Revision 0:09cac0d76c5e, committed 2016-03-07

Comitter:

DomiSukic

Date:

Mon Mar 07 11:51:28 2016 +0000

Commit message:

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bertl.cpp	Mon Mar 07 11:51:28 2016 +0000
@@ -0,0 +1,109 @@
+/****************************
+Bertl engine&I2C Lib. rework 
+
+2.2.2016
+
+by Dominik Sukic
+with help from Kevin Heinrich
+*****************************/
+
+#include <mbed.h>
+#include "bertl.h"
+// Define Motor Routines
+DigitalOut engineLR(P1_0);      //IN1, EP10, MG1 engine-Pin 2
+DigitalOut engineLF(P1_1);      //IN2, EP11, MG1 engine-Pin 1
+PwmOut engineLEN(p34);          //EN1, P34
+DigitalOut engineRR(P1_4);      //IN4, EP13, MG2 engine-Pin 2
+DigitalOut engineRF(P1_3);      //IN3, EP14, MG2 engine-Pin 1
+PwmOut engineREN(p36);          //EN2, P36
+
+// Define PC9555 Routines
+I2C pc9555(P0_5, P0_4);// SDA, SCL
+
+//Start PC9555 Routines
+void bertl_PC9555_init()
+{
+    char data[2];
+    // I2C-Initialisierung
+    pc9555.frequency(PC9555_FREQUENCY);
+    // Port 0 = Leds, Port 1 = Switches
+    // Adresse, R/W# = 0, Config PORT 0 (6) = 0x00(= Output), Stop
+    data[0] = PC9555_PORT0_DIRCONFIG;
+    data[1] = 0x00;
+    pc9555.write(PC9555_ADDR_W, data, 2);
+    // Adresse, R/W# = 0, Config PORT 1 (7) = 0xFF(= Input), Stop
+    data[0] = PC9555_PORT1_DIRCONFIG;
+    data[1] = 0xFF;
+    pc9555.write(PC9555_ADDR_W, data, 2);
+}
+
+void bertl_PC9555_leds(unsigned char leds)
+{
+    char data[2];   //Two Bytes for Transmitt via I2C
+    // Send leds to PORT0 of PC9555 via I2C:
+    // Start, Address, RW# = 0, CMD PC9555_PORT0_OUT, leds, STOP
+    data[0] = PC9555_PORT0_OUT;
+    data[1] = ~leds;    //bitwise inversion since Hardware is switched on with 0 (inverse logic)
+    pc9555.write(PC9555_ADDR_W, data, 2);
+}
+
+unsigned char bertl_PC9555_switches()
+{
+    char taster;
+
+    pc9555.start();                     // Start PC9555 to write the Adress
+    pc9555.write(PC9555_ADDR_W);    // Write the WRITE-Adress
+    pc9555.write(0x01);             // To define the Switches
+    pc9555.start();                     // Start PC9555 again to read the Values
+    pc9555.write(PC9555_ADDR_R);    // Set the READ_bit
+    taster = pc9555.read(0);        // Read the Value of the Switches
+    pc9555.stop();                      // Stop the I2C
+
+    return taster;                    // Return the value
+
+}
+// END PC9555 Routines
+
+//Experimental
+bool checkbitFront()
+{
+    bool Frontbuttons = CHECK_BIT(bertl_PC9555_switches(), 7) | CHECK_BIT(bertl_PC9555_switches(), 6) | CHECK_BIT(bertl_PC9555_switches(), 2) | CHECK_BIT(bertl_PC9555_switches(), 0); //Checks if a bit of the front buttons is set
+
+    return Frontbuttons; //returns true if set
+}
+bool checkbitBack()
+{
+    bool Backbuttons = CHECK_BIT(bertl_PC9555_switches(), 5) | CHECK_BIT(bertl_PC9555_switches(), 4) | CHECK_BIT(bertl_PC9555_switches(), 1); //Checks if a bit of the back buttons is set
+
+    return Backbuttons; //returns true if set
+}
+
+// Begin Motor Routines
+void bertl_engine(int left, int right)
+{
+    // If the left engines-value is greater than 0, the left engine turn FORWARD
+    if(left > 0) {
+        engineLF=1;
+        engineLR=0;
+    }
+    // Or if the left engines-value is less than 0, the left engine turn REVERSE
+    else if(left < 0) {
+        engineLF=0;
+        engineLR=1;
+        left = left * (-1);         // For PWM the Value have to be positive
+    }
+    // If the right engines-value is greater than 0, the right engine turn FORWARD
