ADDED: Preprocessor directives for FALSE/TRUE

examples/motor/motor.ino

@@ -0,0 +1,93 @@
+#include <TLE94112.h>
+#include <TLE94112_Motor.h>
+
+// The TLE94112 has only got 3 PWM channels
+// There is no one left for motor4
+// This means, we cannot control its speed
+Tle94112Motor motor1(tle94112, tle94112.TLE_PWM1);
+Tle94112Motor motor2(tle94112, tle94112.TLE_PWM2);
+Tle94112Motor motor3(tle94112, tle94112.TLE_PWM3);
+Tle94112Motor motor4(tle94112, tle94112.TLE_NOPWM);
+
+
+void setup()
+{
+  // call begin for the TLE94112 firs
+  tle94112.begin();
+  // motor1 is connected to 2 halfbridges on each side
+  motor1.connect(tle94112.TLE_HB1, motor1.HIGHSIDE);
+  motor1.connect(tle94112.TLE_HB2, motor1.HIGHSIDE);
+  motor1.connect(tle94112.TLE_HB3, motor1.LOWSIDE);
+  motor1.connect(tle94112.TLE_HB4, motor1.LOWSIDE);
+
+  // motor2 is only connected on its highside connector
+  // the lowside connector is not connected to the TLE94112. 
+  // The library assumes it is connected to ground. 
+  // This means, the motor can only run forward
+  motor2.connect(tle94112.TLE_HB5, motor2.HIGHSIDE);
+
+  // motor3 is only connected on its lowside connector
+  // the highside connector is not connected to the TLE94112. 
+  // The library assumes it is connected to Vbat
+  // This means, the motor can only run forward
+  motor3.connect(tle94112.TLE_HB6, motor3.HIGHSIDE);
+
+  // motor4 is connected to 1 halfbridge on each side
+  motor4.connect(tle94112.TLE_HB7, motor4.HIGHSIDE);
+  motor4.connect(tle94112.TLE_HB8, motor4.LOWSIDE);
+
+  //change the motors PWM frequency (just in case you will ever need it...)
+  motor3.setPwmFreq(tle94112.TLE_FREQ80HZ);
+
+  //when configuration is done, call begin to start operating the motors
+  motor1.begin();
+  motor2.begin();
+  motor3.begin();
+  motor4.begin();
+  //after calling begin(), the motors are coasting. 
+
+}
+
+
+
+void loop()
+{
+  // start the motor and let it run backwards on half speed
+  motor1.start(-127);
+  //motors 2 and 3 can only run forward. If you let them run backward, they will stop instead
+  motor2.start(127);
+  motor3.start(-127);
+  //motor 4 can not be controlled by PWM. It can only coast, stop and run with full speed. 
+  motor4.start(127);
+
+  delay(5000);
+
+  //accelerate motor1 to full speed
+  motor1.setSpeed(-255);
+  //set motor2 free
+  motor2.coast();
+  //let motor4 actively break (it will stop much faster than motor2)
+  motor4.stop();
+
+  delay(5000);
+
+  //stop all motors (you can use the parameter to set the force which stops and holds them. standard and maximum is 255)
+  motor1.stop(255);
+  motor2.stop(20);
+  motor3.stop(127);
+  motor4.stop(127);
+
+  delay(5000);
+
+  //motor1 and motor4 can also run the other way
+  motor1.start(127);
+  motor4.start(-127);
+
+  delay(5000);
+
+  //ok, that was enough
+  motor1.stop();
+  motor4.stop();
+
+  delay(5000);
+}

examples/pwm_demo/pwm_demo.ino

@@ -7,8 +7,6 @@ void setup() {
   Serial.begin(9600);
   while(!Serial);
 
-  //LED
-  pinMode(LED1, OUTPUT);
 
   //power supply voltage should be available before tle94112.begin() is called
   delay(100);
@@ -71,8 +69,5 @@ void loop() {
   }
 
