text: /*
   * Author: Jon Trulson <jtrulson@ics.com>
   * Copyright (c) 2015 Intel Corporation.
   *
   * 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.
   */
  #pragma once
  
  #include <stdint.h>
  #include <sys/time.h>
  
  #include <string>
  #include <mraa/i2c.h>
  #include <mraa/gpio.h>
  
  #include "pca9685.hpp"
  
  #define ADAFRUITMS1438_I2C_BUS 0
  #define ADAFRUITMS1438_DEFAULT_I2C_ADDR 0x60
  
  namespace upm {
    
    /**
     * @brief Adafruit Motor Shield 1438 library
     * @defgroup adafruitms1438 libupm-adafruitms1438
     * @ingroup adafruit i2c motor
     */
  
    /**
     * @library adafruitms1438
     * @sensor adafruitms1438
     * @comname Module for the Adafruit Motor Shield 1438
     * @type motor
     * @man adafruit
     * @web http://www.adafruit.com/products/1438
     * @con i2c
     *
     * @brief API for the AdafruitMS1438 Motor Shield
     *
     * This class implements support for the stepper and DC motors that
     * can be connected to this Motor Shield.
     * Note: the two servo connections are not controlled by the PCA9685
     * controller (or this class). They are connected directly to digital
     * PWM pins 9 and 10 on the Arduino* breakout board.
     *
     * @image html adafruitms1438.jpg
     * An example using a DC motor connected to M3
     * @snippet adafruitms1438.cxx Interesting
     * An example using a stepper motor connected to M1 & M2
     * @snippet adafruitms1438-stepper.cxx Interesting
     */
    class AdafruitMS1438 {
    public:
  
      /**
       * Enum to specify the direction of a motor
       */
      typedef enum {
        DIR_NONE = 0x00,
        DIR_CW   = 0x01,
        DIR_CCW  = 0x02
      } DIRECTION_T;
  
      /**
       * Enum to specify a DC motor
       */
      typedef enum {
        MOTOR_M1 = 0,
        MOTOR_M2 = 1,
        MOTOR_M3 = 2,
        MOTOR_M4 = 3
      } DCMOTORS_T;
  
      /**
       * Enum to specify a stepper motor
       */
      typedef enum {
        STEPMOTOR_M12 = 0,
        STEPMOTOR_M34 = 1
      } STEPMOTORS_T;
  
      /**
       * AdafruitMS1438 constructor
       *
       * @param bus I2C bus to use
       * @param address Address for this sensor
       */
      AdafruitMS1438(int bus, uint8_t address = ADAFRUITMS1438_DEFAULT_I2C_ADDR);
  
      /**
       * AdafruitMS1438 destructor
       */
      ~AdafruitMS1438();
  
      /**
       * Returns the number of milliseconds elapsed since initClock(...)
       * was last called.
       *
       * @return Elapsed milliseconds
       */
      uint32_t getMillis(STEPMOTORS_T motor);
  
      /**
       * Resets the clock
       *
       */
      void initClock(STEPMOTORS_T motor);
  
      /**
       * Sets the PWM period.  Note: this applies to all PWM channels.
       *
       * @param hz Sets the PWM period 
       */
      void setPWMPeriod(float hz);
  
      /**
       * Enables PWM output for a motor
       *
       * @param motor DC motor to enable
       */
      void enableMotor(DCMOTORS_T motor);
  
      /**
       * Disables PWM output for a motor
       *
       * @param motor DC motor to disable
       */
      void disableMotor(DCMOTORS_T motor);
  
      /**
       * Enables output for a stepper motor
       *
       * @param motor Stepper motor to enable
       */
      void enableStepper(STEPMOTORS_T motor);
  
      /**
       * Disable output for a stepper motor
       *
       * @param motor Stepper motor to disable
       */
      void disableStepper(STEPMOTORS_T motor);
  
      /**
       * set the speed of a DC motor.  Values can range from 0 (off) to
       * 100 (full speed).
       *
       * @param motor the DC motor to configure
       * @param speed speed to set the motor to
       */
      void setMotorSpeed(DCMOTORS_T motor, int speed);
  
      /**
       * Sets the speed of a stepper in revolutions per minute (RPM)
       *
       * @param motor DC motor to configure
       * @param speed Speed to set the motor to
       */
      void setStepperSpeed(STEPMOTORS_T motor, int speed);
  
      /**
       * Sets the direction of a DC motor, clockwise or counterclockwise
       *
       * @param motor DC motor to configure
       * @param dir Direction to set the motor in
       */
      void setMotorDirection(DCMOTORS_T motor, DIRECTION_T dir);
   
      /**
       * Sets the direction of a stepper motor, clockwise or counterclockwise
       *
       * @param motor Stepper motor to configure
       * @param dir Direction to set the motor in
       */
      void setStepperDirection(STEPMOTORS_T motor, DIRECTION_T dir);
   
      /**
       * Sets a stepper motor configuration
       *
       * @param motor Stepper motor to configure
       * @param stepsPerRev Number of steps to complete a full revolution
       */
      void stepConfig(STEPMOTORS_T motor, unsigned int stepsPerRev);
  
      /**
       * Steps a stepper motor a specified number of steps
       *
       * @param motor Stepper motor to step
       * @param steps Number of steps to move the stepper motor
       */
      void stepperSteps(STEPMOTORS_T motor, unsigned int steps);
  
    private:
      /* Disable implicit copy and assignment operators */
      AdafruitMS1438(const AdafruitMS1438&) = delete;
      AdafruitMS1438 &operator=(const AdafruitMS1438&) = delete;
  
      // SWIG will generate a warning for these 'nested structs'; however,
      // it can be ignored as these structs are never exposed.
  
      // struct to hold mappings of DC motors
      typedef struct {
        int pwm;
        int in1;
        int in2;
      } DC_PINMAP_T;
  
      // struct to hold mappings of stepper motors
      typedef struct {
        int pwmA;
        int in1A;
        int in2A;
        int pwmB;
        int in1B;
        int in2B;
      } STEPPER_PINMAP_T;
  
      // struct to hold information about each stepper
      typedef struct {
        int stepsPerRev;          // steps per revolution
        int currentStep;          // current step number
        uint32_t stepDelay;       // delay between steps
        int stepDirection;        // direction to step
        struct timeval startTime; // starting time
      } STEPPER_CONFIG_T;
  
      void setupPinMaps();
      void stepperStep(STEPMOTORS_T motor);
  
      DC_PINMAP_T m_dcMotors[4];
      STEPPER_PINMAP_T m_stepMotors[2];
      STEPPER_CONFIG_T m_stepConfig[2];
  
      PCA9685 *m_pca9685;
    };
  }
  
  
  