TestServoPID: Add missing mock implementation

Author: Marcus Sonestedt

TestServoPID/AdafruitPwmServoDriverMock.cpp

@@ -0,0 +1,32 @@
+#include "pch.h"
+
+#include "AdafruitPwmServoDriverMock.h"
+
+Adafruit_PWMServoDriver::~Adafruit_PWMServoDriver() = default;
+
+void Adafruit_PWMServoDriver::setPin(uint8_t num, uint16_t val, bool invert) {
+  // Clamp value between 0 and 4095 inclusive.
+  val = std::min(val, (uint16_t)4095);
+  if (invert) {
+    if (val == 0) {
+      // Special value for signal fully on.
+      setPWM(num, 4096, 0);
+    } else if (val == 4095) {
+      // Special value for signal fully off.
+      setPWM(num, 0, 4096);
+    } else {
+      setPWM(num, 0, 4095 - val);
+    }
+  } else {
+    if (val == 4095) {
+      // Special value for signal fully on.
+      setPWM(num, 4096, 0);
+    } else if (val == 0) {
+      // Special value for signal fully off.
+      setPWM(num, 0, 4096);
+    } else {
+      setPWM(num, 0, val);
+    }
+  }
+}
+

TestServoPID/AdafruitPwmServoDriverMock.h

@@ -0,0 +1,48 @@
+#pragma once
+
+#define PCA9685_SUBADR1 0x2 /**< i2c bus address 1 */
+#define PCA9685_SUBADR2 0x3 /**< i2c bus address 2 */
+#define PCA9685_SUBADR3 0x4 /**< i2c bus address 3 */
+
+#define PCA9685_MODE1 0x0 /**< Mode Register 1 */
+#define PCA9685_MODE2 0x1 /**< Mode Register 2 */
+#define PCA9685_PRESCALE 0xFE /**< Prescaler for PWM output frequency */
+
+#define LED0_ON_L 0x6 /**< LED0 output and brightness control byte 0 */
+#define LED0_ON_H 0x7 /**< LED0 output and brightness control byte 1 */
+#define LED0_OFF_L 0x8 /**< LED0 output and brightness control byte 2 */
+#define LED0_OFF_H 0x9 /**< LED0 output and brightness control byte 3 */
+
+#define ALLLED_ON_L 0xFA /**< load all the LEDn_ON registers, byte 0 */
+#define ALLLED_ON_H 0xFB /**< load all the LEDn_ON registers, byte 1 */
+#define ALLLED_OFF_L 0xFC /**< load all the LEDn_OFF registers, byte 0 */
+#define ALLLED_OFF_H 0xFD /**< load all the LEDn_OFF registers, byte 1 */
+
+class Adafruit_PWMServoDriver {
+ public:
+  Adafruit_PWMServoDriver(uint8_t addr = 0x40, void *I2C = nullptr) : _i2caddr(addr), _i2c(I2C) {}
+  ~Adafruit_PWMServoDriver();
+
+    
+    
+  void begin(uint8_t prescale = 0) {}
+  void reset() {}
+  void sleep() {}
+  void wakeup() {}
+  void setExtClk(uint8_t prescale) {}
+  void setPWMFreq(float freq) { _freq = freq; }
+  void setOutputMode(bool totempole) { _outputMode = totempole; }
+  uint8_t getPWM(uint8_t num) { return (_pwmOff[num] - _pwmOn[num]) / (4096/256); }
+  void setPWM(uint8_t num, uint16_t on, uint16_t off) { _pwmOn[num] = on; _pwmOff[num] = off; }
+  void setPin(uint8_t num, uint16_t val, bool invert=false);
+
+ public:
+  std::array<uint16_t, 16> _pwmOn;
+  std::array<uint16_t, 16> _pwmOff;
+  float _freq;
+  bool _outputMode;
+
+private:
+  void *_i2c;
+  uint8_t _i2caddr;
+};