/home/travis/build/lis-epfl/MAVRIC_Library/drivers/servo.hpp

/*******************************************************************************
 * Copyright (c) 2009-2016, MAV'RIC Development Team
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
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 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
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 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 ******************************************************************************/

/*******************************************************************************
 * \file servo.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief Driver for servomotors using PWM
 *
 ******************************************************************************/


#ifndef SERVO_HPP_
#define SERVO_HPP_

#include <cstdint>
#include <cstdbool>

#include "hal/common/pwm.hpp"


typedef struct
{
    float    trim;                  
    float    min;                   
    float    max;                   
    float    failsafe;              
    uint32_t repeat_freq;           
    uint16_t pulse_center_us;       
    uint16_t pulse_magnitude_us;    
} servo_conf_t;


static inline servo_conf_t servo_default_config_standard();


static inline servo_conf_t servo_default_config_esc();


class Servo
{
public:
    Servo(Pwm& pwm, const servo_conf_t config = servo_default_config_standard());


    bool init(void);


    float read(void) const;


    bool write(float value, bool to_hardware = true);


    bool failsafe(bool to_hardware = true);


    bool write_to_hardware(void);


    void calibrate_esc(void);

    void set_servo_max(void);

    void set_servo_min(void);

    float servo_max(void);

    float servo_min(void);

private:
    Pwm&            pwm_;       
    servo_conf_t    config_;    
    float           value_;     
};


static inline servo_conf_t servo_default_config_standard()
{
    servo_conf_t conf       = {};

    conf.trim               = 0.0f;
    conf.min                = -1.0f;
    conf.max                = 1.0f;
    conf.failsafe           = 0.0f;
    conf.repeat_freq        = 50;
    conf.pulse_center_us    = 1500;
    conf.pulse_magnitude_us = 500;

    return conf;
};


static inline servo_conf_t servo_default_config_esc()
{
    servo_conf_t conf       = {};

    conf.trim               = 0.0f;
    conf.min                = -0.9f;
    conf.max                = 1.0f;
    conf.failsafe           = -1.1f;
    conf.repeat_freq        = 200;
    conf.pulse_center_us    = 1500;
    conf.pulse_magnitude_us = 500;

    return conf;
};


static inline servo_conf_t servo_default_config_brush_motor()
{
    servo_conf_t conf       = {};

    conf.trim               = 0.0f;
    conf.min                = -1.0f;
    conf.max                = 1.0f;
    conf.failsafe           = -1.0f;
    conf.repeat_freq        = 4000; // period = 250us
    conf.pulse_center_us    = 125;
    conf.pulse_magnitude_us = 125;  // duty cycle: 0 to 100%

    return conf;
};

#endif /* SERVO_HPP_ */