-- Grove I2C Motor Driver TB6612 Device Services -- Copyright (C)2021-2023, Philip Munts dba Munts Technologies. -- -- Redistribution and use in source and binary forms, with or without -- modification, are permitted provided that the following conditions are met: -- -- * Redistributions of source code must retain the above copyright notice, -- this list of conditions and the following disclaimer. -- -- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -- AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -- IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -- ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -- LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -- CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -- SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -- INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -- CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -- ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -- POSSIBILITY OF SUCH DAMAGE. PACKAGE BODY Grove_TB6612 IS -- Device object constructor FUNCTION Create (bus : I2C.Bus; addr : I2C.Address := DefaultAddress) RETURN Device IS dev : DeviceClass; BEGIN Initialize(dev, bus, addr); RETURN NEW DeviceClass'(dev); END Create; -- Device object instance initializer PROCEDURE Initialize (Self : IN OUT DeviceClass; bus : I2C.Bus; addr : I2C.Address := DefaultAddress) IS BEGIN Self.bus := bus; Self.addr := addr; Self.Disable; END Initialize; -- Disable the motor driver and enter standby mode PROCEDURE Disable(Self : IN OUT DeviceClass) IS cmd : I2C.Command(0 .. 0); BEGIN cmd(0) := CMD_DISABLE; Self.bus.Write(Self.addr, cmd, cmd'Length); END Disable; -- Leave standby mode and enable the motor driver PROCEDURE Enable(Self : IN OUT DeviceClass) IS cmd : I2C.Command(0 .. 0); BEGIN cmd(0) := CMD_ENABLE; Self.bus.Write(Self.addr, cmd, cmd'Length); END Enable; -- Change the I2C address PROCEDURE ChangeAddress (Self : IN OUT DeviceClass; addr : I2C.Address) IS cmd : I2C.Command(0 .. 1); BEGIN cmd(0) := CMD_SET_ADDR; cmd(1) := I2C.Byte(addr); Self.bus.Write(Self.addr, cmd, cmd'Length); END ChangeAddress; -- Execute a command PROCEDURE Command (Self : IN OUT DeviceClass; cmd : I2C.Command) IS BEGIN Self.bus.Write(Self.addr, cmd, cmd'Length); END Command; END Grove_TB6612;