Diff: bertl14.cpp

Revision:

1:01bc0c86f111

Parent:

0:f40ab7184c3f

Child:

2:d9f2452ba88d

--- a/bertl14.cpp	Mon Jan 18 09:44:28 2016 +0000
+++ b/bertl14.cpp	Mon Jan 25 11:44:13 2016 +0000
@@ -1,13 +1,54 @@
 #include <mbed.h>
 #include "bertl14.h"
-
+//*********************************************************************************
+// Define Motor Routines
 DigitalOut engineLR(P1_0);     //IN1, EP10, MG1A => MG1 engine-Pin 2, left_Reverse
 DigitalOut engineLF(P1_1);     //IN2, EP11, MG1B => MG1 engine-Pin 1, left_Forward
 PwmOut engineLEN(p34);       //EN1, P34, left_ENABLE
 DigitalOut engineRR(P1_4);    //IN4, EP13, MG2A => MG2 engine-Pin 2, right_Reverse
 DigitalOut engineRF(P1_3);    //IN3, EP14, MG2B => MG2 engine-Pin 1, right_Forward
 PwmOut engineREN(p36);      //EN2, P36, right_ENABLE
+//**********************************************************************************
+// 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, 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, data, 2);
+  
+}
+
+void bertl_PC9555_leds(unsigned char leds)
+{
+    char data[2];   //Two Bits 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, data, 2);
+}
+
+unsigned char bertl_PC9555_switches()
+{
+    ;
+}
+// END PC9555 Routines
+//**********************************************************************************
+
+// Begin Motor Routines
 void bertl_engine(int left, int right)
 {  
     // If the left engines-value is greater than 0, the left engine turn FORWARD
@@ -54,4 +95,5 @@
     bertl_engine(0, -100);    //The right engine must turn REVERSE for 2 seconds
     wait(2);
 }
-//End Testing bertl-engines
\ No newline at end of file
+//End Testing bertl-engines
+// END Motor Routines
\ No newline at end of file