brushless13.h

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/****************************************************************************
** Copyright (C) 2020 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
** Permission is hereby granted, free of charge, to any person obtaining a copy
** of this software and associated documentation files (the "Software"), to deal
** in the Software without restriction, including without limitation the rights
** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
** 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.
** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
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****************************************************************************/
 
#ifndef BRUSHLESS13_H
#define BRUSHLESS13_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_i2c_master.h"
 
#define BRUSHLESS13_REG_INPUT_PORT                  0x00
#define BRUSHLESS13_REG_OUTPUT_PORT                 0x01
#define BRUSHLESS13_REG_POLARITY_INV                0x02
#define BRUSHLESS13_REG_CONFIG                      0x03
 
 // brushless13_reg
 
#define BRUSHLESS13_TR_COM_STATE_COAST              0x00
#define BRUSHLESS13_TR_COM_STATE_1                  0x01
#define BRUSHLESS13_TR_COM_STATE_2                  0x02
#define BRUSHLESS13_TR_COM_STATE_3                  0x03
#define BRUSHLESS13_TR_COM_STATE_4                  0x04
#define BRUSHLESS13_TR_COM_STATE_5                  0x05
#define BRUSHLESS13_TR_COM_STATE_6                  0x06
#define BRUSHLESS13_TR_COM_STATE_BRAKE              0x07
 
#define BRUSHLESS13_NONE_PIN                        0x00
#define BRUSHLESS13_ENW_PIN                         0x01
#define BRUSHLESS13_INW_PIN                         0x02
#define BRUSHLESS13_ENV_PIN                         0x04
#define BRUSHLESS13_INV_PIN                         0x08
#define BRUSHLESS13_ENU_PIN                         0x10
#define BRUSHLESS13_INU_PIN                         0x20
#define BRUSHLESS13_FLT_PIN                         0x40
#define BRUSHLESS13_ALL_OUTPUT_PIN                  0x3F
#define BRUSHLESS13_ALL_PIN                         0x7F
 
#define BRUSHLESS13_MODE_ENX_INX                    0x01
#define BRUSHLESS13_MODE_INXL_INXH                  0x00
 
#define BRUSHLESS13_DIR_CW                          0x01
#define BRUSHLESS13_DIR_CCW                         0x00
 
#define BRUSHLESS13_PIN_STATE_LOW                   0x00
#define BRUSHLESS13_PIN_STATE_HIGH                  0x01
 
#define BRUSHLESS13_FLT_PIN_INACTIVE                0x01
#define BRUSHLESS13_FLT_PIN_ACTIVE                  0x00
 
#define BRUSHLESS13_SPEED_MIN                       0
#define BRUSHLESS13_SPEED_MAX                       100
#define BRUSHLESS13_NUM_PIN_TOGGLE                  8
#define BRUSHLESS13_ROUND_TO_NEAREAST_INT           0.5
 
#define BRUSHLESS13_COM_SEQ_DURATION_FOR_SPEED_MAX  20.293
#define BRUSHLESS13_COM_SEQ_DURATION_SPEED_STEP     ( 20.351 - BRUSHLESS13_COM_SEQ_DURATION_FOR_SPEED_MAX )
 
#define BRUSHLESS13_DEVICE_ADDRESS_A1A0_00          0x70
#define BRUSHLESS13_DEVICE_ADDRESS_A1A0_01          0x71
#define BRUSHLESS13_DEVICE_ADDRESS_A1A0_10          0x72
#define BRUSHLESS13_DEVICE_ADDRESS_A1A0_11          0x73
 
 // brushless13_set
 
#define BRUSHLESS13_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.mod = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.flt = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // brushless13_map
 // brushless13
 
typedef struct
{
    // Output pins
    digital_out_t rst;          
    digital_out_t mod;          
    // Input pins
    digital_in_t flt;           
    // Modules
    i2c_master_t i2c;           
    // I2C slave address
    uint8_t slave_address;      
    uint8_t mode;               
} brushless13_t;
 
typedef struct
{
    pin_name_t scl;             
    pin_name_t sda;             
    pin_name_t rst;             
    pin_name_t mod;             
    pin_name_t flt;             
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
} brushless13_cfg_t;
 
typedef enum
{
    BRUSHLESS13_OK = 0,
    BRUSHLESS13_ERROR = -1
 
} brushless13_return_value_t;
 
void brushless13_cfg_setup ( brushless13_cfg_t *cfg );
 
err_t brushless13_init ( brushless13_t *ctx, brushless13_cfg_t *cfg );
 
err_t brushless13_default_cfg ( brushless13_t *ctx );
 
err_t brushless13_generic_write ( brushless13_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t brushless13_generic_read ( brushless13_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
void brushless13_set_rst_pin ( brushless13_t *ctx, uint8_t pin_state );
 
uint8_t brushless13_get_flt_state ( brushless13_t *ctx );
 
void brushless13_set_mode ( brushless13_t *ctx, uint8_t mode_sel );
 
void brushless13_reset_port_exp ( brushless13_t *ctx );
 
uint8_t brushless13_get_flt_pin ( brushless13_t *ctx );
 
err_t brushless13_write_reg ( brushless13_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t brushless13_read_reg ( brushless13_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t brushless13_set_pins ( brushless13_t *ctx, uint8_t set_mask, uint8_t clr_mask );
 
err_t brushless13_set_trap_com_state ( brushless13_t *ctx, uint8_t state );
 
err_t brushless13_toggle_pin ( brushless13_t *ctx, uint8_t pin_mask, uint8_t speed );
 
err_t brushless13_perform_com_seq ( brushless13_t *ctx, uint8_t dir, uint8_t speed );
 
err_t brushless13_drive_motor ( brushless13_t *ctx, uint8_t dir, uint8_t speed, uint32_t time_ms );
 
#ifdef __cplusplus
}
#endif
#endif // BRUSHLESS13_H
 
 // brushless13
 
// ------------------------------------------------------------------------ END