From 74ff50d7d99f28c9d81886cc4ce1841e6c83495b Mon Sep 17 00:00:00 2001
From: shrkey <barry@shrkey.com>
Date: Sun, 9 Oct 2016 19:45:06 +0100
Subject: [PATCH] initial layout - this may change at some point

---
 darkwater/DW640.h                      | 102 +++++++++++++++++++++++++
 examples/Multithread/threaded_baro.cpp |   4 +-
 2 files changed, 104 insertions(+), 2 deletions(-)

diff --git a/darkwater/DW640.h b/darkwater/DW640.h
index e69de29..b6f3196 100644
--- a/darkwater/DW640.h
+++ b/darkwater/DW640.h
@@ -0,0 +1,102 @@
+/*
+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.
+*/
+
+#ifndef DW640_H
+#define DW640_H
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <math.h>
+#include <string>
+#include "PCA9685.h"
+
+#define DW640_DEFAULT_ADDRESS     0x60 // 640 default
+
+#define DW_FORWARD                0x00
+#define DW_REVERSE                0x01
+#define DW_BRAKEFORWARD           0x06
+#define DW_BRAKEREVERSE           0x07
+#define DW_STOP                   0x08
+#define DW_COAST                  0x07
+
+#define DW_SINGLE                 0x07
+#define DW_DOUBLE                 0x07
+#define DW_INTERLEAVE             0x07
+#define DW_MICROSTEP              0x07
+
+#define DW_ININ                   0x07
+#define DW_PHASE                  0x07
+
+class DW640 {
+    public:
+        DW640(uint8_t address = DW640_DEFAULT_ADDRESS);
+
+        void initialize();
+        bool testConnection();
+
+        float getMode();
+        void setMode(float frequency);
+
+        void setPin(uint8_t channel, uint16_t value);
+        void setAllPin(uint16_t value);
+
+        void setPWM(uint8_t channel, uint16_t offset, uint16_t length);
+        void setPWM(uint8_t channel, uint16_t length);
+        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 setAllPWM(uint16_t length);
+        void setAllPWMmS(float length_mS);
+        void setAllPWMuS(float length_uS);
+
+        void allOff(uint16_t value);
+
+        void setMotorSpeed(uint8_t motor, uint16_t speed);
+        void setMotorOff(uint8_t motor);
+
+        void setServoOff(uint8_t servo);
+        void setServoPWMmS(uint8_t servo, float length_mS);
+        void setServoPWMuS(uint8_t servo, float length_uS);
+
+        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:
+        uint8_t devAddr;
+        float frequency;
+        uint8_t mode;
+};
+
+#endif // DW640_H
\ No newline at end of file
diff --git a/examples/Multithread/threaded_baro.cpp b/examples/Multithread/threaded_baro.cpp
index 7c82688..d5fb805 100644
--- a/examples/Multithread/threaded_baro.cpp
+++ b/examples/Multithread/threaded_baro.cpp
@@ -10,8 +10,8 @@ make
 sudo ./threaded_baro
 */
 
-#include "Navio/MS5611.h"
-#include "Navio/Util.h"
+#include "darkwater/MS5611.h"
+#include "darkwater/Util.h"
 #include <unistd.h>
 #include <stdio.h>
 #include <pthread.h>