Dominik Sukic / bertl

bertl.h@0:09cac0d76c5e, 2016-03-07 (annotated)

Committer:
DomiSukic
Date:
Mon Mar 07 11:51:28 2016 +0000
Revision:
0:09cac0d76c5e

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


DomiSukic

0:09cac0d76c5e


     1

#include <mbed.h>





DomiSukic

0:09cac0d76c5e


     2

//Checkbit-Defines





DomiSukic

0:09cac0d76c5e


     3

#define CHECK_BIT(var,pos) ((var) & (1<<(pos))) //Checks if bits are set Input: Variable to chaeck adn the position of the bit to check





DomiSukic

0:09cac0d76c5e


     4

//LED-Defines





DomiSukic

0:09cac0d76c5e


     5

#define LED_OFF 0x00            // 0b0000 0000, All Leds are off





DomiSukic

0:09cac0d76c5e


     6

#define LED_FL_WHITE 0x01       // 0b0000 0001, BERTL FORWARD Left-Side WHITE-LED





DomiSukic

0:09cac0d76c5e


     7

#define LED_FL_YELLOW 0x02      // 0b0000 0010, BERTL FORWARD Left-Side YELLOW-LED





DomiSukic

0:09cac0d76c5e


     8

#define LED_FR_WHITE 0x04       // 0b0000 0100, BERTL FORWARD Right-Side WHITE-LED





DomiSukic

0:09cac0d76c5e


     9

#define LED_FR_YELLOW 0x08      // 0b0000 1000, BERTL FORWARD Right-Side YELLOW-LED





DomiSukic

0:09cac0d76c5e


    10

#define LED_BL_RED 0x10         // 0b0001 0000, BERTL BACKWARD Left-Side RED-LED





DomiSukic

0:09cac0d76c5e


    11

#define LED_BL_YELLOW 0x20      // 0b0010 0000, BERTL BACKWARD Left-Side YELLOW-LED





DomiSukic

0:09cac0d76c5e


    12

#define LED_BR_RED 0x40         // 0b0100 0000, BERTL BACKWARD Right-Side RED-LED





DomiSukic

0:09cac0d76c5e


    13

#define LED_BR_YELLOW 0x80      // 0b1000 0000, BERTL BACKWARD Right-Side YELLOW-LED





DomiSukic

0:09cac0d76c5e


    14

#define LED_ON 0xFF             // 0b1111 1111, All Leds are on





DomiSukic

0:09cac0d76c5e


    15

 





DomiSukic

0:09cac0d76c5e


    16

#define LED_R_YELLOW (LED_FR_YELLOW|LED_BR_YELLOW)          // 0b1000 1000, BERTL Right Side, YELLOW-LEDs are on





DomiSukic

0:09cac0d76c5e


    17

#define LED_L_YELLOW (LED_FL_YELLOW|LED_BL_YELLOW)          // 0b0010 0010, BERTL Left Side, YELLOW-LEDs are on





DomiSukic

0:09cac0d76c5e


    18

#define LED_F_WHITE (LED_FL_WHITE|LED_FR_WHITE)             // 0b0000 0101, BERTL Forward, WHITE-LEDs are on





DomiSukic

0:09cac0d76c5e


    19

#define LED_B_RED (LED_BL_RED|LED_BR_RED)                   // 0b0101 0000, BERTL Backward, RED LEDs are on





DomiSukic

0:09cac0d76c5e


    20

#define LED_B_ALL (LED_B_RED|LED_BL_YELLOW|LED_BR_YELLOW)   // 0b1111 0000, BERTL Backward, All LEDs are on





DomiSukic

0:09cac0d76c5e


    21

#define LED_F_ALL (LED_F_WHITE|LED_FL_YELLOW|LED_FR_YELLOW) // 0b0000 1111, BERTL Forward, All LEDs are on





