Taylor Street / AP1017

AP1017 library for the Rev.E hardware with expanded capabilities.

Fork of AP1017 by AKM Development Platform

AP1017.h@7:b19dbc46ac0e, 2017-04-25 (annotated)

Committer:
tkstreet
Date:
Tue Apr 25 19:13:41 2017 +0000
Revision:
7:b19dbc46ac0e
Parent:
6:d4d3bc82d446
Child:
9:1ca7d16de1c4
Debugged port expander functionality.  Driver is operational, but only with ON/OFF capability.  No PWM capability yet.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tkstreet 0:a0435a630c5d 1 #ifndef __AP1017_H
tkstreet 0:a0435a630c5d 2 #define __AP1017_H
tkstreet 0:a0435a630c5d 3
tkstreet 0:a0435a630c5d 4 #include "mbed.h"
tkstreet 6:d4d3bc82d446 5 #include "tca9554a.h"
tkstreet 6:d4d3bc82d446 6 #include "I2C.h"
tkstreet 0:a0435a630c5d 7
tkstreet 0:a0435a630c5d 8 /**
tkstreet 0:a0435a630c5d 9 * This is a device driver for the AP1017 with pulse width modulation.
tkstreet 0:a0435a630c5d 10 */
tkstreet 0:a0435a630c5d 11 class AP1017
tkstreet 0:a0435a630c5d 12 {
tkstreet 0:a0435a630c5d 13 public:
tkstreet 0:a0435a630c5d 14
tkstreet 2:8a644b1066c4 15 /**
tkstreet 2:8a644b1066c4 16 * Default constructor creates motors with PWM initial duty cycle of 0%.
tkstreet 2:8a644b1066c4 17 * Motor EN pin connected to D2, INA connected to D0, INB connected to D1.
tkstreet 2:8a644b1066c4 18 */
tkstreet 0:a0435a630c5d 19 AP1017(void);
tkstreet 0:a0435a630c5d 20
tkstreet 2:8a644b1066c4 21 /**
tkstreet 2:8a644b1066c4 22 * Disables PWM for the motors.
tkstreet 0:a0435a630c5d 23 */
tkstreet 0:a0435a630c5d 24 ~AP1017(void);
tkstreet 0:a0435a630c5d 25
tkstreet 2:8a644b1066c4 26 /**
tkstreet 2:8a644b1066c4 27 * Return status enumeration for debugging.
tkstreet 0:a0435a630c5d 28 */
tkstreet 0:a0435a630c5d 29 typedef enum {
tkstreet 0:a0435a630c5d 30 SUCCESS = 0x00, /**< Successful termination */
tkstreet 0:a0435a630c5d 31 ERROR_FREQUENCY = 0x01, /**< Frequency out of bounds */
tkstreet 0:a0435a630c5d 32 ERROR_DUTY_CYCLE = 0x02, /**< Invalid duty cycle */
tkstreet 0:a0435a630c5d 33 ERROR_DIRECTION = 0x03, /**< Invalid direction */
tkstreet 0:a0435a630c5d 34 ERROR_PERIOD = 0x04, /**< Invalid period */
tkstreet 0:a0435a630c5d 35 ERROR_PULSEWIDTH = 0x05, /**< Invalid pulse width */
tkstreet 0:a0435a630c5d 36 ERROR_MOTORON = 0x06 /**< Direction switched while motor on */
tkstreet 0:a0435a630c5d 37 } Status;
tkstreet 0:a0435a630c5d 38
tkstreet 2:8a644b1066c4 39 /**
tkstreet 2:8a644b1066c4 40 * Motor directions.
tkstreet 0:a0435a630c5d 41 */
tkstreet 0:a0435a630c5d 42 typedef enum {
tkstreet 0:a0435a630c5d 43 DIRECTION_CW = 0x00, /**< Clockwise motor rotation */
tkstreet 0:a0435a630c5d 44 DIRECTION_CCW = 0x01, /**< Counterclockwise motor rotation */
tkstreet 4:c36159701cde 45 DIRECTION_COAST = 0x02, /**< Release motor to coast */
tkstreet 4:c36159701cde 46 DIRECTION_BRAKE = 0x03 /**< Brake motor */
tkstreet 0:a0435a630c5d 47 } Rotation;
tkstreet 0:a0435a630c5d 48
tkstreet 0:a0435a630c5d 49
tkstreet 2:8a644b1066c4 50 /**
tkstreet 2:8a644b1066c4 51 * Sets the direction to clockwise, counterclockwise, brake or coast.
tkstreet 2:8a644b1066c4 52 * Changing between clockwise and counterclockwise may only be performed
tkstreet 2:8a644b1066c4 53 * when motor is off.
tkstreet 0:a0435a630c5d 54 *
tkstreet 2:8a644b1066c4 55 * @param dir Rotation type: DIRECTION_CW, DIRECTION_CCW, DIRECTION_COAST,
tkstreet 0:a0435a630c5d 56 * or DIRECTION_BRAKE
tkstreet 2:8a644b1066c4 57 * @return Returns successful termination, ERROR_MOTORON for invalid
tkstreet 0:a0435a630c5d 58 * direction switching, or ERROR_DIRECTION for invalid direction.
tkstreet 0:a0435a630c5d 59 */
