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.h@0:870a29ad1074, 2016-01-24 (annotated)

Committer:
sk398
Date:
Sun Jan 24 14:39:33 2016 +0000
Revision:
0:870a29ad1074
Child:
1:6557cf755742
Working edition. Basic and inefficient however;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sk398 0:870a29ad1074 1 #ifndef SD20_H
sk398 0:870a29ad1074 2 #define SD20_H
sk398 0:870a29ad1074 3
sk398 0:870a29ad1074 4 /* SD20 Internal Register Map */
sk398 0:870a29ad1074 5 #define SOFTWARE_REVISION_REG 0x00
sk398 0:870a29ad1074 6 #define SERVO_1_REG 0x01
sk398 0:870a29ad1074 7 #define SERVO_2_REG 0x02
sk398 0:870a29ad1074 8 #define SERVO_3_REG 0x03
sk398 0:870a29ad1074 9 #define SERVO_4_REG 0x04
sk398 0:870a29ad1074 10 #define SERVO_5_REG 0x05
sk398 0:870a29ad1074 11 #define SERVO_6_REG 0x06
sk398 0:870a29ad1074 12 #define SERVO_7_REG 0x07
sk398 0:870a29ad1074 13 #define SERVO_8_REG 0x08
sk398 0:870a29ad1074 14 #define SERVO_9_REG 0x09
sk398 0:870a29ad1074 15 #define SERVO_10_REG 0x10
sk398 0:870a29ad1074 16 #define SERVO_11_REG 0x11
sk398 0:870a29ad1074 17 #define SERVO_12_REG 0x12
sk398 0:870a29ad1074 18 #define SERVO_13_REG 0x13
sk398 0:870a29ad1074 19 #define SERVO_14_REG 0x14
sk398 0:870a29ad1074 20 #define SERVO_15_REG 0x15
sk398 0:870a29ad1074 21 #define SERVO_16_REG 0x16
sk398 0:870a29ad1074 22 #define SERVO_17_REG 0x17
sk398 0:870a29ad1074 23 #define SERVO_18_REG 0x18
sk398 0:870a29ad1074 24 #define SERVO_19_REG 0x19
sk398 0:870a29ad1074 25 #define SERVO_20_REG 0x20
sk398 0:870a29ad1074 26 #define STD_ETD_MODE_CTRL 0x21
sk398 0:870a29ad1074 27 #define ETD_MODE_OFST_HIGH 0x22
sk398 0:870a29ad1074 28 #define ETD_MODE_OFST_LOW 0x23
sk398 0:870a29ad1074 29
sk398 0:870a29ad1074 30 // Output Buffer Length
sk398 0:870a29ad1074 31 #define OUT_BUF_LEN 2
sk398 0:870a29ad1074 32
sk398 0:870a29ad1074 33 #define CHANNEL_STOP 0
sk398 0:870a29ad1074 34 #define CHANNEL_START 1
sk398 0:870a29ad1074 35
sk398 0:870a29ad1074 36 class SD20
sk398 0:870a29ad1074 37 {
sk398 0:870a29ad1074 38
sk398 0:870a29ad1074 39 private:
sk398 0:870a29ad1074 40
sk398 0:870a29ad1074 41 int deviceAddress;
sk398 0:870a29ad1074 42 int BusHz;
sk398 0:870a29ad1074 43 I2C *_bus;
sk398 0:870a29ad1074 44 int OutputData();
sk398 0:870a29ad1074 45 char OutputBuffer[OUT_BUF_LEN];
sk398 0:870a29ad1074 46
sk398 0:870a29ad1074 47 public:
sk398 0:870a29ad1074 48
sk398 0:870a29ad1074 49 /** Create a SD20 Constructor, connected over I2C Master connection
sk398 0:870a29ad1074 50 *
sk398 0:870a29ad1074 51 * parameter bus: I2C object
sk398 0:870a29ad1074 52 * parameter BusHz: I2C Bus Frequency
sk398 0:870a29ad1074 53 */
sk398 0:870a29ad1074 54 SD20(I2C *bus,int I2CAddress, int BusHz);
sk398 0:870a29ad1074 55
sk398 0:870a29ad1074 56 /**
sk398 0:870a29ad1074 57 * Start/Stop PWM output on specificed channel (Standard mode)
sk398 0:870a29ad1074 58 *
sk398 0:870a29ad1074 59 * parameter Channel: Servo Channel to be stopped
sk398 0:870a29ad1074 60 * parameter Start: Select whether to start[1] or stop [0] a given channel
sk398 0:870a29ad1074 61 * parameter mode: Select whether debug mode[0] and prints result or implementation mode [1]
sk398 0:870a29ad1074 62 * where print commands are skipped to save operational time
sk398 0:870a29ad1074 63 */
sk398 0:870a29ad1074 64 int StartStopPWM(int Channel, bool Start);
sk398 0:870a29ad1074 65
sk398 0:870a29ad1074 66 /**
sk398 0:870a29ad1074 67 * Update PWM output on specificed channel (Standard mode)
sk398 0:870a29ad1074 68 *
sk398 0:870a29ad1074 69 * parameter DataOutput: Structured as follows: [Servo Channel[1:20], Pulse Width[0x00:0xFF]]
sk398 0:870a29ad1074 70 * parameter mode: Select whether debug mode[0] and prints result or implementation mode [1]
sk398 0:870a29ad1074 71 * where print commands are skipped to save operational time
sk398 0:870a29ad1074 72 */
sk398 0:870a29ad1074 73 int UpdatePWM(char *DataOutput);
sk398 0:870a29ad1074 74
sk398 0:870a29ad1074 75 };
sk398 0:870a29ad1074 76
sk398 0:870a29ad1074 77 #endif