Andrew Duda / TLC5940Servo

Library for using the TLC5940 as a servo controller.

Dependencies:   FastPWM

Dependents:   TLC5940ServoTest

TLC5940Servo.h@6:b001282e967b, 2014-10-21 (annotated)

Committer:
dudanian
Date:
Tue Oct 21 15:05:16 2014 +0000
Revision:
6:b001282e967b
Parent:
5:56daa8c0697d 
Removed indexed calibrate to make usage more like an array of mbed official Servos

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dudanian 0:9fc434ff7a03 1 #ifndef TLC5940Servo_H
dudanian 0:9fc434ff7a03 2 #define TLC5940Servo_H
dudanian 0:9fc434ff7a03 3
dudanian 0:9fc434ff7a03 4 #include "FastPWM.h"
dudanian 2:1d2251574d35 5
dudanian 0:9fc434ff7a03 6 /**
dudanian 0:9fc434ff7a03 7 * SPI speed used by the mbed to communicate with the TLC5940
dudanian 0:9fc434ff7a03 8 * The TLC5940 supports up to 30Mhz. This should be kept as high
dudanian 0:9fc434ff7a03 9 * as possible to ensure that data has time to be sent each reset cycle.
dudanian 0:9fc434ff7a03 10 */
dudanian 0:9fc434ff7a03 11 #define SPI_SPEED 30000000
dudanian 0:9fc434ff7a03 12
dudanian 0:9fc434ff7a03 13 /**
dudanian 0:9fc434ff7a03 14 * The rate at which the GSCLK pin is pulsed
dudanian 0:9fc434ff7a03 15 * This also controls how often the reset function is called
dudanian 0:9fc434ff7a03 16 * The rate at which the reset function is called can be calculated by: (1/GSCLK_SPEED) * 4096
dudanian 2:1d2251574d35 17 *
dudanian 2:1d2251574d35 18 * Since the Servo period is 20ms (50Hz), we set this clock to 50*4096 = 204,800Hz according to the equation above
dudanian 2:1d2251574d35 19 * Also, since this clock is so slow, there is almost no limit to the number of TLC5940s you can chain
dudanian 0:9fc434ff7a03 20 */
dudanian 0:9fc434ff7a03 21 #define GSCLK_SPEED 204800
dudanian 0:9fc434ff7a03 22
dudanian 0:9fc434ff7a03 23 /**
dudanian 2:1d2251574d35 24 * This class controls a TLC5940 PWM driver to control Servo motors. It supports sending grayscale PWM data calibrated for Servos,
dudanian 2:1d2251574d35 25 * but it does not support error checking or writing the EEPROM. After 4096 pulses, the private member funciton reset is called by
dudanian 2:1d2251574d35 26 * the ticker. It resets the driver by pulsing the BLANK pin. If new data has been set to be sent by the function setNewData, it
dudanian 2:1d2251574d35 27 * is sent here.
dudanian 2:1d2251574d35 28 *
dudanian 2:1d2251574d35 29 * This class is a heavily modified versoin of the TLC5940 library created by Spencer Davis. This class also uses the FastPWM
dudanian 2:1d2251574d35 30 * library by Erik Olieman to continuously pulse the GSLCK pin without CPU intervention.
dudanian 0:9fc434ff7a03 31 */
dudanian 2:1d2251574d35 32 class TLC5940Servo {
dudanian 0:9fc434ff7a03 33 public:
dudanian 2:1d2251574d35 34 /*
dudanian 2:1d2251574d35 35 * Servo inner class to abstract some of the details. Based off of the mbed official Servo class
dudanian 2:1d2251574d35 36 */
dudanian 2:1d2251574d35 37 class Servo {
dudanian 2:1d2251574d35 38 public:
dudanian 5:56daa8c0697d 39 /**
dudanian 5:56daa8c0697d 40 * Creat a servo object NOT connected to a specific PwmOut pin
dudanian 5:56daa8c0697d 41 */
dudanian 2:1d2251574d35 42 Servo();
dudanian 5:56daa8c0697d 43
dudanian 4:95305d4b0544 44 /**
dudanian 4:95305d4b0544 45 * Set the servo position, normalised to it's full range
dudanian 4:95305d4b0544 46 *
dudanian 4:95305d4b0544 47 * @param percent A normalised number 0.0-1.0 to represent the full range.
dudanian 4:95305d4b0544 48 */
dudanian 2:1d2251574d35 49 void write(float percent);
dudanian 5:56daa8c0697d 50
dudanian 5:56daa8c0697d 51 /**
dudanian 5:56daa8c0697d 52 * Read the servo motors current position
dudanian 5:56daa8c0697d 53 *
dudanian 5:56daa8c0697d 54 * @param returns A normalised number 0.0-1.0 representing the full range.
dudanian 5:56daa8c0697d 55 */
dudanian 2:1d2251574d35 56 float read();
dudanian 5:56daa8c0697d 57
dudanian 5:56daa8c0697d 58 /**
dudanian 5:56daa8c0697d 59 * Set the servo position
dudanian 5:56daa8c0697d 60 *
dudanian 5:56daa8c0697d 61 * @param degrees Servo position in degrees
dudanian 5:56daa8c0697d 62 */
dudanian 5:56daa8c0697d 63 void position(float degrees);
dudanian 5:56daa8c0697d 64
dudanian 5:56daa8c0697d 65 /**
dudanian 5:56daa8c0697d 66 * Allows calibration of the range and angles for a particular servo
dudanian 5:56daa8c0697d 67 *
