File content as of revision 1:4d4c77589134:

#ifndef __AP1017_H
#define __AP1017_H

#include "mbed.h"

#define     MAX_FREQUENCY   5000
#define     ENABLE_PIN      P0_10
#define     INA_PIN         P0_11
#define     INB_PIN         P0_9

/**
 * This is a device driver for the AP1017 with pulse width modulation.
 *
 * @note AP1017 is a 12V Single Channel H-Bridge Motor Driver IC manufactured by AKM.
 *
 * Example:
 * @code
 * #include "mbed.h"
 * #include "AP1017.h"
 *
 * int main() {
 *      AP1017 motorA;
 *
 * }
 * @endcode
 */
class AP1017
{
public:

    /** Default constructor creates motors with PWM initial duty cycle of 0%.
      * Motor EN pin connected to D2, INA connected to D0, INB connected to D1.
      */
    AP1017(void);

    /** Disables PWM for the motors.
     */
     ~AP1017(void);

    /** Return status enumeration for debugging.
     */
    typedef enum {
        SUCCESS = 0x00,             /**< Successful termination */
        ERROR_FREQUENCY = 0x01,     /**< Frequency out of bounds */
        ERROR_DUTY_CYCLE = 0x02,    /**< Invalid duty cycle */
        ERROR_DIRECTION = 0x03,     /**< Invalid direction */
        ERROR_PERIOD = 0x04,        /**< Invalid period */
        ERROR_PULSEWIDTH = 0x05,    /**< Invalid pulse width */
        ERROR_MOTORON = 0x06        /**< Direction switched while motor on */
    } Status;

    /** Motor directions.
     */
    typedef enum {
        DIRECTION_CW = 0x00,        /**< Clockwise motor rotation */
        DIRECTION_CCW = 0x01,       /**< Counterclockwise motor rotation */
        DIRECTION_COAST = 0x03,     /**< Release motor to coast */
        DIRECTION_BRAKE = 0x04      /**< Brake motor */
    } Rotation;

    float       getFrequency(void);
    float       getDutyCycle(void);
    Rotation    getDirection(void);

    /** Sets the direction to clockwise, counterclockwise, brake or coast.
     *  Changing between clockwise and counterclockwise may only be performed
     *  when motor is off.
     *
     *  @param dir Rotation type: DIRECTION_CW, DIRECTION_CCW, DIRECTION_COAST,
     *             or DIRECTION_BRAKE
     *  @return Returns successful termination, ERROR_MOTORON for invalid
     *          direction switching, or ERROR_DIRECTION for invalid direction.
     */
    Status  setDirection(char dir);

    /** Sets the duty cycle in percentage. Also sets the pulse width in
     *  microseconds by calculation using current value of the period.
     *
     *  @param dc Duty cycle as a proportion (0.0 to 1.0).
     *  @return Returns successful termination or dutyc cyle error.
     */
    Status  setDutyCycle(float dc);

    /** Sets the frequency of the motor in Hertz.
     *  @param f Frequency (Hertz).
     *  @return Returns successful termination or frequency error.
     */
    Status  setFrequency(float freq);

    /** Sets the period in microseconds.  Also sets the pulse width by
     *  calculation with the current value of the duty cycle.  Period will be
     *  changed even if motor is currently running.
     *
     *  @param per PWM Period in microseconds.
     *  @return Returns successful termination or period error.
     */
    Status  setPeriod_us(float per);

    /** Sets the pulse with in microseconds.  Also sets the duty cycle by
     *  calculation with the current value of the period.  Pulse width will be
     *  changed even if motor is currently running.
     *
     *  @param pw Pulse width in microseconds.
     *  @return Returns successful termination or pulse width error.
     */
    Status  setPulseWidth_us(float pw);

    /** Engages the motor.
     */
    Status  startMotor(void);

    /** Stops forced rotation of the motor.
     */
    Status  stopMotor(void);

    /** Applies forced braking of motor.
     */
    Status  brakeMotor(void);

    /**
     */
    Status  coastMotor(void);

private:

    bool    motorOn;            // Status flag for the motor
    float   dutyCycle;          // Given as proportion: 0.00 to 1.00
    float   freq_hz;            // PWM frequency
    float   pulseWidth_us;      // Pulse width in microseconds
    float   pwmPeriod_us;       // PWM period in microseconds

    PwmOut      *motor;          // Motor object
    
    DigitalOut  *inA;            // Directions setting pin A
    DigitalOut  *inB;            // Direction setting pin B
    /* inA=L, inB=L -> Standby (Coast)
     * inA=H, inB=L -> Forward (CW)
     * inA=L, inB=H -> Reverse (CCW)
     * inA=H, inB=H -> Brake
     */

    //Status  initMotors(void);

};

#endif