OutputServoPCA9685.hpp

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#pragma once
/******************************************************************
*
*       Project: ESPixelStick - An ESP8266 / ESP32 and E1.31 based pixel (And Serial!) driver
*       Orginal ESPixelStickproject by 2015 Shelby Merrick
*
*This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.
<http://www.gnu.org/licenses/>
*
******************************************************************
*
*   This is a derived class that converts data in the output buffer into
*   Servo States and then outputs on I2C
*
*/
#include "ESPixelStick.h"
#ifdef SUPPORT_OutputProtocol_Servo_PCA9685
 
#include "OutputCommon.hpp"
#include <Adafruit_PWMServoDriver.h>
 
class c_OutputServoPCA9685 : public c_OutputCommon
{
private:
#define SERVO_PCA9685_OUTPUT_MIN_PULSE_WIDTH 650
#define SERVO_PCA9685_OUTPUT_MAX_PULSE_WIDTH 2350
 
    struct ServoPCA9685Channel_t
    {
        uint8_t     Id              = -1;
        bool        Enabled         = false;
        uint16_t    MinLevel        = SERVO_PCA9685_OUTPUT_MIN_PULSE_WIDTH;
        uint16_t    MaxLevel        = SERVO_PCA9685_OUTPUT_MAX_PULSE_WIDTH;
        uint16_t    PreviousValue   = 0;
        bool        IsReversed      = false;
        bool        Is16Bit         = false;
        bool        IsScaled        = true;
        uint16_t    HomeValue       = 0;
        uint8_t     BufferOffset    = 0;
    };
    Adafruit_PWMServoDriver pwm;
 
public:
 
    // These functions are inherited from c_OutputCommon
    c_OutputServoPCA9685 (OM_OutputPortDefinition_t & OutputPortDefinition,
                          c_OutputMgr::e_OutputProtocolType outputType);
    virtual ~c_OutputServoPCA9685 ();
 
    // functions to be provided by the derived class
    void        Begin ();                                         
    bool        SetConfig (ArduinoJson::JsonObject & jsonConfig); 
    void        GetConfig (ArduinoJson::JsonObject & jsonConfig); 
    uint32_t    Poll ();                                        
#if defined(ARDUINO_ARCH_ESP32)
    bool            RmtPoll () {return false;}
#endif // defined(ARDUINO_ARCH_ESP32)
    void        GetDriverName (String& sDriverName);
    void        GetStatus (ArduinoJson::JsonObject & jsonStatus) { c_OutputCommon::BaseGetStatus (jsonStatus); }
    uint32_t    GetNumOutputBufferBytesNeeded () { return OutputBufferSize; };
    uint32_t    GetNumOutputBufferChannelsServiced () { return OutputBufferSize; };
 
private:
#   define OM_SERVO_PCA9685_CHANNEL_LIMIT           16
#   define OM_SERVO_PCA9685_UPDATE_INTERVAL_NAME    CN_updateinterval
#   define OM_SERVO_PCA9685_CHANNELS_NAME           CN_channels
#   define OM_SERVO_PCA9685_CHANNEL_ENABLED_NAME    CN_en
#   define OM_SERVO_PCA9685_CHANNEL_MINLEVEL_NAME   CN_Min
#   define OM_SERVO_PCA9685_CHANNEL_MAXLEVEL_NAME   CN_Max
#   define OM_SERVO_PCA9685_CHANNEL_GPIO_NAME       CN_gid
#   define OM_SERVO_PCA9685_CHANNEL_ID_NAME         CN_id
#   define OM_SERVO_PCA9685_CHANNEL_REVERSED        CN_rev
#   define OM_SERVO_PCA9685_CHANNEL_16BITS          CN_b16
#   define OM_SERVO_PCA9685_CHANNEL_SCALED          CN_sca
#   define OM_SERVO_PCA9685_CHANNEL_HOME            CN_hv
#   define SERVO_PCA9685_UPDATE_FREQUENCY           50
 
    bool    validate ();
    void    CalculateNumChannels();
 
    // config data
    ServoPCA9685Channel_t     OutputList[OM_SERVO_PCA9685_CHANNEL_LIMIT];
    float                     UpdateFrequency = SERVO_PCA9685_UPDATE_FREQUENCY;
 
    // non config data
 
}; // c_OutputServoPCA9685
 
#endif // def SUPPORT_OutputProtocol_Servo_PCA9685