dudanian 5:56daa8c0697d 68 * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
dudanian 5:56daa8c0697d 69 * @param degrees Angle from centre to maximum/minimum position in degrees
dudanian 5:56daa8c0697d 70 */
dudanian 5:56daa8c0697d 71 void calibrate(float range=0.0005, float degrees=45.0);
dudanian 5:56daa8c0697d 72
dudanian 5:56daa8c0697d 73 /**
dudanian 5:56daa8c0697d 74 * Read the servo motors current TLC5940 pw value
dudanian 5:56daa8c0697d 75 */
dudanian 2:1d2251574d35 76 int pulsewidth();
dudanian 5:56daa8c0697d 77
dudanian 5:56daa8c0697d 78 /** Shorthand for the write and read functions */
dudanian 2:1d2251574d35 79 Servo& operator= (float percent);
dudanian 5:56daa8c0697d 80 Servo& operator= (Servo& rhs);
dudanian 2:1d2251574d35 81 operator float();
dudanian 2:1d2251574d35 82 private:
dudanian 2:1d2251574d35 83 float _range;
dudanian 2:1d2251574d35 84 float _degrees;
dudanian 5:56daa8c0697d 85 float _p;
dudanian 2:1d2251574d35 86 int _pw;
dudanian 2:1d2251574d35 87 };
dudanian 5:56daa8c0697d 88
dudanian 0:9fc434ff7a03 89 /**
dudanian 2:1d2251574d35 90 * Set up the TLC5940
dudanian 2:1d2251574d35 91 *
dudanian 2:1d2251574d35 92 * @param MOSI - The MOSI pin of the SPI bus
dudanian 2:1d2251574d35 93 * @param SCLK - The SCK pin of the SPI bus
dudanian 2:1d2251574d35 94 * @param XLAT - The XLAT pin of the TLC5940(s)
dudanian 2:1d2251574d35 95 * @param BLANK - The BLANK pin of the TLC5940(s)
dudanian 2:1d2251574d35 96 * @param GSCLK - The GSCLK pin of the TLC5940(s)
dudanian 2:1d2251574d35 97 * @param number - The number of TLC5940s (optional)
dudanian 0:9fc434ff7a03 98 */
dudanian 0:9fc434ff7a03 99 TLC5940Servo(PinName MOSI, PinName SCLK, PinName XLAT, PinName BLANK,
dudanian 2:1d2251574d35 100 PinName GSCLK, const int number = 1);
dudanian 2:1d2251574d35 101
dudanian 2:1d2251574d35 102 /**
dudanian 2:1d2251574d35 103 * Destructor used to delete memory
dudanian 2:1d2251574d35 104 */
dudanian 0:9fc434ff7a03 105 ~TLC5940Servo();
dudanian 0:9fc434ff7a03 106
dudanian 2:1d2251574d35 107 /**
dudanian 2:1d2251574d35 108 * Allows calibration of the range and angles for all servos
dudanian 0:9fc434ff7a03 109 *
dudanian 0:9fc434ff7a03 110 * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
dudanian 0:9fc434ff7a03 111 * @param degrees Angle from centre to maximum/minimum position in degrees
dudanian 0:9fc434ff7a03 112 */
dudanian 2:1d2251574d35 113 void calibrate(float range, float degrees);
dudanian 2:1d2251574d35 114
dudanian 0:9fc434ff7a03 115 /**
dudanian 2:1d2251574d35 116 * Array index operator for reading and writing from servos
dudanian 2:1d2251574d35 117 *
dudanian 2:1d2251574d35 118 * @param index Index of Servo in array
dudanian 0:9fc434ff7a03 119 */
dudanian 2:1d2251574d35 120 Servo& operator[](int index);
dudanian 0:9fc434ff7a03 121
dudanian 0:9fc434ff7a03 122 private:
dudanian 0:9fc434ff7a03 123 // SPI port - only MOSI and SCK are used
dudanian 0:9fc434ff7a03 124 SPI spi;
dudanian 0:9fc434ff7a03 125
dudanian 0:9fc434ff7a03 126 // PWM output using the FastPWM library by Erik Olieman
dudanian 0:9fc434ff7a03 127 FastPWM gsclk;
dudanian 0:9fc434ff7a03 128
dudanian 0:9fc434ff7a03 129 // Digital out pins used for the TLC5940
dudanian 0:9fc434ff7a03 130 DigitalOut blank;
dudanian 0:9fc434ff7a03 131 DigitalOut xlat;
dudanian 0:9fc434ff7a03 132
dudanian 0:9fc434ff7a03 133 // Number of TLC5940s in series
dudanian 0:9fc434ff7a03 134 const int number;
dudanian 0:9fc434ff7a03 135
dudanian 0:9fc434ff7a03 136 // Call a reset function to manage sending data and GSCLK updating
dudanian 0:9fc434ff7a03 137 Ticker reset_ticker;
dudanian 0:9fc434ff7a03 138
dudanian 0:9fc434ff7a03 139 // Has new data been loaded?
dudanian 0:9fc434ff7a03 140 volatile bool newData;
dudanian 0:9fc434ff7a03 141
dudanian 0:9fc434ff7a03 142 // Do we need to send an XLAT pulse? (Was GS data clocked in last reset?)
dudanian 0:9fc434ff7a03 143 volatile bool need_xlat;
dudanian 0:9fc434ff7a03 144
dudanian 0:9fc434ff7a03 145 // Buffers to store data until it is sent
dudanian 3:3b04a122e508 146 Servo* servos;
dudanian 0:9fc434ff7a03 147
dudanian 0:9fc434ff7a03 148 // Function to reset the display and send the next chunks of data
dudanian 0:9fc434ff7a03 149 void reset();
dudanian 0:9fc434ff7a03 150 };
dudanian 0:9fc434ff7a03 151
dudanian 0:9fc434ff7a03 152 #endif