brushless10.h

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/****************************************************************************
** Copyright (C) 2020 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
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** of this software and associated documentation files (the "Software"), to deal
** in the Software without restriction, including without limitation the rights
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** copies of the Software, and to permit persons to whom the Software is
** furnished to do so, subject to the following conditions:
** The above copyright notice and this permission notice shall be
** included in all copies or substantial portions of the Software.
**
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** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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#ifndef BRUSHLESS10_H
#define BRUSHLESS10_H
 
#ifdef __cplusplus
extern "C"{
#endif
 
#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
 
#ifdef MikroCCoreVersion
    #if MikroCCoreVersion >= 1
        #include "delays.h"
    #endif
#endif
 
#include "drv_digital_out.h"
#include "drv_digital_in.h"
#include "drv_pwm.h"
#include "drv_i2c_master.h"
 
#define BRUSHLESS10_DAC_REG_DEVICE_CONFIG           0x01
#define BRUSHLESS10_DAC_REG_STATUS_TRIGGER          0x02
#define BRUSHLESS10_DAC_REG_BRDCAST                 0x03
#define BRUSHLESS10_DAC_REG_DACA_DATA_LA            0x08
#define BRUSHLESS10_DAC_REG_DACB_DATA_MIN_SP        0x09
#define BRUSHLESS10_DAC_REG_DACC_DATA_SEL_LD        0x0A
#define BRUSHLESS10_DAC_REG_DACD_DATA_FPWM          0x0B
#define BRUSHLESS10_DAC_REG_DACE_DATA_SEL_LA        0x0C
#define BRUSHLESS10_DAC_REG_DACF_DATA_SEL_FG        0x0D
#define BRUSHLESS10_DAC_REG_DACG_DATA_SEL_SP        0x0E
#define BRUSHLESS10_DAC_REG_DACH_DATA_CW_CCW        0x0F
 
 // brushless10_reg
 
#define BRUSHLESS10_DAC_CHA_LA                      0
#define BRUSHLESS10_DAC_CHB_MIN_SP                  1
#define BRUSHLESS10_DAC_CHC_SEL_LD                  2
#define BRUSHLESS10_DAC_CHD_FPWM                    3
#define BRUSHLESS10_DAC_CHE_SEL_LA                  4
#define BRUSHLESS10_DAC_CHF_SEL_FG                  5
#define BRUSHLESS10_DAC_CHG_SEL_SP                  6
#define BRUSHLESS10_DAC_CHH_CW_CCW                  7
 
#define BRUSHLESS10_LA0_STEP_0                      88
#define BRUSHLESS10_LA0_STEP_1                      234
#define BRUSHLESS10_LA0_STEP_2                      332
#define BRUSHLESS10_LA0_STEP_3                      430
#define BRUSHLESS10_LA0_STEP_4                      527
#define BRUSHLESS10_LA0_STEP_5                      625
#define BRUSHLESS10_LA0_STEP_6                      723
#define BRUSHLESS10_LA0_STEP_7                      820
#define BRUSHLESS10_LA0_STEP_8                      918
#define BRUSHLESS10_LA0_STEP_9                      1016
#define BRUSHLESS10_LA0_STEP_10                     1113
#define BRUSHLESS10_LA0_STEP_11                     1211
#define BRUSHLESS10_LA0_STEP_12                     1309
#define BRUSHLESS10_LA0_STEP_13                     1406
#define BRUSHLESS10_LA0_STEP_14                     1504
#define BRUSHLESS10_LA0_STEP_15                     1602
#define BRUSHLESS10_LA0_STEP_16                     1699
#define BRUSHLESS10_LA0_STEP_17                     1797
#define BRUSHLESS10_LA0_STEP_18                     1894
#define BRUSHLESS10_LA0_STEP_19                     1992
#define BRUSHLESS10_LA0_STEP_20                     2090
#define BRUSHLESS10_LA0_STEP_21                     2187
#define BRUSHLESS10_LA0_STEP_22                     2285
#define BRUSHLESS10_LA0_STEP_23                     2383
#define BRUSHLESS10_LA0_STEP_24                     2480
#define BRUSHLESS10_LA0_STEP_25                     2578
#define BRUSHLESS10_LA0_STEP_26                     2676
#define BRUSHLESS10_LA0_STEP_27                     2773
#define BRUSHLESS10_LA0_STEP_28                     2871
#define BRUSHLESS10_LA0_STEP_29                     2969
#define BRUSHLESS10_LA0_STEP_30                     3066
#define BRUSHLESS10_LA0_STEP_31                     4062
#define BRUSHLESS10_LA1_STEP_0                      234
#define BRUSHLESS10_LA1_STEP_1                      673
#define BRUSHLESS10_LA1_STEP_2                      1064
#define BRUSHLESS10_LA1_STEP_3                      1455
#define BRUSHLESS10_LA1_STEP_4                      1845
#define BRUSHLESS10_LA1_STEP_5                      2236
#define BRUSHLESS10_LA1_STEP_6                      2627
#define BRUSHLESS10_LA1_STEP_7                      3916
 
#define BRUSHLESS10_MIN_SP_STEP_0                   136
#define BRUSHLESS10_MIN_SP_STEP_1                   478
#define BRUSHLESS10_MIN_SP_STEP_2                   869
#define BRUSHLESS10_MIN_SP_STEP_3                   1259
#define BRUSHLESS10_MIN_SP_STEP_4                   1650
#define BRUSHLESS10_MIN_SP_STEP_5                   2041
#define BRUSHLESS10_MIN_SP_STEP_6                   2431
#define BRUSHLESS10_MIN_SP_STEP_7                   2822
#define BRUSHLESS10_MIN_SP_STEP_8                   3916
 
