brushless21.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 BRUSHLESS21_H
#define BRUSHLESS21_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 BRUSHLESS21_EEPROM_USER_0                       0x06
#define BRUSHLESS21_EEPROM_USER_1                       0x07
#define BRUSHLESS21_EEPROM_RATED_SPEED_DIR              0x08
#define BRUSHLESS21_EEPROM_ACCELERATION_AND_RES         0x09
#define BRUSHLESS21_EEPROM_CURRENT                      0x0A
#define BRUSHLESS21_EEPROM_MODE                         0x0B
#define BRUSHLESS21_EEPROM_PID_P_AND_INDUCTANCE         0x0C
#define BRUSHLESS21_EEPROM_PID_I_AND_DELAY              0x0D
#define BRUSHLESS21_EEPROM_LOCK_AND_SOFT_CTRL           0x0F
#define BRUSHLESS21_EEPROM_OCP_FCSPEED_ACDEC_BUF_FLT    0x10
#define BRUSHLESS21_EEPROM_SPEED_AND_FG                 0x11
#define BRUSHLESS21_EEPROM_IPD_CURRENT_THR              0x12
#define BRUSHLESS21_EEPROM_RATED_VOLTAGE                0x14
#define BRUSHLESS21_EEPROM_SLIGHT_MOVE_LOW_DUTY_THR     0x15
#define BRUSHLESS21_EEPROM_CLOSED_LOOP_TIME             0x16
#define BRUSHLESS21_EEPROM_CONTROL                      0xA1
#define BRUSHLESS21_EEPROM_ADDRESS                      0xA2
#define BRUSHLESS21_EEPROM_DATA_IN                      0xA3
 
#define BRUSHLESS21_REG_RATED_SPEED_DIR                 0x48
#define BRUSHLESS21_REG_ACCELERATION_AND_RES            0x49
#define BRUSHLESS21_REG_CURRENT                         0x4A
#define BRUSHLESS21_REG_MODE                            0x4B
#define BRUSHLESS21_REG_PID_P_AND_INDUCTANCE            0x4C
#define BRUSHLESS21_REG_PID_I_AND_DELAY                 0x4D
#define BRUSHLESS21_REG_LOCK_AND_SOFT_CTRL              0x4F
#define BRUSHLESS21_REG_OCP_FCSPEED_ACDEC_BUF_FLT       0x50
#define BRUSHLESS21_REG_SPEED_AND_FG                    0x51
#define BRUSHLESS21_REG_IPD_CURRENT_THR                 0x52
#define BRUSHLESS21_REG_RATED_VOLTAGE                   0x54
#define BRUSHLESS21_REG_SLIGHT_MOVE_LOW_DUTY_THR        0x55
#define BRUSHLESS21_REG_CLOSED_LOOP_TIME                0x56
#define BRUSHLESS21_REG_READBACK_MOTOR_SPEED            0x78
#define BRUSHLESS21_REG_READBACK_BUS_CURRENT            0x79
#define BRUSHLESS21_REG_READBACK_Q_AXIS_CURRENT         0x7A
#define BRUSHLESS21_REG_READBACK_VBB                    0x7B
#define BRUSHLESS21_REG_READBACK_TEMPERATURE            0x7C
#define BRUSHLESS21_REG_READBACK_CONTROL_DEMAND         0x7D
#define BRUSHLESS21_REG_READBACK_CONTROL_COMMAND        0x7E
 
 // brushless21_reg
 
 
#define BRUSHLESS21_DIR_REVERSE                         0
#define BRUSHLESS21_DIR_FORWARD                         1
 
#define BRUSHLESS21_MOTOR_SPEED_HZ                      0.530
#define BRUSHLESS21_VBB_MAX                             20
#define BRUSHLESS21_VBB_RESOLUTION                      0xFF
#define BRUSHLESS21_TEMPERATURE_OFFSET                  73
#define BRUSHLESS21_I2C_DUTY_RESOLUTION                 0x01FF
#define BRUSHLESS21_DUTY_CONTROLLED_BY_I2C_BIT          0x0200
 
#define BRUSHLESS21_DEF_FREQ                            5000
 
#define BRUSHLESS21_SET_DEV_ADDR                        0x55
 
 // brushless21_cfg
 
#define BRUSHLESS21_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.fg = MIKROBUS( mikrobus, MIKROBUS_INT );
 
 // brushless21_map
 // brushless21
 
typedef enum
{
    BRUSHLESS21_DRV_SEL_GPIO,      
    BRUSHLESS21_DRV_SEL_I2C        
} brushless21_drv_t;
 
typedef struct
{
    // Output pins
    digital_out_t en;       
    // Input pins
    digital_in_t fg;        
    // Modules
    pwm_t pwm;              
    i2c_master_t i2c;       
    uint32_t pwm_freq;      
    uint8_t slave_address;  
    brushless21_drv_t drv_sel;  
} brushless21_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t pwm;         
    pin_name_t scl;         
    pin_name_t sda;         
    // Additional gpio pins
    pin_name_t en;          
    pin_name_t fg;          
    // Static variable
    uint32_t dev_pwm_freq;  
    uint32_t i2c_speed;     
    uint8_t  i2c_address;   
    brushless21_drv_t drv_sel;  
} brushless21_cfg_t;
 
typedef enum
{
    BRUSHLESS21_OK = 0,
    BRUSHLESS21_ERROR = -1
 
} brushless21_return_value_t;
 
void brushless21_cfg_setup ( brushless21_cfg_t *cfg );
 
void brushless21_drv_interface_selection ( brushless21_cfg_t *cfg, brushless21_drv_t drv_sel );
 
err_t brushless21_init ( brushless21_t *ctx, brushless21_cfg_t *cfg );
 
err_t brushless21_default_cfg ( brushless21_t *ctx );
 
err_t brushless21_pwm_stop ( brushless21_t *ctx );
 
err_t brushless21_pwm_start ( brushless21_t *ctx );
 
err_t brushless21_set_duty_cycle ( brushless21_t *ctx, float duty_cycle );
 
err_t brushless21_write_register ( brushless21_t *ctx, uint8_t reg, uint16_t data_in );
 
err_t brushless21_read_register ( brushless21_t *ctx, uint8_t reg, uint16_t *data_out );
 
void brushless21_enable_device ( brushless21_t *ctx );
 
void brushless21_disable_device ( brushless21_t *ctx );
 
uint8_t brushless21_get_fg_pin ( brushless21_t *ctx );
 
err_t brushless21_get_temperature ( brushless21_t *ctx, int8_t *temperature );
 
err_t brushless21_get_motor_speed ( brushless21_t *ctx, float *motor_speed_hz );
 
err_t brushless21_get_vbb_voltage ( brushless21_t *ctx, float *vbb_voltage );
 
err_t brushless21_set_direction ( brushless21_t *ctx, uint8_t direction );
 
err_t brushless21_switch_direction ( brushless21_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // BRUSHLESS21_H
 
 // brushless21
 
// ------------------------------------------------------------------------ END