brushless3.h

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/*
 * MikroSDK - MikroE Software Development Kit
 * Copyright© 2020 MikroElektronika d.o.o.
 * 
 * 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.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 
 * 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 USE 
 * OR OTHER DEALINGS IN THE SOFTWARE. 
 */
 
// ----------------------------------------------------------------------------
 
#ifndef BRUSHLESS3_H
#define BRUSHLESS3_H
 
#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"
#include "drv_pwm.h"
 
 
// -------------------------------------------------------------- PUBLIC MACROS 
#define BRUSHLESS3_MAP_MIKROBUS( cfg, mikrobus ) \
  cfg.scl     = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
  cfg.sda     = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
  cfg.dir     = MIKROBUS( mikrobus, MIKROBUS_RST ); \
  cfg.pwm     = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT ) 
#define BRUSHLESS3_OK                                   0
#define BRUSHLESS3_ERROR                               -1
#define BRUSHLESS3_I2C_ADDRESS                          0x52
#define BRUSHLESS3_MAX_SPEED                            0x1FF
#define BRUSHLESS3_DEF_FREQ                             25000
 
#define BRUSHLESS3_SPEED_CTRL_1                         0x00
#define BRUSHLESS3_SPEED_CTRL_2                         0x01
#define BRUSHLESS3_DEV_CTRL                             0x02
#define BRUSHLESS3_EE_CTRL                              0x03
#define BRUSHLESS3_STATUS                               0x10
#define BRUSHLESS3_MOTOR_SPEED_1                        0x11
#define BRUSHLESS3_MOTOR_SPEED_2                        0x12
#define BRUSHLESS3_MOTOR_PERIOD_1                       0x13
#define BRUSHLESS3_MOTOR_PERIOD_2                       0x14
#define BRUSHLESS3_MOTOR_KT_1                           0x15
#define BRUSHLESS3_MOTOR_KT_2                           0x16
#define BRUSHLESS3_IPD_POSITION                         0x19
#define BRUSHLESS3_SUPPLY_VOLTAGE                       0x1A
#define BRUSHLESS3_SPEED_CMD                            0x1B
#define BRUSHLESS3_SPD_CMD_BUFFER                       0x1C
#define BRUSHLESS3_FAULT_CODE                           0x1E
#define BRUSHLESS3_MOTOR_PARAM_1                        0x20
#define BRUSHLESS3_MOTOR_PARAM_2                        0x21
#define BRUSHLESS3_MOTOR_PARAM_3                        0x22
#define BRUSHLESS3_SYS_OPT_1                            0x23
#define BRUSHLESS3_SYS_OPT_2                            0x24
#define BRUSHLESS3_SYS_OPT_3                            0x25
#define BRUSHLESS3_SYS_OPT_4                            0x26
#define BRUSHLESS3_SYS_OPT_5                            0x27
#define BRUSHLESS3_SYS_OPT_6                            0x28
#define BRUSHLESS3_SYS_OPT_7                            0x29
#define BRUSHLESS3_SYS_OPT_8                            0x2A
#define BRUSHLESS3_SYS_OPT_9                            0x2B
#define BRUSHLESS3_PARAM_START_EE_CTRL                  0x40
#define BRUSHLESS3_PARAM_STOP_EE_CTRL                   0x50
#define BRUSHLESS3_PARAM_MOTOR_PARAM_1                  0x39
#define BRUSHLESS3_PARAM_MOTOR_PARAM_2                  0x1E
#define BRUSHLESS3_PARAM_MOTOR_PARAM_3                  0x3A
#define BRUSHLESS3_PARAM_SYS_OPT_1                      0x08
#define BRUSHLESS3_PARAM_SYS_OPT_2                      0x50
#define BRUSHLESS3_PARAM_SYS_OPT_3                      0xDA
#define BRUSHLESS3_PARAM_SYS_OPT_4                      0xB8
#define BRUSHLESS3_PARAM_SYS_OPT_5                      0x10
#define BRUSHLESS3_PARAM_SYS_OPT_6                      0x27
#define BRUSHLESS3_PARAM_SYS_OPT_7                      0x37
#define BRUSHLESS3_PARAM_SYS_OPT_8                      0x04
#define BRUSHLESS3_PARAM_SYS_OPT_9                      0x0C
#define BRUSHLESS3_PARAM_DEV_CTRL                       0xB6
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef struct
{
    // Output pins 
    digital_out_t dir;
 
