Revision 0:870a29ad1074, committed 2016-01-24

Comitter:

sk398

Date:

Sun Jan 24 14:39:33 2016 +0000

Child:

1:6557cf755742

Commit message:

Working edition. Basic and inefficient however;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SD20.cpp	Sun Jan 24 14:39:33 2016 +0000
@@ -0,0 +1,57 @@
+#include "mbed.h"
+#include "SD20.h"
+      
+SD20::SD20(I2C *bus,int I2CAddress, int BusHz)
+{
+    _bus = bus;
+    deviceAddress = I2CAddress;
+    BusHz = BusHz;
+    _bus -> frequency(BusHz);
+}
+
+int SD20::UpdatePWM(char *DataOutput)
+{
+        if(_bus -> write(deviceAddress,(char*)DataOutput,OUT_BUF_LEN))
+        {
+            printf("I2C Failed to write\r\n");
+            return 1;
+        }
+        else
+        {
+            printf("0x%02x sent to Reg: 0x%02x\r\n",*(DataOutput+1),*DataOutput);
+            return 0;
+        }
+}
+
+int SD20::StartStopPWM(int Channel,bool Start)
+{
+        if(Start == CHANNEL_START)
+        {
+            int DataOutput[] = {Channel,0x01};
+            if(_bus -> write(deviceAddress,(char*)DataOutput,OUT_BUF_LEN))
+            {
+                printf("I2C Failed to write\r\n");
+                return 1;
+            }
+            else
+            {
+                printf("0x%02x sent to Reg: 0x%02x\r\n",*(DataOutput+1),*DataOutput);
+                return 0;
+            }
+        }
+        else
+        {
+           int DataOutput[] = {Channel,0x00};
+            if(_bus -> write(deviceAddress,(char*)DataOutput,OUT_BUF_LEN))
+            {
+                printf("I2C Failed to write\r\n");
+                return 1;
+            }
+            else
+            {
+                printf("0x%02x sent to Reg: 0x%02x\r\n",*(DataOutput+1),*DataOutput);
+                return 0;
+            }
+        }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SD20.h	Sun Jan 24 14:39:33 2016 +0000
@@ -0,0 +1,77 @@
+#ifndef SD20_H
+#define SD20_H
+
+/* SD20 Internal Register Map */
+#define SOFTWARE_REVISION_REG 0x00
+#define SERVO_1_REG 0x01
+#define SERVO_2_REG 0x02
+#define SERVO_3_REG 0x03
+#define SERVO_4_REG 0x04
+#define SERVO_5_REG 0x05
+#define SERVO_6_REG 0x06
+#define SERVO_7_REG 0x07
+#define SERVO_8_REG 0x08
+#define SERVO_9_REG 0x09
+#define SERVO_10_REG 0x10
+#define SERVO_11_REG 0x11
+#define SERVO_12_REG 0x12
+#define SERVO_13_REG 0x13
+#define SERVO_14_REG 0x14
+#define SERVO_15_REG 0x15
+#define SERVO_16_REG 0x16
+#define SERVO_17_REG 0x17
+#define SERVO_18_REG 0x18
+#define SERVO_19_REG 0x19
+#define SERVO_20_REG 0x20
+#define STD_ETD_MODE_CTRL 0x21
+#define ETD_MODE_OFST_HIGH 0x22
+#define ETD_MODE_OFST_LOW 0x23
+
+// Output Buffer Length
+#define OUT_BUF_LEN 2
+
+#define CHANNEL_STOP 0
+#define CHANNEL_START 1
+
+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);
+
+    /**
+     *  Start/Stop PWM output on specificed channel (Standard mode)
+     *
+     *  parameter Channel:      Servo Channel to be stopped
+     *  parameter Start:        Select whether to start[1] or stop [0] a given channel
+     *  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);
+
+    /**
+     *  Update PWM output on specificed channel (Standard mode)
+     *
+     *  parameter DataOutput:   Structured as follows: [Servo Channel[1:20], Pulse Width[0x00:0xFF]]
+     *  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);
+
+};
+
+#endif
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