tkstreet 3:f8e70f639ed0 60 Status setDirection(Rotation dir);
tkstreet 3:f8e70f639ed0 61
tkstreet 3:f8e70f639ed0 62 /**
tkstreet 3:f8e70f639ed0 63 * Returns the currently set direction.
tkstreet 3:f8e70f639ed0 64 */
tkstreet 3:f8e70f639ed0 65 Rotation getDirection(void);
tkstreet 0:a0435a630c5d 66
tkstreet 2:8a644b1066c4 67 /**
tkstreet 3:f8e70f639ed0 68 * Sets the speed via setting the duty cycle. Duty cycle given
tkstreet 3:f8e70f639ed0 69 * as a percentage.
tkstreet 0:a0435a630c5d 70 *
tkstreet 2:8a644b1066c4 71 * @param dc Duty cycle as a proportion (0.0 to 1.0).
tkstreet 2:8a644b1066c4 72 * @return Returns successful termination or dutyc cyle error.
tkstreet 0:a0435a630c5d 73 */
tkstreet 3:f8e70f639ed0 74 Status setSpeed(float dc);
tkstreet 0:a0435a630c5d 75
tkstreet 2:8a644b1066c4 76 /**
tkstreet 3:f8e70f639ed0 77 * Returns the currently set speed as a percentage.
tkstreet 0:a0435a630c5d 78 */
tkstreet 3:f8e70f639ed0 79 float getSpeed(void);
tkstreet 0:a0435a630c5d 80
tkstreet 2:8a644b1066c4 81 /**
tkstreet 2:8a644b1066c4 82 * Engages the motor.
tkstreet 2:8a644b1066c4 83 *
tkstreet 2:8a644b1066c4 84 * @return Returns successful termination or pulse width error.
tkstreet 0:a0435a630c5d 85 */
tkstreet 3:f8e70f639ed0 86 Status start(void);
tkstreet 0:a0435a630c5d 87
tkstreet 2:8a644b1066c4 88 /**
tkstreet 2:8a644b1066c4 89 * Stops forced rotation of the motor.
tkstreet 2:8a644b1066c4 90 *
tkstreet 2:8a644b1066c4 91 * @return Returns successful termination or pulse width error.
tkstreet 0:a0435a630c5d 92 */
tkstreet 3:f8e70f639ed0 93 Status stop(void);
tkstreet 0:a0435a630c5d 94
tkstreet 2:8a644b1066c4 95 /**
tkstreet 2:8a644b1066c4 96 * Applies forced braking of motor.
tkstreet 2:8a644b1066c4 97 *
tkstreet 2:8a644b1066c4 98 * @return Returns successful termination or pulse width error.
tkstreet 0:a0435a630c5d 99 */
tkstreet 3:f8e70f639ed0 100 Status brake(void);
tkstreet 0:a0435a630c5d 101
tkstreet 0:a0435a630c5d 102 /**
tkstreet 2:8a644b1066c4 103 * Removes force from the motor and allows it to spin freely.
tkstreet 2:8a644b1066c4 104 *
tkstreet 2:8a644b1066c4 105 * @return Returns successful termination or pulse width error.
tkstreet 0:a0435a630c5d 106 */
tkstreet 3:f8e70f639ed0 107 Status coast(void);
tkstreet 4:c36159701cde 108
tkstreet 4:c36159701cde 109 /**
tkstreet 4:c36159701cde 110 * Checks if the motor is currently running.
tkstreet 4:c36159701cde 111 *
tkstreet 4:c36159701cde 112 * @return TRUE if motor is on, FALSE if not.
tkstreet 4:c36159701cde 113 */
tkstreet 4:c36159701cde 114 bool isMotorOn(void);
tkstreet 0:a0435a630c5d 115
tkstreet 0:a0435a630c5d 116 private:
tkstreet 0:a0435a630c5d 117
tkstreet 3:f8e70f639ed0 118 bool motorOn; // Status flag for the motor
tkstreet 3:f8e70f639ed0 119 float dutyCycle; // Given as proportion: 0.00 to 1.00
tkstreet 3:f8e70f639ed0 120 Rotation direction;
tkstreet 0:a0435a630c5d 121
tkstreet 6:d4d3bc82d446 122 I2C *i2cMotor; // I2C motor signal
tkstreet 6:d4d3bc82d446 123 TCA9554A *motor; // Motor object
tkstreet 3:f8e70f639ed0 124
tkstreet 3:f8e70f639ed0 125 DigitalOut *inA; // Directions setting pin A
tkstreet 3:f8e70f639ed0 126 DigitalOut *inB; // Direction setting pin B
tkstreet 0:a0435a630c5d 127 /* inA=L, inB=L -> Standby (Coast)
tkstreet 0:a0435a630c5d 128 * inA=H, inB=L -> Forward (CW)
tkstreet 0:a0435a630c5d 129 * inA=L, inB=H -> Reverse (CCW)
tkstreet 0:a0435a630c5d 130 * inA=H, inB=H -> Brake
tkstreet 0:a0435a630c5d 131 */
tkstreet 0:a0435a630c5d 132
tkstreet 0:a0435a630c5d 133 };
tkstreet 0:a0435a630c5d 134
tkstreet 0:a0435a630c5d 135 #endif