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@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 #include "mbed.h"
sk398 0:870a29ad1074 2 #include "SD20.h"
sk398 0:870a29ad1074 3
sk398 0:870a29ad1074 4 SD20::SD20(I2C *bus,int I2CAddress, int BusHz)
sk398 0:870a29ad1074 5 {
sk398 0:870a29ad1074 6 _bus = bus;
sk398 0:870a29ad1074 7 deviceAddress = I2CAddress;
sk398 0:870a29ad1074 8 BusHz = BusHz;
sk398 0:870a29ad1074 9 _bus -> frequency(BusHz);
sk398 0:870a29ad1074 10 }
sk398 0:870a29ad1074 11
sk398 0:870a29ad1074 12 int SD20::UpdatePWM(char *DataOutput)
sk398 0:870a29ad1074 13 {
sk398 0:870a29ad1074 14 if(_bus -> write(deviceAddress,(char*)DataOutput,OUT_BUF_LEN))
sk398 0:870a29ad1074 15 {
sk398 0:870a29ad1074 16 printf("I2C Failed to write\r\n");
sk398 0:870a29ad1074 17 return 1;
sk398 0:870a29ad1074 18 }
sk398 0:870a29ad1074 19 else
sk398 0:870a29ad1074 20 {
sk398 0:870a29ad1074 21 printf("0x%02x sent to Reg: 0x%02x\r\n",*(DataOutput+1),*DataOutput);
sk398 0:870a29ad1074 22 return 0;
sk398 0:870a29ad1074 23 }
sk398 0:870a29ad1074 24 }
sk398 0:870a29ad1074 25
sk398 0:870a29ad1074 26 int SD20::StartStopPWM(int Channel,bool Start)
sk398 0:870a29ad1074 27 {
sk398 0:870a29ad1074 28 if(Start == CHANNEL_START)
sk398 0:870a29ad1074 29 {
sk398 0:870a29ad1074 30 int DataOutput[] = {Channel,0x01};
sk398 0:870a29ad1074 31 if(_bus -> write(deviceAddress,(char*)DataOutput,OUT_BUF_LEN))
sk398 0:870a29ad1074 32 {
sk398 0:870a29ad1074 33 printf("I2C Failed to write\r\n");
sk398 0:870a29ad1074 34 return 1;
sk398 0:870a29ad1074 35 }
sk398 0:870a29ad1074 36 else
sk398 0:870a29ad1074 37 {
sk398 0:870a29ad1074 38 printf("0x%02x sent to Reg: 0x%02x\r\n",*(DataOutput+1),*DataOutput);
sk398 0:870a29ad1074 39 return 0;
sk398 0:870a29ad1074 40 }
sk398 0:870a29ad1074 41 }
sk398 0:870a29ad1074 42 else
sk398 0:870a29ad1074 43 {
sk398 0:870a29ad1074 44 int DataOutput[] = {Channel,0x00};
sk398 0:870a29ad1074 45 if(_bus -> write(deviceAddress,(char*)DataOutput,OUT_BUF_LEN))
sk398 0:870a29ad1074 46 {
sk398 0:870a29ad1074 47 printf("I2C Failed to write\r\n");
sk398 0:870a29ad1074 48 return 1;
sk398 0:870a29ad1074 49 }
sk398 0:870a29ad1074 50 else
sk398 0:870a29ad1074 51 {
sk398 0:870a29ad1074 52 printf("0x%02x sent to Reg: 0x%02x\r\n",*(DataOutput+1),*DataOutput);
sk398 0:870a29ad1074 53 return 0;
sk398 0:870a29ad1074 54 }
sk398 0:870a29ad1074 55 }
sk398 0:870a29ad1074 56 }
sk398 0:870a29ad1074 57