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.

Diff: SD20.h

Revision:
1:6557cf755742
Parent:
0:870a29ad1074
Child:
2:b6789ad2af2b
--- a/SD20.h	Sun Jan 24 14:39:33 2016 +0000
+++ b/SD20.h	Sun Jan 24 15:10:48 2016 +0000
@@ -1,6 +1,17 @@
 #ifndef SD20_H
 #define SD20_H
 
+/* I2C Parameters*/
+
+// SD20 I2C Address
+#define SD20_ADDRESS 0xC2
+
+// SCL Frequency
+#define BUS_FREQ 100000
+
+// Output Buffer Length
+#define OUT_BUF_LEN 2
+
 /* SD20 Internal Register Map */
 #define SOFTWARE_REVISION_REG 0x00
 #define SERVO_1_REG 0x01
@@ -27,31 +38,47 @@
 #define ETD_MODE_OFST_HIGH 0x22
 #define ETD_MODE_OFST_LOW 0x23
 
-// Output Buffer Length
-#define OUT_BUF_LEN 2
+/* SD20 Channel constants*/
+#define CHANNEL_1 1
+#define CHANNEL_2 2
+#define CHANNEL_3 1
+#define CHANNEL_4 2
+#define CHANNEL_5 1
+#define CHANNEL_6 2
+#define CHANNEL_7 1
+#define CHANNEL_8 2
+#define CHANNEL_9 1
+#define CHANNEL_10 10
+#define CHANNEL_11 11
+#define CHANNEL_12 12
+#define CHANNEL_13 13
+#define CHANNEL_14 14
+#define CHANNEL_15 15
+#define CHANNEL_16 16
+#define CHANNEL_17 17
+#define CHANNEL_18 18
+#define CHANNEL_19 19
+#define CHANNEL_20 20
 
-#define CHANNEL_STOP 0
-#define CHANNEL_START 1
+#define CHANNEL_STOP 0x00
+#define CHANNEL_START 0x01
+
+#define STD_MODE 0x00
+
 
 class SD20
 {
 
 private:
-
-    int deviceAddress;
-    int BusHz;
     I2C *_bus;
-    int OutputData();
-    char OutputBuffer[OUT_BUF_LEN];
 
 public:
 
     /** Create a SD20 Constructor, connected over I2C Master connection
      *  
      *  parameter bus:     I2C object
-     *  parameter BusHz:   I2C Bus Frequency 
      */
-    SD20(I2C *bus,int I2CAddress, int BusHz);
+    SD20(I2C *bus);
 
     /**
      *  Start/Stop PWM output on specificed channel (Standard mode)
@@ -61,7 +88,7 @@
      *  parameter mode:         Select whether debug mode[0] and prints result or implementation mode [1] 
      *                          where print commands are skipped to save operational time
      */
-    int StartStopPWM(int Channel, bool Start);
+    int StartStopChannel(uint8_t ServoChannel, bool Start);
 
     /**
      *  Update PWM output on specificed channel (Standard mode)
@@ -70,8 +97,10 @@
      *  parameter mode:         Select whether debug mode[0] and prints result or implementation mode [1] 
      *                          where print commands are skipped to save operational time
      */
-    int UpdatePWM(char *DataOutput);
+    int UpdateChannel(char *DataOutput);
 
+
+    int SetStandardMode();
 };
 
 #endif
\ No newline at end of file