File content as of revision 3:f8b3023564af:

/*
    SD21 - 21 Channel Servo Driver Module Library
    Copyright (c) 2011 Jim Herd
    
    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.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/    

#include "SD21.h"
#include "mbed.h"

/*-----------------------------------------------------------------------------
 *
 */
SD21::SD21(PinName sda, PinName scl)  : _i2c(sda, scl) {
    reset();                              // initialise chip to power-on condition
};

void SD21::reset() {
}

void SD21::set_servo(int servo_num, int angle, int speed) {

char buffer[4];
//
// calculate servo pulse width from angle
//
    SD21_tmp_data.value32 = 1000 + ((angle * 1000)/90);
//
// load i2c buffer with necessary data
//
    buffer[0] = (char)((servo_num - 1) * 3);   // convert servo number to register address
    buffer[1] = (char)speed;
    buffer[2] = SD21_tmp_data.value8[0];
    buffer[3] = SD21_tmp_data.value8[1];
//
// send buffer to SD21 device
//    
    _i2c.write(SD21_I2C_ADDRESS, buffer, 4);
//
// log these servo values
//    
    servo_state[(servo_num - 1)].angle = angle;
    servo_state[(servo_num - 1)].speed = speed;
}