first version of DC Motor Lib

.gitignore

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+/build
+firmware.hex
+.cproject
+.project
+/.settings

Makefile

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+ORACCRSC := /daten/Projekte/Calliope/OpenRoberta/ora-cc-rsc/RobotMbed/libs2017
+BUILD := build
+
+MICROBITPATH := $(ORACCRSC)/microbit
+MICROBITDALPATH := $(ORACCRSC)/microbit-dal
+MBEDCLASSICPATH := $(ORACCRSC)/mbed-classic
+BLEPATH := $(ORACCRSC)/ble
+BLE_BOOTLOADER_RESERVED_HEX := $(ORACCRSC)/BLE_BOOTLOADER_RESERVED.hex
+S110NRF51822_HEX := $(ORACCRSC)/s110_nrf51822_8.0.0_softdevice.hex
+NRF51822 := $(ORACCRSC)/NRF51822.ld
+
+CPPLAGS := -fno-exceptions -fno-unwind-tables -ffunction-sections -fdata-sections -Wdeprecated -Wno-unused-variable -Wall -Wextra -fno-rtti -fno-threadsafe-statics -mtune=cortex-m0 -mthumb -D__thumb2__ -std=c++11 -fwrapv -Os -g -gdwarf-3 -DNDEBUG -DTOOLCHAIN_GCC -DTOOLCHAIN_GCC_ARM -DMBED_OPERATORS -DNRF51 -DTARGET_NORDIC -DTARGET_M0 -D__MBED__=1 -DMCU_NORDIC_16K -DTARGET_NRF51_CALLIOPE -DTARGET_MCU_NORDIC_16K -DTARGET_MCU_NRF51_16K_S110 -DTARGET_NRF_LFCLK_RC -DTARGET_MCU_NORDIC_16K -D__CORTEX_M0 -DARM_MATH_CM0 -MMD
+LDFLAGS := -fno-exceptions -fno-unwind-tables -Wl,--no-wchar-size-warning -Wl,--gc-sections -Wl,--sort-common -Wl,--sort-section=alignment -Wl,-wrap,main -mcpu=cortex-m0 -mthumb --specs=nano.specs
+
+INCLIB := -I $(MICROBITDALPATH)/inc/drivers \
+          -I $(MICROBITDALPATH)/inc/core \
+          -I $(MICROBITDALPATH)/inc/platform \
+          -I $(MBEDCLASSICPATH)/api \
+          -I $(MBEDCLASSICPATH)/targets/hal/TARGET_NORDIC/TARGET_MCU_NRF51822/TARGET_NRF51_CALLIOPE \
+          -I $(MBEDCLASSICPATH)/targets/hal/TARGET_NORDIC/TARGET_MCU_NRF51822 \
+          -I $(MBEDCLASSICPATH)/targets/cmsis/TARGET_NORDIC/TARGET_MCU_NRF51822 \
+          -I $(MBEDCLASSICPATH)/targets/cmsis \
+          -I $(MBEDCLASSICPATH)/hal
+
+INCDEMO := $(INCLIB) \
+           -I $(MICROBITPATH)/inc \
+           -I $(BLEPATH) \
+           -I $(MICROBITDALPATH)/inc/types \
+           -I $(MICROBITDALPATH)/inc/bluetooth
+
+LDLIBS := -lnosys  -lstdc++ -lsupc++ -lm -lc -lgcc -lstdc++ -lsupc++ -lm -lc -lgcc
+CALLIOPELIBS := $(ORACCRSC)/microbit.a \
+                $(ORACCRSC)/ble.a \
+                $(ORACCRSC)/microbit-dal.a \
+                $(ORACCRSC)/ble-nrf51822.a \
+                $(ORACCRSC)/nrf51-sdk.a \
+                $(ORACCRSC)/mbed-classic.a
+
+all: directories lib demo
+
+directories:
+	mkdir -p $(BUILD)
+
+lib: DcMotor.a
+
+demo: firmware.hex
+
+
+firmware.hex: MotorTest.hex
+	srec_cat $(BLE_BOOTLOADER_RESERVED_HEX) -intel $(S110NRF51822_HEX) -intel $(BUILD)/$< -intel -o $@ -intel --line-length=44
+
+MotorTest.hex: MotorTest
+	arm-none-eabi-objcopy -O ihex $(BUILD)/$< $(BUILD)/$@
+
+MotorTest: MotorTest.o DcMotor.a
+	arm-none-eabi-g++ $(LDFLAGS) -T $(NRF51822) -Wl,-Map,$(BUILD)/MotorTest.map -Wl,--start-group $(foreach i,$^,$(BUILD)/$(i)) $(LDLIBS) $(CALLIOPELIBS) -Wl,-end-group -o $(BUILD)/$@
+
+MotorTest.o: src/MotorTest.cpp
+	arm-none-eabi-g++ $(INCDEMO) $(CPPLAGS) -MT $(BUILD)/$@.cpp.o -MF $(BUILD)/$@.cpp.o.d -o $(BUILD)/$@ -c $<
+
+DcMotor.a: DcMotor.o
+	ar rvs $(BUILD)/$@ $(BUILD)/$^
+
+DcMotor.o: src/DcMotor.cpp
+	arm-none-eabi-g++ $(INCLIB) $(CPPLAGS) -MT $(BUILD)/$@.o -MF $(BUILD)/$@.o.d -c -o $(BUILD)/$@ $<
+
+clean:
+	-rm firmware.hex $(BUILD)/*
+	-rmdir $(BUILD)
+

