main.cpp

00001 /* mbed Microcontroller Library
00002  * Copyright (c) 2019 ARM Limited
00003  * SPDX-License-Identifier: Apache-2.0
00004  */
00005 
00006 #include "mbed.h"
00007 #include "platform/mbed_thread.h"
00008 
00009 #define adresse 0x80
00010 #define EXTCLK 1<<6
00011 #define SLEEP 1<<4
00012 #define AI 1<<5
00013 #define PRE_SCALE 0xFE
00014 
00015 #define MODE1 0x0
00016 #define MODE2 0x1
00017 #define LED0_ON_L 0x06
00018 
00019 I2C motorino(D14,D15);
00020 AnalogIn poti(PA_0);
00021 
00022 // Blinking rate in milliseconds
00023 #define BLINKING_RATE_MS                                                    50
00024 
00025 char getLED_ON_L(int nr)
00026 {
00027     return LED0_ON_L+4*nr;
00028 }
00029 
00030 char getLED_ON_H(int nr)
00031 {
00032     return LED0_ON_L+4*nr+1;
00033 }
00034 
00035 char getLED_OFF_L(int nr)
00036 {
00037     return LED0_ON_L+4*nr+2;
00038 }
00039 
00040 char getLED_OFF_H(int nr)
00041 {
00042     return LED0_ON_L+4*nr+3;
00043 }
00044 
00045 void WriteToASpecificRegister(char RegAdr,char Wert)
00046 {
00047     char daten[2];
00048     daten[0]=RegAdr;
00049     daten[1]=Wert;
00050     motorino.write(adresse,daten, 2, 0);
00051 }
00052 
00053 void setDutyCycle(float dtc, int lednr)
00054 {
00055     unsigned int on,off;
00056     unsigned char onL,offL,onH,offH;
00057     on=0;
00058     off=4095*dtc/100;
00059     onL=on&0xFF;
00060     onH=on>>8&0xf;
00061     offL=off&0xFF;
00062     offH=off>>8&0xf;
00063     WriteToASpecificRegister(getLED_ON_L(lednr),onL);
00064     WriteToASpecificRegister(getLED_ON_H(lednr),onH);
00065     WriteToASpecificRegister(getLED_OFF_L(lednr),offL);
00066     WriteToASpecificRegister(getLED_OFF_H(lednr),offH);
00067 }
00068 
00069 void init()
00070 {
00071     WriteToASpecificRegister(MODE1,SLEEP);
00072     WriteToASpecificRegister(PRE_SCALE,121); //50Hz Wert=Runden(25MHz/4096/50)-1
00073     WriteToASpecificRegister(MODE1,EXTCLK); //Switch to external 25MHz Clock
00074 
00075     setDutyCycle(25,0);
00076     
00077 }
00078 
00079 void servo(float pos,int nr,float start=5, float end=10)  //pos 0..180°
00080 { 
00081    setDutyCycle(start+(end-start)*pos/180.0,nr);    
00082 }
00083 
00084 int main()
00085 {
00086     int dtc=0;
00087     // Initialise the digital pin LED1 as an output
00088     DigitalOut led(LED1);
00089     init();
00090     while (true) {
00091         led = !led;
00092         dtc+=1;
00093         if (dtc>180) dtc=0;
00094         servo(poti*180,0);
00095         thread_sleep_for(BLINKING_RATE_MS);
00096     }
00097 }