61 lines
2.4 KiB
C++
61 lines
2.4 KiB
C++
/*
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Dark Water 640 driver code is placed under the BSD license.
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Written by Team Dark Water (team@darkwater.io)
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Copyright (c) 2014, Dark Water
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Emlid Limited nor the names of its contributors
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may be used to endorse or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "DW640.h"
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/** PCA9685 constructor.
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* @param address I2C address
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* @see DW640_DEFAULT_ADDRESS
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*/
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DW640::DW640(uint8_t address) {
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this->devAddr = address;
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}
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/** Power on and prepare for general usage.
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* This method reads prescale value stored in PCA9685 and calculate frequency based on it.
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* Then it enables auto-increment of register address to allow for faster writes.
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* And finally the restart is performed to enable clocking.
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*/
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bool DW640::initialize() {
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this->pwm = new PCA9685( this->devAddr );
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if (!testConnection() ) {
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printf("No 640 board found\n");
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return 0;
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}
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this->pwm->setFrequency( 100 );
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}
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/** Verify the I2C connection.
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* @return True if connection is valid, false otherwise
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*/
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bool DW640::testConnection() {
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return this->pwm->testConnection();
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} |