brushless20.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
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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 BRUSHLESS20_H
#define BRUSHLESS20_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 BRUSHLESS20_REG_INPUT                       0x00
#define BRUSHLESS20_REG_OUTPUT                      0x01
#define BRUSHLESS20_REG_POLARITY                    0x02
#define BRUSHLESS20_REG_CONFIG                      0x03
 
 // brushless20_reg
 
#define BRUSHLESS20_NONE_PIN                        0x00
#define BRUSHLESS20_IN1_PIN                         0x01
#define BRUSHLESS20_EN1_PIN                         0x02
#define BRUSHLESS20_IN2_PIN                         0x04
#define BRUSHLESS20_EN2_PIN                         0x08
#define BRUSHLESS20_IN3_PIN                         0x10
#define BRUSHLESS20_EN3_PIN                         0x20
#define BRUSHLESS20_NRST_PIN                        0x40
#define BRUSHLESS20_FLT_PIN                         0x80
#define BRUSHLESS20_ALL_PINS                        0xFF
 
#define BRUSHLESS20_DEFAULT_CONFIG                  0x80
 
#define BRUSHLESS20_DIR_CW                          0
#define BRUSHLESS20_DIR_CCW                         1
 
#define BRUSHLESS20_PIN_LOW_LEVEL                   0
#define BRUSHLESS20_PIN_HIGH_LEVEL                  1
 
#define BRUSHLESS20_TR_COM_STATE_COAST              0
#define BRUSHLESS20_TR_COM_STATE_1                  1
#define BRUSHLESS20_TR_COM_STATE_2                  2
#define BRUSHLESS20_TR_COM_STATE_3                  3
#define BRUSHLESS20_TR_COM_STATE_4                  4
#define BRUSHLESS20_TR_COM_STATE_5                  5
#define BRUSHLESS20_TR_COM_STATE_6                  6
#define BRUSHLESS20_TR_COM_STATE_BRAKE              7
 
#define BRUSHLESS20_SPEED_MIN                       0
#define BRUSHLESS20_SPEED_MAX                       100
#define BRUSHLESS20_NUM_PIN_TOGGLE                  8
#define BRUSHLESS20_ROUND_TO_NEAREAST_INT           0.5
 
#define BRUSHLESS20_COM_SEQ_DURATION_FOR_SPEED_MAX  24.729
#define BRUSHLESS20_COM_SEQ_DURATION_SPEED_STEP     ( 29.4361 - BRUSHLESS20_COM_SEQ_DURATION_FOR_SPEED_MAX )
 
#define BRUSHLESS20_DEVICE_ADDRESS_A1A0_00          0x70
#define BRUSHLESS20_DEVICE_ADDRESS_A1A0_01          0x71
#define BRUSHLESS20_DEVICE_ADDRESS_A1A0_10          0x72
#define BRUSHLESS20_DEVICE_ADDRESS_A1A0_11          0x73
 
 // brushless20_set
 
#define BRUSHLESS20_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.slp = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // brushless20_map
 // brushless20
 
typedef struct
{
    // Output pins
    digital_out_t slp;          
    digital_out_t rst;          
    // Input pins
    digital_in_t  int_pin;      
    // Modules
    i2c_master_t  i2c;          
    // I2C slave address
    uint8_t slave_address;      
} brushless20_t;
 
typedef struct
{
    pin_name_t scl;             
    pin_name_t sda;             
    pin_name_t slp;             
    pin_name_t rst;             
    pin_name_t int_pin;         
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
} brushless20_cfg_t;
 
typedef enum
{
    BRUSHLESS20_OK = 0,
    BRUSHLESS20_ERROR = -1
 
} brushless20_return_value_t;
 
void brushless20_cfg_setup ( brushless20_cfg_t *cfg );
 
err_t brushless20_init ( brushless20_t *ctx, brushless20_cfg_t *cfg );
 
err_t brushless20_default_cfg ( brushless20_t *ctx );
 
err_t brushless20_write_register ( brushless20_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t brushless20_read_register ( brushless20_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t brushless20_set_pins ( brushless20_t *ctx, uint8_t set_mask, uint8_t clr_mask );
 
err_t brushless20_get_fault_pin ( brushless20_t *ctx );
 
void brushless20_reset_port_expander ( brushless20_t *ctx );
 
void brushless20_set_rst_pin ( brushless20_t *ctx, uint8_t state );
 
void brushless20_enter_sleep_mode ( brushless20_t *ctx );
 
void brushless20_exit_sleep_mode ( brushless20_t *ctx );
 
uint8_t brushless20_get_int_pin ( brushless20_t *ctx );
 
err_t brushless20_set_trapezoidal_com_state ( brushless20_t *ctx, uint8_t state );
 
err_t brushless20_toggle_pin ( brushless20_t *ctx, uint8_t pin_mask, uint8_t speed );
 
err_t brushless20_perform_com_sequence ( brushless20_t *ctx, uint8_t dir, uint8_t speed );
 
err_t brushless20_drive_motor ( brushless20_t *ctx, uint8_t dir, uint8_t speed, uint32_t time_ms );
 
#ifdef __cplusplus
}
#endif
#endif // BRUSHLESS20_H
 
 // brushless20
 
// ------------------------------------------------------------------------ END