Steven Kay / SD20

This is a driver to control the SD20 20 Channel I2C to Servo Driver Chip from www.robot-electronics.co.uk (http://www.robot-electronics.co.uk/htm/sd20tech.htm). This driver will allow a servo channel to be started up, stopped and the duty cycle altered in standard mode. No attempt to include the extended mode is included.

SD20.cpp@3:447af15af7c7, 2016-02-25 (annotated)

Committer:
sk398
Date:
Thu Feb 25 20:04:35 2016 +0000
Revision:
3:447af15af7c7
Parent:
2:b6789ad2af2b
Child:
5:eba9f639154c
Updated to remove some awkward commands which arose during testing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sk398 2:b6789ad2af2b 1 /* #####################################################################
sk398 2:b6789ad2af2b 2 SD20.cpp
sk398 2:b6789ad2af2b 3 --------
sk398 2:b6789ad2af2b 4
sk398 2:b6789ad2af2b 5 Surface Ship, Group 5
sk398 2:b6789ad2af2b 6 ---------------------
sk398 2:b6789ad2af2b 7
sk398 2:b6789ad2af2b 8 Written by: Steven Kay
sk398 2:b6789ad2af2b 9
sk398 2:b6789ad2af2b 10 Date: February 2016
sk398 2:b6789ad2af2b 11
sk398 2:b6789ad2af2b 12 Function: This
sk398 2:b6789ad2af2b 13
sk398 2:b6789ad2af2b 14 Version: 1.0
sk398 2:b6789ad2af2b 15
sk398 2:b6789ad2af2b 16 Version History
sk398 2:b6789ad2af2b 17 ---------------
sk398 2:b6789ad2af2b 18
sk398 2:b6789ad2af2b 19 1.1 rgdfgdfgdfggdfgdg
sk398 2:b6789ad2af2b 20
sk398 2:b6789ad2af2b 21 1.0 gdgddfdddgd
sk398 2:b6789ad2af2b 22
sk398 2:b6789ad2af2b 23 ##################################################################### */
sk398 2:b6789ad2af2b 24
sk398 0:870a29ad1074 25 #include "mbed.h"
sk398 0:870a29ad1074 26 #include "SD20.h"
sk398 0:870a29ad1074 27
sk398 1:6557cf755742 28 SD20::SD20(I2C *bus)
sk398 0:870a29ad1074 29 {
sk398 0:870a29ad1074 30 _bus = bus;
sk398 1:6557cf755742 31 _bus -> frequency(BUS_FREQ);
sk398 0:870a29ad1074 32 }
sk398 0:870a29ad1074 33
sk398 1:6557cf755742 34 int SD20::UpdateChannel(char *newDutyCycle)
sk398 0:870a29ad1074 35 {
sk398 1:6557cf755742 36 // Output new duty cycle to SD20, return 0 if successful, 1 if unsuccessful
sk398 1:6557cf755742 37 if(_bus -> write(SD20_ADDRESS,newDutyCycle,OUT_BUF_LEN))
sk398 0:870a29ad1074 38 {
sk398 0:870a29ad1074 39 printf("I2C Failed to write\r\n");
sk398 0:870a29ad1074 40 return 1;
sk398 0:870a29ad1074 41 }
sk398 0:870a29ad1074 42 else
sk398 0:870a29ad1074 43 {
sk398 3:447af15af7c7 44 printf("Reg: 0x%02x Data: 0x%02x\r\n",*newDutyCycle,*(newDutyCycle+1));
sk398 0:870a29ad1074 45 return 0;
sk398 0:870a29ad1074 46 }
sk398 0:870a29ad1074 47 }
sk398 0:870a29ad1074 48
sk398 1:6557cf755742 49 int SD20::StartStopChannel(uint8_t ServoChannel,bool Start)
sk398 0:870a29ad1074 50 {
sk398 1:6557cf755742 51 // Startup a new channel, return 0 if successful, 1 if unsuccessful
sk398 0:870a29ad1074 52 if(Start == CHANNEL_START)
sk398 0:870a29ad1074 53 {
sk398 1:6557cf755742 54 char newDutyCycle[] = {ServoChannel,CHANNEL_START};
sk398 1:6557cf755742 55 if(_bus -> write(SD20_ADDRESS,newDutyCycle,OUT_BUF_LEN))
sk398 0:870a29ad1074 56 {
sk398 0:870a29ad1074 57 printf("I2C Failed to write\r\n");
sk398 0:870a29ad1074 58 return 1;
sk398 0:870a29ad1074 59 }
sk398 0:870a29ad1074 60 else
sk398 0:870a29ad1074 61 {
sk398 3:447af15af7c7 62 printf("Reg: 0x%02x Data: 0x%02x\r\n",*newDutyCycle,*(newDutyCycle+1));
sk398 0:870a29ad1074 63 return 0;
sk398 0:870a29ad1074 64 }
sk398 0:870a29ad1074 65 }
sk398 1:6557cf755742 66
sk398 1:6557cf755742 67 // Stop channel, return 0 if successful, 1 if unsuccessful
sk398 0:870a29ad1074 68 else
sk398 0:870a29ad1074 69 {
sk398 1:6557cf755742 70 char newDutyCycle[] = {ServoChannel,CHANNEL_STOP};
sk398 1:6557cf755742 71 if(_bus -> write(SD20_ADDRESS,newDutyCycle,OUT_BUF_LEN))
sk398 0:870a29ad1074 72 {
sk398 0:870a29ad1074 73 printf("I2C Failed to write\r\n");
sk398 0:870a29ad1074 74 return 1;
sk398 0:870a29ad1074 75 }
sk398 0:870a29ad1074 76 else
sk398 0:870a29ad1074 77 {
sk398 3:447af15af7c7 78 printf("Reg: 0x%02x Data: 0x%02x\r\n",*newDutyCycle,*(newDutyCycle+1));
sk398 0:870a29ad1074 79 return 0;
sk398 0:870a29ad1074 80 }
sk398 0:870a29ad1074 81 }
sk398 0:870a29ad1074 82 }
sk398 0:870a29ad1074 83
sk398 1:6557cf755742 84 int SD20::SetStandardMode()
sk398 1:6557cf755742 85 {
sk398 1:6557cf755742 86 char outputBuf[] = {STD_ETD_MODE_CTRL,STD_MODE};
sk398 1:6557cf755742 87 if(_bus -> write(SD20_ADDRESS,outputBuf,OUT_BUF_LEN))
sk398 1:6557cf755742 88 {
sk398 1:6557cf755742 89 printf("I2C Failed to write\r\n");
sk398 1:6557cf755742 90 return 1;
sk398 1:6557cf755742 91 }
sk398 1:6557cf755742 92 else
sk398 1:6557cf755742 93 {
sk398 1:6557cf755742 94 printf("0x%02x sent to Reg: 0x%02x\r\n",*(outputBuf+1),*outputBuf);
sk398 1:6557cf755742 95 return 0;
sk398 1:6557cf755742 96 }
sk398 1:6557cf755742 97 }
sk398 1:6557cf755742 98