DomiSukic

0:09cac0d76c5e


    22







DomiSukic

0:09cac0d76c5e


    23

// Define PC9555 Routines





DomiSukic

0:09cac0d76c5e


    24

#define PC9555_ADDR_W 0x40 //A2 = A1 = A0 = 0, WRITE-ADRESS





DomiSukic

0:09cac0d76c5e


    25

#define PC9555_ADDR_R 0x41 // READ-ADRESS, to set the Read-bit





DomiSukic

0:09cac0d76c5e


    26

#define PC9555_FREQUENCY 100000 // fI2C in Hz





DomiSukic

0:09cac0d76c5e


    27







DomiSukic

0:09cac0d76c5e


    28

// PC9555 Commands





DomiSukic

0:09cac0d76c5e


    29

#define PC9555_PORT0_IN (0)





DomiSukic

0:09cac0d76c5e


    30

#define PC9555_PORT1_IN (1)





DomiSukic

0:09cac0d76c5e


    31

#define PC9555_PORT0_OUT (2)





DomiSukic

0:09cac0d76c5e


    32

#define PC9555_PORT1_OUT (3)





DomiSukic

0:09cac0d76c5e


    33

#define PC9555_PORT0_INV (4)





DomiSukic

0:09cac0d76c5e


    34

#define PC9555_PORT1_INV (5)





DomiSukic

0:09cac0d76c5e


    35

#define PC9555_PORT0_DIRCONFIG (6)





DomiSukic

0:09cac0d76c5e


    36

#define PC9555_PORT1_DIRCONFIG (7)





DomiSukic

0:09cac0d76c5e


    37







DomiSukic

0:09cac0d76c5e


    38

// Define Motor Routines





DomiSukic

0:09cac0d76c5e


    39

#define ENGINE_LEFT_BACKWARD P1_0       //IN1, EP10, MG1A => MG1 engine-Pin 2, left_Reverse





DomiSukic

0:09cac0d76c5e


    40

#define ENGINE_LEFT_FORWARD P1_1        //IN2, EP11, MG1B => MG1 engine-Pin 1, left_Forward





DomiSukic

0:09cac0d76c5e


    41

#define ENGINE_ENABLE_LEFT P1_15        //EN1, P34, left_ENABLE





DomiSukic

0:09cac0d76c5e


    42

#define ENGINE_RIGHT_REVERSE P1_4       //IN4, EP13, MG2A => MG2 engine-Pin 2, right_Reverse





DomiSukic

0:09cac0d76c5e


    43

#define ENGINE_RIGHT_FORWARD P1_3       //IN3, EP14, MG2B => MG2 engine-Pin 1, right_Forward





DomiSukic

0:09cac0d76c5e


    44

#define ENGINE_ENABLE_RIGHT P0_21       //EN2, P36, right_ENABLE





DomiSukic

0:09cac0d76c5e


    45

#define MAX_PWM 255                     //Define the MAX Value of the PWM





DomiSukic

0:09cac0d76c5e


    46







DomiSukic

0:09cac0d76c5e


    47

// Motor Routines





DomiSukic

0:09cac0d76c5e


    48

void bertl_engine(int left, int right);





DomiSukic

0:09cac0d76c5e


    49

void bertl_engine_test();





DomiSukic

0:09cac0d76c5e


    50

 





DomiSukic

0:09cac0d76c5e


    51

// PC9555 routines





DomiSukic

0:09cac0d76c5e


    52

void bertl_PC9555_init();





DomiSukic

0:09cac0d76c5e


    53

void bertl_PC9555_leds(unsigned char leds);





DomiSukic

0:09cac0d76c5e


    54

unsigned char bertl_PC9555_switches();





DomiSukic

0:09cac0d76c5e


    55







DomiSukic

0:09cac0d76c5e


    56

//Checkbit Routines





DomiSukic

0:09cac0d76c5e


    57

 bool checkbitFront();





DomiSukic

0:09cac0d76c5e


    58

 bool checkbitBack();