   //let LED blink to show that program is still running
-  delay(200);
-  digitalWrite(LED1, HIGH);
-  delay(200);
-  digitalWrite(LED1, LOW); 
-}
+  delay(400);
+}

library.properties

@@ -1,5 +1,5 @@
 name=TLE94112
-version=0.1.0
+version=1.0.1
 author=Infineon Technologies
 maintainer=Infineon Technologies <www.infineon.com>
 sentence=This library provides an interface for Infineon's DC Motor Control Shield with TLE94112EL

src/TLE94112.cpp

@@ -21,7 +21,7 @@
 #define TLE94112_CMD_CLEAR			0x80;
 //standard pin assignment
 #define TLE94112_PIN_CS1			10
-#define TLE94112_PIN_CS2			12
+#define TLE94112_PIN_CS2			9
 #define TLE94112_PIN_EN				8
 #define TLE94112_CS_RISETIME		2
 

src/TLE94112.h

@@ -21,6 +21,14 @@
 #include "./util/tle94112_conf.h"
 
 
+#ifndef FALSE
+#define FALSE 0
+#endif
+#ifndef TRUE
+#define TRUE  1
+#endif
+
+
 /*! \brief the number of halfbridges on a TLE94112
  *
  *	\see mHalfBridges

src/TLE94112_Motor.cpp

@@ -0,0 +1,201 @@
+#include "TLE94112_Motor.h"
+
+#ifndef FALSE
+#define FALSE 0
+#endif
+#ifndef TRUE
+#define TRUE  1
+#endif
+
+#define TLE94112_MAX_SPEED	255
+
+
+Tle94112Motor::Tle94112Motor(Tle94112 &driver, Tle94112::PWMChannel channel)
+{
+	mDriver = &driver;
+	mChannel = channel;
+	mNumHighside = 0;
+	mNumLowside = 0;
+	mPWMfreq = Tle94112::TLE_FREQ200HZ;
+	mSpeed = 0;
+	mActiveFW = FALSE;
+	mMode = COAST;
+	mEnabled = FALSE;
+}
+
+Tle94112Motor::~Tle94112Motor()
+{
+	end();
+}
+
+void Tle94112Motor::begin(void)
+{
+	mDriver->configPWM(mChannel, mPWMfreq, mSpeed);
+	mEnabled = TRUE;
+	coast();
+}
+
+void Tle94112Motor::end(void)
+{
+	coast();
+	mEnabled = FALSE;
+}
+
+void Tle94112Motor::connect(Tle94112::HalfBridge connector, ePolarity pol)
+{
+	if(mEnabled == FALSE)
+	{
+		if(pol==LOWSIDE && mNumLowside<TLE94112_CONNECTOR_SIZE)
+		{
+			mHbLowside[mNumLowside] = connector;
+			mNumLowside++;
+			mDriver->configHB(connector, Tle94112::TLE_FLOATING, mChannel, mActiveFW);
+		}
+		if(pol==HIGHSIDE && mNumHighside<TLE94112_CONNECTOR_SIZE)
+		{
+			mHbHighside[mNumHighside] = connector;
+			mNumHighside++;
+			mDriver->configHB(connector, Tle94112::TLE_FLOATING, mChannel, mActiveFW);
+		}
+	}
+}
+
+void Tle94112Motor::setPwmFreq(Tle94112::PWMFreq freq)
+{
+	if(mEnabled == FALSE)
+	{
+		mPWMfreq = freq;
+		mDriver->configPWM(mChannel, freq, 0);
+	}
+}
+
+void Tle94112Motor::stop(uint8_t force)
+{
+	uint8_t i;
+	if(mEnabled == TRUE)
+	{
+		//set all outputs floating to avoid short-circuits
+		coast();
+		mMode = STOP;
+		mSpeed = force;
+		if(mNumHighside==0)
+		{
+			// highside is constantly connected to high. 
+			// also connect lowside to high to stop motor
+			for(i = 0; i<mNumLowside; i++)
+			{
+				mDriver->configHB(mHbLowside[i], Tle94112::TLE_HIGH, mChannel, mActiveFW);
+			}
