From 7b62d329f964a9bd055983745a6c10395d7c99c2 Mon Sep 17 00:00:00 2001
From: ntruchsess <>
Date: Sat, 2 Feb 2013 17:54:39 +0000
Subject: [PATCH] fix servo

git-svn-id: https://svn.fhem.de/fhem/trunk@2635 2b470e98-0d58-463d-a4d8-8e2adae1ed80
---
 fhem/FHEM/10_FRM.pm                      |  2 +-
 fhem/FHEM/20_FRM_PWM.pm                  | 13 +++++++++++--
 fhem/FHEM/20_FRM_SERVO.pm                | 13 +++++++++++--
 fhem/FHEM/lib/Device/Firmata/Platform.pm | 14 +++++++++++---
 4 files changed, 34 insertions(+), 8 deletions(-)

diff --git a/fhem/FHEM/10_FRM.pm b/fhem/FHEM/10_FRM.pm
index 6b37a06b6..2bd37b967 100755
--- a/fhem/FHEM/10_FRM.pm
+++ b/fhem/FHEM/10_FRM.pm
@@ -20,7 +20,7 @@ sub FRM_Initialize($) {
 
 	# Provider
 	$hash->{Clients} =
-	  ":FRM_IN:FRM_OUT:FRM_AD:FRM_PWM:FRM_I2C:OWX:";
+	  ":FRM_IN:FRM_OUT:FRM_AD:FRM_PWM:FRM_I2C:FRM_SERVO:OWX:";
 	$hash->{ReadyFn} = "FRM_Ready";  
 	$hash->{ReadFn}  = "FRM_Read";
 
diff --git a/fhem/FHEM/20_FRM_PWM.pm b/fhem/FHEM/20_FRM_PWM.pm
index 0617240f6..74063842c 100755
--- a/fhem/FHEM/20_FRM_PWM.pm
+++ b/fhem/FHEM/20_FRM_PWM.pm
@@ -7,6 +7,11 @@ use Device::Firmata;
 use Device::Firmata::Constants  qw/ :all /;
 
 #####################################
+
+my %sets = (
+  "value" => "",
+);
+
 sub
 FRM_PWM_Initialize($)
 {
@@ -37,7 +42,11 @@ sub
 FRM_PWM_Set($@)
 {
   my ($hash, @a) = @_;
-  my $value = $a[1];
+  return "Need at least one parameters" if(@a < 2);
+  return "Unknown argument $a[1], choose one of " . join(" ", sort keys %sets)
+  	if(!defined($sets{$a[1]}));
+  my $command = $a[1];
+  my $value = $a[2];
   my $iodev = $hash->{IODev};
   if (defined $iodev and defined $iodev->{FirmataDevice} and defined $iodev->{FD}) {
   	$iodev->{FirmataDevice}->analog_write($hash->{PIN},$value);
@@ -79,7 +88,7 @@ FRM_PWM_Undef($$)
   <a name="FRM_PWMset"></a>
   <b>Set</b><br>
   <ul>
-  <code>set &lt;name&gt; &lt;value&gt;</code><br>
+  <code>set &lt;name&gt; value &lt;value&gt;</code><br>
   sets the pulse-width of the signal that is output on the configured arduino pin<br>
   Range is from 0 to 255 (see <a href="http://arduino.cc/en/Reference/AnalogWrite">analogWrite()</a> for details)
   </ul>
diff --git a/fhem/FHEM/20_FRM_SERVO.pm b/fhem/FHEM/20_FRM_SERVO.pm
index 6d3372881..c47d8f86e 100755
--- a/fhem/FHEM/20_FRM_SERVO.pm
+++ b/fhem/FHEM/20_FRM_SERVO.pm
@@ -7,6 +7,11 @@ use Device::Firmata;
 use Device::Firmata::Constants  qw/ :all /;
 
 #####################################
+
+my %sets = (
+  "angle" => "",
+);
+
 sub
 FRM_SERVO_Initialize($)
 {
@@ -60,7 +65,11 @@ sub
 FRM_SERVO_Set($@)
 {
   my ($hash, @a) = @_;
-  my $value = $a[1];
+  return "Need at least one parameters" if(@a < 2);
+  return "Unknown argument $a[1], choose one of " . join(" ", sort keys %sets)
+  	if(!defined($sets{$a[1]}));
+  my $command = $a[1];
+  my $value = $a[2];
   my $iodev = $hash->{IODev};
   if (defined $iodev and defined $iodev->{FirmataDevice} and defined $iodev->{FD}) {
   	$iodev->{FirmataDevice}->servo_write($hash->{PIN},$value);
@@ -102,7 +111,7 @@ FRM_SERVO_Undef($$)
   <a name="FRM_SERVOset"></a>
   <b>Set</b><br>
   <ul>
-  <code>set &lt;name&gt; &lt;value&gt;</code><br>sets the angle of the servo-motors shaft to the value specified (in degrees).<br>
+  <code>set &lt;name&gt; angle &lt;value&gt;</code><br>sets the angle of the servo-motors shaft to the value specified (in degrees).<br>
   </ul>
   <a name="FRM_SERVOget"></a>
   <b>Get</b><br>
diff --git a/fhem/FHEM/lib/Device/Firmata/Platform.pm b/fhem/FHEM/lib/Device/Firmata/Platform.pm
index a5d795912..27a9834a1 100644
--- a/fhem/FHEM/lib/Device/Firmata/Platform.pm
+++ b/fhem/FHEM/lib/Device/Firmata/Platform.pm
@@ -436,7 +436,7 @@ sub pin_mode {
 			last;
 		};
 
-		( $mode == PIN_PWM || $mode == PIN_I2C || $mode == PIN_ONEWIRE ) and do {
+		( $mode == PIN_PWM || $mode == PIN_I2C || $mode == PIN_ONEWIRE || $mode == PIN_SERVO ) and do {
 			$self->{io}->data_write($self->{protocol}->message_prepare( SET_PIN_MODE => 0, $pin, $mode ));
 			last;
 		};
@@ -594,9 +594,17 @@ sub i2c_config {
 }
 
 sub servo_write {
+
+	# --------------------------------------------------
+	# Sets the SERVO value on an arduino
+	#
 	my ( $self, $pin, $value ) = @_;
-	return undef unless $self->is_configured_mode($pin,PIN_SERVO);	
-	return analog_write( $self, $pin, $value );
+	return undef unless $self->is_configured_mode($pin,PIN_SERVO);
+
+	# FIXME: 8 -> 7 bit translation should be done in the protocol module
+	my $byte_0 = $value & 0x7f;
+	my $byte_1 = $value >> 7;
+	return $self->{io}->data_write($self->{protocol}->message_prepare( ANALOG_MESSAGE => $pin, $byte_0, $byte_1 ));
 }
 
 sub servo_config {