File content as of revision 4:066936e2c097:

#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_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 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_W, data, 2);
}

unsigned char bertl_PC9555_switches()
{
    char taster[1];
    
    pc9555.start();                     // Start PC9555 to write the Adress
        pc9555.write(PC9555_ADDR_W);    // Write the WRITE-Adress
        pc9555.write(0x01);             // To define the Switches => 0x02: LEDs
    pc9555.start();                     // Start PC9555 again to read the Values
        pc9555.write(PC9555_ADDR_R);    // Set the READ_bit
        taster[0] = pc9555.read(0);        // Read the Value of the Switches (HEX_MASK)
    pc9555.stop();                      // Stop the I2C
    
    return (taster[0]);                    // Return the value
    
}
// 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
    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
    }
    //pc.printf("left: %4d\r\n", left);
    //pc.printf("right: %4d\r\n", right);
    // Or if the right- or/and the left engines value equals 0, the ENABLE-Pin turn off (ENABLE Pin equals 0)
    engineLEN=(left/255.0);      // PWM Value : 0 ... 1
    engineREN=(right/255.0);    // PWM Value : 0 ... 1
}
//Begin Testing bertl-engines
void bertl_engine_test()
{
    bertl_engine(100, 0);     //The left engine must turn FORWARD for 2 seconds
    wait(2);
    bertl_engine(0, 100);     //The right engine must turn FORWARD for 2 seconds
    wait(2);
    bertl_engine(-100, 0);    //The left engine must turn REVERSE for 2 seconds
    wait(2);
    bertl_engine(0, -100);    //The right engine must turn REVERSE for 2 seconds
    wait(2);
}
//End Testing bertl-engines
// END Motor Routines