README.md

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+# DC Motor Library and Demo
+
+This repository contains a library to control the DC Motor Module with the Calliope Mini and an example program.
+
+## Compiling the firmware
+
+You will need the Calliope development files from OpenRoberta. Just clone '[OpenRoberta/ora-cc-rsc/](https://github.com/OpenRoberta/ora-cc-rsc)' and adjust path
+variable in the Makefile.
+
+## Contact
+
+Christian Poulter <devel@poulter.de>
+Homepage: https://www.poulter.de
+BLOG: https://blog.poulter.de
+Project: https://blog.poulter.de/projekte/motorsteuerung-calliope-mini-lego-motor.html
+
+## License and warranty
+```
+Copyright (C) 2021 Christian Poulter <devel@poulter.de>
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <https://www.gnu.org/licenses/>
+or the LICENCE file. 
+```

src/DcMotor.cpp

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+/*
+ * DC Motor Lib
+ *
+ * Copyright (C) 2021 Christian Poulter
+ * 
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ * 
+ */
+
+#include "DcMotor.h"
+
+// Pins: PWM   dir1   dir2
+const uint8_t DcMotor::PINS[4][3] = {
+    {     8,    10,    9},
+    {    13,    11,   12},
+    {     2,     4,    3},
+    {     7,     5,    6},
+};
+
+DcMotor::DcMotor() : i2c(SDA, SCL) {}
+
+void DcMotor::init() {
+    writeI2C(PCA9685_REGISTER_MODE1, 0x00);
+    writeI2C(PCA9685_REGISTER_MODE1, 0x10);
+    writeI2C(PCA9685_REGISTER_PRESCALE, PRESCALE_VALUE);
+    writeI2C(PCA9685_REGISTER_MODE1, 0x00);
+
+    wait_ms(5);
+
+    writeI2C(PCA9685_REGISTER_MODE1, 0xa1);
+
+    allOff();
+}
+
+void DcMotor::allOff() {
+	for (uint8_t i = 0; i < 16; i++) writeI2C(i, 0, 0, 0x10, 0);
+}
+
+void DcMotor::release() {
+	allOff();
+    writeI2C(PCA9685_REGISTER_MODE1, 0x08);
+}
+
+void DcMotor::set(Motor motor, int8_t speed) {
+    if (speed > 0) {
+        setSpeed(motor, speed * 41);
+        setDirection(motor, Direction::Forward);
+
+    } else if (speed < 0) {
+        setSpeed(motor, speed * -41);
+        setDirection(motor, Direction::Backward);
+
+    } else {
+        setSpeed(motor, 0);
+        setDirection(motor, Direction::Stop);
+    }
+}
+
+void DcMotor::set(Motor motor, Direction direction, uint16_t speed) {
+    setSpeed(motor, speed);
+    setDirection(motor, direction);
+}
+
+void DcMotor::setSpeed(Motor motor, uint16_t speed) {
+    uint8_t pin = PINS[static_cast<int>(motor)][0];
+
+    if (speed == 0)
+        writeI2C(pin, 0, 0, 0x10, 0);                       // full OFF
+
+    else if (speed > 4095)
+        writeI2C(pin, 0x10, 0, 0, 0);                       // full ON
+
+    else
+        writeI2C(pin, 0, 0, speed >> 8, speed & 0xFF);      // pwm ON
+
+}
+
+void DcMotor::setDirection(Motor motor, Direction direction) {