#define BRUSHLESS10_FPWM_STEP_0                     478
#define BRUSHLESS10_FPWM_STEP_1                     1455
#define BRUSHLESS10_FPWM_STEP_2                     2431
#define BRUSHLESS10_FPWM_STEP_3                     3965
 
#define BRUSHLESS10_SEL_LD_STEP_0                   478
#define BRUSHLESS10_SEL_LD_STEP_1                   1455
#define BRUSHLESS10_SEL_LD_STEP_2                   2431
#define BRUSHLESS10_SEL_LD_STEP_3                   3965
 
#define BRUSHLESS10_SEL_FG_STEP_0                   967
#define BRUSHLESS10_SEL_FG_STEP_1                   3476
 
#define BRUSHLESS10_SEL_SP_STEP_0                   478
#define BRUSHLESS10_SEL_SP_STEP_1                   1943
#define BRUSHLESS10_SEL_SP_STEP_2                   3965
 
#define BRUSHLESS10_SEL_LA_STEP_0                   478
#define BRUSHLESS10_SEL_LA_STEP_1                   1943
#define BRUSHLESS10_SEL_LA_STEP_2                   3965
 
#define BRUSHLESS10_CW_CCW_0                        0
#define BRUSHLESS10_CW_CCW_1                        5000
 
#define BRUSHLESS10_DAC_VREF                        5000
#define BRUSHLESS10_DAC_RESOLUTION                  256
#define BRUSHLESS10_DAC_ROUND_TO_INT                0.5f
 
#define BRUSHLESS10_DAC_CONFIG_PDN_ALL              0x0100
#define BRUSHLESS10_DAC_CONFIG_PDN_CHA              0x0001
#define BRUSHLESS10_DAC_CONFIG_PDN_CHB              0x0002
#define BRUSHLESS10_DAC_CONFIG_PDN_CHC              0x0004
#define BRUSHLESS10_DAC_CONFIG_PDN_CHD              0x0008
#define BRUSHLESS10_DAC_CONFIG_PDN_CHE              0x0010
#define BRUSHLESS10_DAC_CONFIG_PDN_CHF              0x0020
#define BRUSHLESS10_DAC_CONFIG_PDN_CHG              0x0040
#define BRUSHLESS10_DAC_CONFIG_PDN_CHH              0x0080
#define BRUSHLESS10_DAC_CONFIG_ENABLE_ALL_CH        0x0000
 
#define BRUSHLESS10_DAC_DEVICE_ID                   0x0500
#define BRUSHLESS10_DAC_DEVICE_ID_MASK              0x0FC0
#define BRUSHLESS10_DAC_SW_RESET                    0x000A
 
#define BRUSHLESS10_DEF_FREQ                        50000
 
#define BRUSHLESS10_DAC_DEVICE_ADDRESS_BROADCAST    0x47
#define BRUSHLESS10_DAC_DEVICE_ADDRESS_0            0x48
#define BRUSHLESS10_DAC_DEVICE_ADDRESS_1            0x49
 
 // brushless10_set
 
#define BRUSHLESS10_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.fg_out = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.brake = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.ld_out = MIKROBUS( mikrobus, MIKROBUS_INT );
 
 // brushless10_map
 // brushless10
 
typedef struct
{
    // Output pins
    digital_out_t brake;    
    // Input pins
    digital_in_t fg_out;    
    digital_in_t ld_out;    
    // Modules
    pwm_t pwm;              
    // ctx variable
    uint32_t pwm_freq;      
    // Modules
    i2c_master_t i2c;       
    // I2C slave address
    uint8_t slave_address;  
} brushless10_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t scl;         
    pin_name_t sda;         
    pin_name_t pwm;         
    // Additional gpio pins
    pin_name_t fg_out;      
    pin_name_t brake;       
    pin_name_t ld_out;      
    // Static variable
    uint32_t dev_pwm_freq;  
    uint32_t i2c_speed;     
    uint8_t  i2c_address;   
} brushless10_cfg_t;
 
typedef enum
{
    BRUSHLESS10_OK = 0,
    BRUSHLESS10_ERROR = -1
 
} brushless10_return_value_t;
 
void brushless10_cfg_setup ( brushless10_cfg_t *cfg );
 
err_t brushless10_init ( brushless10_t *ctx, brushless10_cfg_t *cfg );
 
err_t brushless10_default_cfg ( brushless10_t *ctx );
 
err_t brushless10_dac_write ( brushless10_t *ctx, uint8_t reg, uint16_t data_in );
 
err_t brushless10_dac_read ( brushless10_t *ctx, uint8_t reg, uint16_t *data_out );
 
err_t brushless10_set_duty_cycle ( brushless10_t *ctx, float duty_cycle );
 
err_t brushless10_pwm_stop ( brushless10_t *ctx );
 
err_t brushless10_pwm_start ( brushless10_t *ctx );
 
uint8_t brushless10_get_fg_out_pin ( brushless10_t *ctx );
 
uint8_t brushless10_get_ld_out_pin ( brushless10_t *ctx );
 
void brushless10_pull_brake ( brushless10_t *ctx );
 
void brushless10_release_brake ( brushless10_t *ctx );
 
err_t brushless10_dac_check_com ( brushless10_t *ctx );
 
err_t brushless10_dac_sw_reset ( brushless10_t *ctx );
 
err_t brushless10_dac_set_data ( brushless10_t *ctx, uint8_t channel, uint8_t data_in );
 
err_t brushless10_dac_set_vout ( brushless10_t *ctx, uint8_t channel, uint16_t vout_mv );
 
#ifdef __cplusplus
}
#endif
#endif // BRUSHLESS10_H
 
 // brushless10
 
// ------------------------------------------------------------------------ END