h3n3/darkwater_cplus_640
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This commit is contained in:
shrkey
2016-10-09 19:55:07 +01:00
parent 74ff50d7d9
commit 5da6e541cf
2 changed files with 92 additions and 34 deletions
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54
darkwater/DW640.cpp
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@@ -0,0 +1,54 @@
/*
Dark Water 640 driver code is placed under the BSD license.
Written by Team Dark Water (team@darkwater.io)
Copyright (c) 2014, Dark Water
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Emlid Limited nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "DW640.h"
/** PCA9685 constructor.
* @param address I2C address
* @see DW640_DEFAULT_ADDRESS
*/
DW640::DW640(uint8_t address) {
this->devAddr = address;
}
/** Power on and prepare for general usage.
* This method reads prescale value stored in PCA9685 and calculate frequency based on it.
* Then it enables auto-increment of register address to allow for faster writes.
* And finally the restart is performed to enable clocking.
*/
void DW640::initialize() {
PCA9685 this->pwm;
}
/** Verify the I2C connection.
* @return True if connection is valid, false otherwise
*/
bool DW640::testConnection() {
return this->pwm->testConnection();
}

72
darkwater/DW640.h
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@@ -41,20 +41,20 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define DW640_DEFAULT_ADDRESS 0x60 // 640 default #define DW640_DEFAULT_ADDRESS 0x60 // 640 default
#define DW_FORWARD 0x00 #define DW_FORWARD 1
#define DW_REVERSE 0x01 #define DW_REVERSE 2
#define DW_BRAKEFORWARD 0x06 #define DW_BRAKEFORWARD 3
#define DW_BRAKEREVERSE 0x07 #define DW_BRAKEREVERSE 4
#define DW_STOP 0x08 #define DW_STOP 5
#define DW_COAST 0x07 #define DW_COAST 6
#define DW_SINGLE 0x07 #define DW_SINGLE 1
#define DW_DOUBLE 0x07 #define DW_DOUBLE 2
#define DW_INTERLEAVE 0x07 #define DW_INTERLEAVE 3
#define DW_MICROSTEP 0x07 #define DW_MICROSTEP 4
#define DW_ININ 0x07 #define DW_ININ 5
#define DW_PHASE 0x07 #define DW_PHASE 6
class DW640 { class DW640 {
public: public:
@@ -63,40 +63,44 @@ class DW640 {
void initialize(); void initialize();
bool testConnection(); bool testConnection();
float getMode(); // float getFrequency();
void setMode(float frequency); // void setFrequency(float frequency);
void setPin(uint8_t channel, uint16_t value); // float getMode();
void setAllPin(uint16_t value); // void setMode(float frequency);
void setPWM(uint8_t channel, uint16_t offset, uint16_t length); // void setPin(uint8_t channel, uint16_t value);
void setPWM(uint8_t channel, uint16_t length); // void setAllPin(uint16_t value);
void setPWMmS(uint8_t channel, float length_mS);
void setPWMuS(uint8_t channel, float length_uS);
void setAllPWM(uint16_t offset, uint16_t length); // void setPWM(uint8_t channel, uint16_t offset, uint16_t length);
void setAllPWM(uint16_t length); // void setPWM(uint8_t channel, uint16_t length);
void setAllPWMmS(float length_mS); // void setPWMmS(uint8_t channel, float length_mS);
void setAllPWMuS(float length_uS); // void setPWMuS(uint8_t channel, float length_uS);
void allOff(uint16_t value); // void setAllPWM(uint16_t offset, uint16_t length);
// void setAllPWM(uint16_t length);
// void setAllPWMmS(float length_mS);
// void setAllPWMuS(float length_uS);
void setMotorSpeed(uint8_t motor, uint16_t speed); // void allOff(uint16_t value);
void setMotorOff(uint8_t motor);
void setServoOff(uint8_t servo); // void setMotorSpeed(uint8_t motor, uint16_t speed);
void setServoPWMmS(uint8_t servo, float length_mS); // void setMotorOff(uint8_t motor);
void setServoPWMuS(uint8_t servo, float length_uS);
void setStepperOff(uint8_t stepper); // void setServoOff(uint8_t servo);
void setStepperSpeed(uint8_t stepper, uint16_t speed); // void setServoPWMmS(uint8_t servo, float length_mS);
void oneStep(uint8_t stepper, uint8_t direction, uint8_t style); // void setServoPWMuS(uint8_t servo, float length_uS);
void step(uint8_t stepper, uint16_t steps, uint8_t direction, uint8_t style);
// void setStepperOff(uint8_t stepper);
// void setStepperSpeed(uint8_t stepper, uint16_t speed);
// void oneStep(uint8_t stepper, uint8_t direction, uint8_t style);
// void step(uint8_t stepper, uint16_t steps, uint8_t direction, uint8_t style);
private: private:
uint8_t devAddr; uint8_t devAddr;
float frequency; float frequency;
uint8_t mode; uint8_t mode;
PCA9685 pwm;
}; };
#endif // DW640_H #endif // DW640_H