SD20.cpp

00001 /* #####################################################################
00002                                SD20.cpp
00003                                --------
00004                 
00005                           Surface Ship, Group 5
00006                           ---------------------
00007  
00008  Written by:        Steven Kay
00009  
00010  Date:              February 2016
00011  
00012  Function:          This 
00013  
00014  Version:           1.0
00015  
00016  Version History
00017  ---------------
00018  
00019  1.1                rgdfgdfgdfggdfgdg
00020  
00021  1.0                gdgddfdddgd
00022     
00023  ##################################################################### */
00024 
00025 #include "mbed.h"
00026 #include "SD20.h"
00027       
00028 SD20::SD20(I2C *bus)
00029 {
00030     _bus = bus;
00031     _bus -> frequency(BUS_FREQ);
00032 }
00033 
00034 int SD20::UpdateChannel(char channelReg, char channelSpeed)
00035 {
00036         // Output new duty cycle to SD20, return 0 if successful, 1 if unsuccessful
00037         updateDutyCycle[0] = channelReg;
00038         updateDutyCycle[1] = channelSpeed;
00039         
00040         if(_bus -> write(SD20_ADDRESS,updateDutyCycle,2))
00041         {
00042 //            printf("I2C Failed to write\r\n");
00043             return 1;
00044         }
00045         else
00046         {
00047 //            updateDutyCycle = *(updateDutyCycle+1)
00048             printf("Reg: 0x%02x Data: 0x%02x\r\n",*updateDutyCycle,*(updateDutyCycle+1));
00049             return 0;
00050         }
00051 }
00052 
00053 int SD20::StartStopChannel(uint8_t ServoChannel,bool Start)
00054 {
00055         // Startup a new channel, return 0 if successful, 1 if unsuccessful
00056         if(Start == CHANNEL_START)
00057         {
00058             char startDutyCycle[] = {ServoChannel,CHANNEL_START};
00059             if(_bus -> write(SD20_ADDRESS,startDutyCycle,OUT_BUF_LEN))
00060             {
00061 //                printf("I2C Failed to write\r\n");
00062                 return 1;
00063             }
00064             else
00065             {
00066 //                printf("Reg: 0x%02x Data: 0x%02x\r\n",*newDutyCycle,*(newDutyCycle+1));
00067                 return 0;
00068             }
00069         }
00070         
00071         // Stop channel, return 0 if successful, 1 if unsuccessful
00072         else
00073         {
00074            char stopDutyCycle[] = {ServoChannel,CHANNEL_STOP};
00075             if(_bus -> write(SD20_ADDRESS,stopDutyCycle,OUT_BUF_LEN))
00076             {
00077 //                printf("I2C Failed to write\r\n");
00078                 return 1;
00079             }
00080             else
00081             {
00082 //                printf("Reg: 0x%02x Data: 0x%02x\r\n",*newDutyCycle,*(newDutyCycle+1));
00083                 return 0;
00084             }
00085         }
00086 }
00087 
00088 int SD20::SetStandardMode()
00089 {
00090         char outputBuf[] = {STD_ETD_MODE_CTRL,STD_MODE};
00091         if(_bus -> write(SD20_ADDRESS,outputBuf,OUT_BUF_LEN))
00092         {
00093 //            printf("I2C Failed to write\r\n");
00094             return 1;
00095         }
00096         else
00097         {
00098 //            printf("0x%02x sent to Reg: 0x%02x\r\n",*(outputBuf+1),*outputBuf);
00099             return 0;
00100         }    
00101 }
00102