+		}
+		else
+		{
+			// connect all motor pins to low
+			for(i = 0; i<mNumHighside; i++)
+			{
+				mDriver->configHB(mHbHighside[i], Tle94112::TLE_LOW, mChannel, mActiveFW);
+			}
+			for(i = 0; i<mNumLowside; i++)
+			{
+				mDriver->configHB(mHbLowside[i], Tle94112::TLE_LOW, mChannel, mActiveFW);
+			}
+		}
+		// set dutycycle depending on parameter force
+		// higher force lets the motor stop quicker
+		mDriver->configPWM(mChannel, mPWMfreq, mSpeed);
+	}
+}
+
+void Tle94112Motor::coast()
+{
+	if(mEnabled == TRUE)
+	{
+		uint8_t i;
+		mSpeed = 0;
+		mMode = COAST;
+		mDriver->configPWM(mChannel, mPWMfreq, mSpeed);
+		for(i = 0; i<mNumHighside; i++)
+		{
+			mDriver->configHB(mHbHighside[i], Tle94112::TLE_FLOATING, mChannel, mActiveFW);
+		}
+		for(i = 0; i<mNumLowside; i++)
+		{
+			mDriver->configHB(mHbLowside[i], Tle94112::TLE_FLOATING, mChannel, mActiveFW);
+		}
+	}
+}
+
+void Tle94112Motor::start(int16_t speed)
+{
+	setSpeed(speed);
+}
+
+void Tle94112Motor::setSpeed(int16_t speed)
+{
+	uint8_t i;
+	if(mEnabled == TRUE)
+	{
+		mSpeed = speed;
+		if(speed == 0)
+		{
+			coast();
+		}
+		else if(speed > 0)
+		{
+			mSpeed = (speed>TLE94112_MAX_SPEED) ? TLE94112_MAX_SPEED : speed;
+			if(mMode != FORWARD)
+			{
+				//change configuration to running forward
+				coast(); //set all outputs to HIGH-IMPEDANCE to avoid short-circuits
+				mMode = FORWARD;
+				for(i = 0; i<mNumHighside; i++)
+				{
+					mDriver->configHB(mHbHighside[i], Tle94112::TLE_HIGH, mChannel, mActiveFW);
+				}
+				for(i = 0; i<mNumLowside; i++)
+				{
+					mDriver->configHB(mHbLowside[i], Tle94112::TLE_LOW, mChannel, mActiveFW);
+				}
+			}
+			mDriver->configPWM(mChannel, mPWMfreq, mSpeed);
+		}
+		else if(speed<0 && mNumHighside>0 && mNumLowside>0)
+		{
+			// backward is only available if highside and lowside are connected to the TLE
+			mSpeed = (speed < -TLE94112_MAX_SPEED) ? TLE94112_MAX_SPEED : -speed;
+			if(mMode != BACKWARD)
+			{
+				//change configuration to running backward
+				coast(); //set all outputs to HIGH-IMPEDANCE to avoid short-circuits
+				mMode = BACKWARD;
+				for(i = 0; i<mNumHighside; i++)
+				{
+					mDriver->configHB(mHbHighside[i], Tle94112::TLE_LOW, mChannel, mActiveFW);
+				}
+				for(i = 0; i<mNumLowside; i++)
+				{
+					mDriver->configHB(mHbLowside[i], Tle94112::TLE_HIGH, mChannel, mActiveFW);
+				}
+			}
+			mDriver->configPWM(mChannel, mPWMfreq, mSpeed);
+		}
+		else
+		{
+			// backward desired but not available: assume user wants to break instead
+			stop((uint8_t)(-speed));
+		}
+	}
+}
+
+int16_t Tle94112Motor::getSpeed(void)
+{
+	if(mEnabled == TRUE)
+	{
+		switch(mMode)
+		{
+			case FORWARD: return mSpeed;
+			case BACKWARD: return (-1)*mSpeed;
+			default: return 0;
+		}
+		return mSpeed;
+	}
+}