    // Input pins 
    digital_in_t int_pin;
    
    // Modules 
    i2c_master_t i2c;
    pwm_t pwm;
 
    // ctx variable 
    uint32_t pwm_freq;
    uint8_t slave_address;
 
} brushless3_t;
 
typedef struct
{
    // Communication gpio pins 
    pin_name_t scl;
    pin_name_t sda;
    pin_name_t pwm;
    
    // Additional gpio pins 
    pin_name_t dir;
    pin_name_t int_pin;
 
    // static variable 
    uint32_t dev_pwm_freq;
    uint32_t i2c_speed;
    uint8_t i2c_address;
 
} brushless3_cfg_t;
 
 // End types group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
 
#ifdef __cplusplus
extern "C"{
#endif
 
void brushless3_cfg_setup ( brushless3_cfg_t *cfg );
 
err_t brushless3_init ( brushless3_t *ctx, brushless3_cfg_t *cfg );
 
err_t brushless3_default_cfg ( brushless3_t *ctx );
 
err_t brushless3_write_data ( brushless3_t *ctx, uint8_t reg_addr, uint8_t write_data );
 
err_t brushless3_read_data ( brushless3_t *ctx, uint8_t reg_addr, uint8_t *read_data );
 
err_t brushless3_set_default_param ( brushless3_t *ctx );
 
err_t brushless3_set_pwm_mode ( brushless3_t *ctx );
 
err_t brushless3_set_an_mode ( brushless3_t *ctx );
 
err_t brushless3_dis_sleep_mode ( brushless3_t *ctx );
 
err_t brushless3_en_config ( brushless3_t *ctx );
 
err_t brushless3_dis_config ( brushless3_t *ctx );
 
err_t brushless3_copy_eeprom ( brushless3_t *ctx );
 
err_t brushless3_en_write_eeprom ( brushless3_t *ctx );
 
err_t brushless3_dis_write_eeprom ( brushless3_t *ctx );
 
err_t brushless3_check_over_temp ( brushless3_t *ctx, uint8_t *over_temp );
 
err_t brushless3_check_sleep_mode ( brushless3_t *ctx, uint8_t *sleep_mode );
 
err_t brushless3_check_motor_lock ( brushless3_t *ctx, uint8_t *motor_lock );
 
err_t brushless3_get_supply_voltage ( brushless3_t *ctx, float *voltage );
 
err_t brushless3_get_speed_cmd ( brushless3_t *ctx, float *speed_cmd );
 
err_t brushless3_check_fault_code ( brushless3_t *ctx, uint8_t *fault_code );
 
err_t brushless3_get_speed ( brushless3_t *ctx, float *speed );
 
err_t brushless3_set_speed ( brushless3_t *ctx, uint16_t motor_speed_hz );
 
err_t brushless3_set_speed_pwm ( brushless3_t *ctx, uint16_t motor_speed_hz );
 
err_t brushless3_get_period ( brushless3_t *ctx, float *period );
 
err_t brushless3_en_prog_eeprom ( brushless3_t *ctx );
 
err_t brushless3_get_vel_const ( brushless3_t *ctx, float *velocity );
 
void brushless3_forward_direction ( brushless3_t *ctx );
 
void brushless3_reverse_direction ( brushless3_t *ctx );
 
uint8_t brushless3_get_int_pin ( brushless3_t *ctx );
 
err_t brushless3_set_duty_cycle ( brushless3_t *ctx, float duty_cycle );
 
err_t brushless3_pwm_stop ( brushless3_t *ctx );
 
err_t brushless3_pwm_start ( brushless3_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif  // _BRUSHLESS3_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END