AKM Development Platform

Diff: AP1017.cpp

Revision:

6:d4d3bc82d446

Parent:

5:2da4339149a6

Child:

8:bc70a421ef4c

--- a/AP1017.cpp	Fri Apr 21 20:43:25 2017 +0000
+++ b/AP1017.cpp	Fri Apr 21 23:22:06 2017 +0000
@@ -1,21 +1,36 @@
 #include "AP1017.h"
 #include "debug.h"
 
+#define I2C_SPEED   400000
+
 /******************** Constructors & Destructors ****************************/
 
 // Default constructor
 AP1017::AP1017(void) : motorOn(false), dutyCycle(0.0)
 {
-    motor = new PwmOut(P0_10);
+    //motor = new PwmOut(P0_10);
     inA = new DigitalOut(P0_11);
     inB = new DigitalOut(P0_9);
+    
+    // Instantiate I2C
+     i2cMotor = new I2C(I2C_SDA0, I2C_SCL0);
+     i2cMotor->frequency(I2C_SPEED);
+
+     // Instantiate TCA9554A
+     motor = new TCA9554A(i2cMotor, TCA9554A::SLAVE_ADDRESS_38H);  // 38H->Port 0->RSV
+     
+     // Initialize RSV as output
+     if (motor->configurePort(TCA9554A::PORT_0, TCA9554A::DIR_OUTPUT)!= TCA9554A::SUCCESS) {
+         MSG("#AP1017: Error configuring TCA9554A port.\r\n");
+     }
+     motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::LOW);  // Turn motor off
 }
 
 // Default destructor
 AP1017::~AP1017(void)
 {
     stop();
-    delete inA, inB, motor;
+    delete inA, inB, motor, i2cMotor;
 }
 
 /*********************** Member Functions ***********************************/
@@ -81,7 +96,7 @@
         MSG("#AP1017.cpp: dutyCycle = %.1f%%\r\n", dc);
 
         if(motorOn == true){
-            motor->write(dutyCycle);          // If motor is on, keep it on
+            //TODO
             MSG("#AP1017.cpp: Changed running motor speed.\r\n");
         }
     }
@@ -104,7 +119,7 @@
 
 AP1017::Status AP1017::start(void)
 {
-    motor->write(dutyCycle);                // Set duty cycle, start motor
+    motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::HIGH);        // set RSV high
     MSG("#AP1017.cpp: Motor: ON\r\n");
     motorOn = true;                         // Set ON flag
 
@@ -114,7 +129,7 @@
 
 AP1017::Status AP1017::stop(void)
 {
-    motor->write(0.0);                      // turn motor off (duty cycle saved)
+    motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::LOW);        // set RSV low
     MSG("#AP1017.cpp: Motor: OFF\r\n");
     motorOn = false;                        // Set OFF flag