54 lines
2.2 KiB
C++
54 lines
2.2 KiB
C++
/*
|
|
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() {
|
|
this->pwm = new PCA9685( this->devAddr );
|
|
}
|
|
|
|
/** Verify the I2C connection.
|
|
* @return True if connection is valid, false otherwise
|
|
*/
|
|
bool DW640::testConnection() {
|
|
return this->pwm->testConnection();
|
|
} |