+    if(right > 0) {
+        engineRF=1;
+        engineRR=0;
+    }
+    // Or if the right engines-value is less than 0, the right engine turn REVERSE
+    else if(right < 0) {
+        engineRF=0;
+        engineRR=1;
+        right = right * (-1);       // For PWM the Value have to be positive
+    }
+    // Or if the right- or/and the left engines value equals 0, the ENABLE-Pin turn off
+    engineLEN=(left/255.0);
+    engineREN=(right/255.0);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bertl.h	Mon Mar 07 11:51:28 2016 +0000
@@ -0,0 +1,58 @@
+#include <mbed.h>
+//Checkbit-Defines
+#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
+//LED-Defines
+#define LED_OFF 0x00            // 0b0000 0000, All Leds are off
+#define LED_FL_WHITE 0x01       // 0b0000 0001, BERTL FORWARD Left-Side WHITE-LED
+#define LED_FL_YELLOW 0x02      // 0b0000 0010, BERTL FORWARD Left-Side YELLOW-LED
+#define LED_FR_WHITE 0x04       // 0b0000 0100, BERTL FORWARD Right-Side WHITE-LED
+#define LED_FR_YELLOW 0x08      // 0b0000 1000, BERTL FORWARD Right-Side YELLOW-LED
+#define LED_BL_RED 0x10         // 0b0001 0000, BERTL BACKWARD Left-Side RED-LED
+#define LED_BL_YELLOW 0x20      // 0b0010 0000, BERTL BACKWARD Left-Side YELLOW-LED
+#define LED_BR_RED 0x40         // 0b0100 0000, BERTL BACKWARD Right-Side RED-LED
+#define LED_BR_YELLOW 0x80      // 0b1000 0000, BERTL BACKWARD Right-Side YELLOW-LED
+#define LED_ON 0xFF             // 0b1111 1111, All Leds are on
+ 
+#define LED_R_YELLOW (LED_FR_YELLOW|LED_BR_YELLOW)          // 0b1000 1000, BERTL Right Side, YELLOW-LEDs are on
+#define LED_L_YELLOW (LED_FL_YELLOW|LED_BL_YELLOW)          // 0b0010 0010, BERTL Left Side, YELLOW-LEDs are on
+#define LED_F_WHITE (LED_FL_WHITE|LED_FR_WHITE)             // 0b0000 0101, BERTL Forward, WHITE-LEDs are on
+#define LED_B_RED (LED_BL_RED|LED_BR_RED)                   // 0b0101 0000, BERTL Backward, RED LEDs are on
+#define LED_B_ALL (LED_B_RED|LED_BL_YELLOW|LED_BR_YELLOW)   // 0b1111 0000, BERTL Backward, All LEDs are on
+#define LED_F_ALL (LED_F_WHITE|LED_FL_YELLOW|LED_FR_YELLOW) // 0b0000 1111, BERTL Forward, All LEDs are on
+
+// Define PC9555 Routines
+#define PC9555_ADDR_W 0x40 //A2 = A1 = A0 = 0, WRITE-ADRESS
+#define PC9555_ADDR_R 0x41 // READ-ADRESS, to set the Read-bit
+#define PC9555_FREQUENCY 100000 // fI2C in Hz
+
+// PC9555 Commands
+#define PC9555_PORT0_IN (0)
+#define PC9555_PORT1_IN (1)
+#define PC9555_PORT0_OUT (2)
+#define PC9555_PORT1_OUT (3)
+#define PC9555_PORT0_INV (4)
+#define PC9555_PORT1_INV (5)
+#define PC9555_PORT0_DIRCONFIG (6)
+#define PC9555_PORT1_DIRCONFIG (7)
+
+// Define Motor Routines
+#define ENGINE_LEFT_BACKWARD P1_0       //IN1, EP10, MG1A => MG1 engine-Pin 2, left_Reverse
+#define ENGINE_LEFT_FORWARD P1_1        //IN2, EP11, MG1B => MG1 engine-Pin 1, left_Forward
+#define ENGINE_ENABLE_LEFT P1_15        //EN1, P34, left_ENABLE
+#define ENGINE_RIGHT_REVERSE P1_4       //IN4, EP13, MG2A => MG2 engine-Pin 2, right_Reverse
+#define ENGINE_RIGHT_FORWARD P1_3       //IN3, EP14, MG2B => MG2 engine-Pin 1, right_Forward
+#define ENGINE_ENABLE_RIGHT P0_21       //EN2, P36, right_ENABLE
+#define MAX_PWM 255                     //Define the MAX Value of the PWM
+
+// Motor Routines
+void bertl_engine(int left, int right);
+void bertl_engine_test();
+ 
+// PC9555 routines
+void bertl_PC9555_init();
+void bertl_PC9555_leds(unsigned char leds);
+unsigned char bertl_PC9555_switches();
+
+//Checkbit Routines
+ bool checkbitFront();
+ bool checkbitBack();