will be sent to the device. Note that each angle is a value between 0 and 255, the actual physical angle depends on the specifications of the connected servo. Examples: servo.c.

DECLSPEC uint8_t bsServoDevice_requestSetConfiguration (  bsServoDevice_specifics_t  srvDev, uint8_t  offset )

Requests to set the configuration of a servo device. Parameters: srvDev  a pointer to the servoDevice's instance specific data offset  allows you to disposition the pwm duty cycle so as to fine tune the position of the servos. Examples: servo.c.

DECLSPEC void bsServoDevice_reset (  bsServoDevice_specifics_t  srvDev  )

Resets the internal state of the software, this causes the state of the module to be retrieved from the hardware. Also the timout and offset values are reset to their defaults. Parameters: srvDev  a pointer to the servoDevice's instance specific data

DECLSPEC void bsServoDevice_setTimeOutUs (  bsServoDevice_specifics_t  srvDev, uint32_t  timeOutUs )

Sets the time out value which is used to check if a request was acknowledged in the set time. If an answer to a request is not received within the set time, the request is resent. Parameters: srvDev  a pointer to the servoDevice's instance specific data timeOutUs  the value in microseconds which is the maximum duraion between a request and its answer.

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