+    uint8_t pin1 = PINS[static_cast<int>(motor)][1];
+    uint8_t pin2 = PINS[static_cast<int>(motor)][2];
+
+    switch(direction) {
+        case Direction::Forward:
+            setPin(pin2, false);
+            setPin(pin1, true);
+            break;
+
+        case Direction::Backward:
+            setPin(pin1, false);
+            setPin(pin2, true);
+            break;
+
+        case Direction::Stop:
+            setPin(pin1, false);
+            setPin(pin2, false);
+            break;
+    }
+}
+
+// internal sets
+void DcMotor::setPin(uint8_t pin, bool value) {
+    if (value)
+        writeI2C(pin, 0x10, 0, 0, 0);                       // ON
+    else
+        writeI2C(pin, 0, 0, 0x10, 0);                       // OFF
+}
+
+// I2C read / write
+void DcMotor::writeI2C(uint8_t reg, uint8_t value) {
+    char buffer[2];
+    buffer[0] = reg;
+    buffer[1] = value;
+
+    i2c.write(I2C_ADDRESS, buffer, 2);
+}
+
+void DcMotor::writeI2C(uint8_t basereg, uint8_t value1, uint8_t value2, uint8_t value3, uint8_t value4) {
+    char buffer[5];
+    buffer[0] = PCA9685_REGISTER_FIRST_LED + 4 * basereg;
+    buffer[1] = value2;
+    buffer[2] = value1;
+    buffer[3] = value4;
+    buffer[4] = value3;
+
+    i2c.write(I2C_ADDRESS, buffer, 5);
+}

src/DcMotor.h

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+/*
+ * DC Motor Lib
+ *
+ * Copyright (C) 2021 Christian Poulter
+ * 
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ * 
+ */
+
+#ifndef DCMOTOR_H
+#define DCMOTOR_H
+
+#include "MicroBitI2C.h"
+
+enum class Direction { Forward, Backward, Stop };
+enum class Motor { M1 = 0, M2 = 1, M3 = 2, M4 = 3 };
+
+class DcMotor {
+
+    public:
+    DcMotor();
+
+    void init();
+    void release();
+    void set(Motor motor, int8_t speed);
+    void set(Motor motor, Direction direction, uint16_t speed);
+    void setSpeed(Motor motor, uint16_t speed);
+    void setDirection(Motor motor, Direction direction);
+
+    private:
+    I2C i2c;
+
+    void allOff();
+    void setPin(uint8_t pin, bool value);
+    void writeI2C(uint8_t reg, uint8_t value);
+    void writeI2C(uint8_t startreg, uint8_t value1, uint8_t value2, uint8_t value3, uint8_t value4);
+
+    static const uint8_t PINS[4][3];
+
+    static const uint8_t I2C_ADDRESS = (0x60 << 1);
+
+    static const uint8_t PCA9685_REGISTER_PRESCALE = 0xFE;
+    static const uint8_t PCA9685_REGISTER_MODE1 = 0x0;
+    static const uint8_t PCA9685_REGISTER_FIRST_LED = 0x6;
+
+    static const uint8_t PRESCALE_VALUE = 1;
+
+    static const PinName SDA = I2C_SDA0;
+    static const PinName SCL = I2C_SCL0;
+
+    // Pre scale calculation: round(25MHz/(4096*freq)) - 1
+    // good values for freq could be 1.2-5.0 kHz
+
+};
+
+#endif