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@6:973d6a66dbf7, 2016-03-04 (annotated)

Committer:
sk398
Date:
Fri Mar 04 23:04:28 2016 +0000
Revision:
6:973d6a66dbf7
Parent:
5:eba9f639154c 
Modified updateChannel to accept 2 chars instead of char *; ; Still having huge issue with printf statement, only working with this.

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 6:973d6a66dbf7 34 int SD20::UpdateChannel(char channelReg, char channelSpeed)
sk398 0:870a29ad1074 35 {
sk398 1:6557cf755742 36 // Output new duty cycle to SD20, return 0 if successful, 1 if unsuccessful
sk398 6:973d6a66dbf7 37 updateDutyCycle[0] = channelReg;
sk398 6:973d6a66dbf7 38 updateDutyCycle[1] = channelSpeed;
sk398 6:973d6a66dbf7 39
sk398 6:973d6a66dbf7 40 if(_bus -> write(SD20_ADDRESS,updateDutyCycle,2))
sk398 0:870a29ad1074 41 {
sk398 6:973d6a66dbf7 42 // printf("I2C Failed to write\r\n");
sk398 0:870a29ad1074 43 return 1;
sk398 0:870a29ad1074 44 }
sk398 0:870a29ad1074 45 else
sk398 0:870a29ad1074 46 {
sk398 6:973d6a66dbf7 47 // updateDutyCycle = *(updateDutyCycle+1)
sk398 6:973d6a66dbf7 48 printf("Reg: 0x%02x Data: 0x%02x\r\n",*updateDutyCycle,*(updateDutyCycle+1));
sk398 0:870a29ad1074 49 return 0;
sk398 0:870a29ad1074 50 }
sk398 0:870a29ad1074 51 }
sk398 0:870a29ad1074 52
sk398 1:6557cf755742 53 int SD20::StartStopChannel(uint8_t ServoChannel,bool Start)
sk398 0:870a29ad1074 54 {
sk398 1:6557cf755742 55 // Startup a new channel, return 0 if successful, 1 if unsuccessful
sk398 0:870a29ad1074 56 if(Start == CHANNEL_START)
sk398 0:870a29ad1074 57 {
sk398 6:973d6a66dbf7 58 char startDutyCycle[] = {ServoChannel,CHANNEL_START};
sk398 6:973d6a66dbf7 59 if(_bus -> write(SD20_ADDRESS,startDutyCycle,OUT_BUF_LEN))
sk398 0:870a29ad1074 60 {
sk398 6:973d6a66dbf7 61 // printf("I2C Failed to write\r\n");
sk398 0:870a29ad1074 62 return 1;
sk398 0:870a29ad1074 63 }
sk398 0:870a29ad1074 64 else
sk398 0:870a29ad1074 65 {
sk398 5:eba9f639154c 66 // printf("Reg: 0x%02x Data: 0x%02x\r\n",*newDutyCycle,*(newDutyCycle+1));
sk398 0:870a29ad1074 67 return 0;
sk398 0:870a29ad1074 68 }
sk398 0:870a29ad1074 69 }
sk398 1:6557cf755742 70
sk398 1:6557cf755742 71 // Stop channel, return 0 if successful, 1 if unsuccessful
sk398 0:870a29ad1074 72 else
sk398 0:870a29ad1074 73 {
sk398 6:973d6a66dbf7 74 char stopDutyCycle[] = {ServoChannel,CHANNEL_STOP};
sk398 6:973d6a66dbf7 75 if(_bus -> write(SD20_ADDRESS,stopDutyCycle,OUT_BUF_LEN))
sk398 0:870a29ad1074 76 {
sk398 6:973d6a66dbf7 77 // printf("I2C Failed to write\r\n");
sk398 0:870a29ad1074 78 return 1;
sk398 0:870a29ad1074 79 }
sk398 0:870a29ad1074 80 else
sk398 0:870a29ad1074 81 {
sk398 5:eba9f639154c 82 // printf("Reg: 0x%02x Data: 0x%02x\r\n",*newDutyCycle,*(newDutyCycle+1));
sk398 0:870a29ad1074 83 return 0;
sk398 0:870a29ad1074 84 }
sk398 0:870a29ad1074 85 }
sk398 0:870a29ad1074 86 }
sk398 0:870a29ad1074 87
sk398 1:6557cf755742 88 int SD20::SetStandardMode()
sk398 1:6557cf755742 89 {
sk398 1:6557cf755742 90 char outputBuf[] = {STD_ETD_MODE_CTRL,STD_MODE};
sk398 1:6557cf755742 91 if(_bus -> write(SD20_ADDRESS,outputBuf,OUT_BUF_LEN))
sk398 1:6557cf755742 92 {
sk398 6:973d6a66dbf7 93 // printf("I2C Failed to write\r\n");
sk398 1:6557cf755742 94 return 1;
sk398 1:6557cf755742 95 }
sk398 1:6557cf755742 96 else
sk398 1:6557cf755742 97 {
sk398 5:eba9f639154c 98 // printf("0x%02x sent to Reg: 0x%02x\r\n",*(outputBuf+1),*outputBuf);
sk398 1:6557cf755742 99 return 0;
sk398 1:6557cf755742 100 }
sk398 1:6557cf755742 101 }
sk398 1:6557cf755742 102