Diff: main.cpp

Revision:

0:86d0148c14a6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Sep 24 15:28:27 2021 +0000
@@ -0,0 +1,97 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2019 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "mbed.h"
+#include "platform/mbed_thread.h"
+
+#define adresse 0x80
+#define EXTCLK 1<<6
+#define SLEEP 1<<4
+#define AI 1<<5
+#define PRE_SCALE 0xFE
+
+#define MODE1 0x0
+#define MODE2 0x1
+#define LED0_ON_L 0x06
+
+I2C motorino(D14,D15);
+AnalogIn poti(PA_0);
+
+// Blinking rate in milliseconds
+#define BLINKING_RATE_MS                                                    50
+
+char getLED_ON_L(int nr)
+{
+    return LED0_ON_L+4*nr;
+}
+
+char getLED_ON_H(int nr)
+{
+    return LED0_ON_L+4*nr+1;
+}
+
+char getLED_OFF_L(int nr)
+{
+    return LED0_ON_L+4*nr+2;
+}
+
+char getLED_OFF_H(int nr)
+{
+    return LED0_ON_L+4*nr+3;
+}
+
+void WriteToASpecificRegister(char RegAdr,char Wert)
+{
+    char daten[2];
+    daten[0]=RegAdr;
+    daten[1]=Wert;
+    motorino.write(adresse,daten, 2, 0);
+}
+
+void setDutyCycle(float dtc, int lednr)
+{
+    unsigned int on,off;
+    unsigned char onL,offL,onH,offH;
+    on=0;
+    off=4095*dtc/100;
+    onL=on&0xFF;
+    onH=on>>8&0xf;
+    offL=off&0xFF;
+    offH=off>>8&0xf;
+    WriteToASpecificRegister(getLED_ON_L(lednr),onL);
+    WriteToASpecificRegister(getLED_ON_H(lednr),onH);
+    WriteToASpecificRegister(getLED_OFF_L(lednr),offL);
+    WriteToASpecificRegister(getLED_OFF_H(lednr),offH);
+}
+
+void init()
+{
+    WriteToASpecificRegister(MODE1,SLEEP);
+    WriteToASpecificRegister(PRE_SCALE,121); //50Hz Wert=Runden(25MHz/4096/50)-1
+    WriteToASpecificRegister(MODE1,EXTCLK); //Switch to external 25MHz Clock
+
+    setDutyCycle(25,0);
+    
+}
+
+void servo(float pos,int nr,float start=5, float end=10)  //pos 0..180°
+{ 
+   setDutyCycle(start+(end-start)*pos/180.0,nr);    
+}
+
+int main()
+{
+    int dtc=0;
+    // Initialise the digital pin LED1 as an output
+    DigitalOut led(LED1);
+    init();
+    while (true) {
+        led = !led;
+        dtc+=1;
+        if (dtc>180) dtc=0;
+        servo(poti*180,0);
+        thread_sleep_for(BLINKING_RATE_MS);
+    }
+}