brushless7.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 BRUSHLESS7_H
#define BRUSHLESS7_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 BRUSHLESS7_MAP_MIKROBUS( cfg, mikrobus ) \
  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
  cfg.cmo  = MIKROBUS( mikrobus, MIKROBUS_AN ); \
  cfg.dir = MIKROBUS( mikrobus, MIKROBUS_RST ); \
  cfg.sby  = MIKROBUS( mikrobus, MIKROBUS_CS ); \
  cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
#define BRUSHLESS7_RETVAL  uint8_t
 
#define BRUSHLESS7_OK           0x00
#define BRUSHLESS7_INIT_ERROR   0xFF
#define  BRUSHLESS7_SLAVE_ADDR_ID2_LOW_ID1_LOW     0x29
#define  BRUSHLESS7_SLAVE_ADDR_ID2_LOW_ID1_HIGH    0x29
#define  BRUSHLESS7_SLAVE_ADDR_ID2_HIGH_ID1_LOW    0x2D
#define  BRUSHLESS7_SLAVE_ADDR_ID2_HIGH_ID1_HIGH   0x32
#define  BRUSHLESS7_REG_0                 0
#define  BRUSHLESS7_REG_1                 1
#define  BRUSHLESS7_REG_2                 2
#define  BRUSHLESS7_REG_3                 3
#define  BRUSHLESS7_REG_4                 4
#define  BRUSHLESS7_REG_5                 5
#define  BRUSHLESS7_REG_6                 6
#define  BRUSHLESS7_REG_7                 7
#define  BRUSHLESS7_REG_8                 8
#define  BRUSHLESS7_REG_9                 9
#define  BRUSHLESS7_REG_10                10
#define  BRUSHLESS7_REG_11                11
#define  BRUSHLESS7_REG_12                12
#define  BRUSHLESS7_REG_13                13
#define  BRUSHLESS7_REG_14                14
#define  BRUSHLESS7_REG_15                15
#define  BRUSHLESS7_REG_16                16
#define  BRUSHLESS7_REG_17                17
#define  BRUSHLESS7_REG_18                18
#define  BRUSHLESS7_REG_19                19
#define  BRUSHLESS7_REG_20                20
#define  BRUSHLESS7_REG_21                21
#define  BRUSHLESS7_REG_22                22
#define  BRUSHLESS7_REG_23                23
#define  BRUSHLESS7_REG_24                24
#define  BRUSHLESS7_REG_25                25
#define  BRUSHLESS7_REG_26                26
#define  BRUSHLESS7_REG_27                27
#define  BRUSHLESS7_REG_28                28
#define  BRUSHLESS7_REG_29                29
#define  BRUSHLESS7_REG_30                30
#define  BRUSHLESS7_REG_86                86
#define  BRUSHLESS7_REG_87                87
#define  BRUSHLESS7_DEV_ERROR             0xFF
#define  BRUSHLESS7_DEV_OK                0x00
#define  BRUSHLESS7_MAX_SPEED_4096        0x00
#define  BRUSHLESS7_MAX_SPEED_8192        0x02
#define  BRUSHLESS7_MAX_SPEED_16384       0x04
#define  BRUSHLESS7_MAX_SPEED_32768       0x06
#define  BRUSHLESS7_CTRL_TYPE_RPM         0xAA
#define  BRUSHLESS7_CTRL_TYPE_DUTY        0xBB
#define  BRUSHLESS7_CTRL_TYPE_STOP        0xCC
#define  BRUSHLESS7_DIR_CW                0xDD
#define  BRUSHLESS7_DIR_CCW               0xEE
#define BRUSHLESS7_ZERO                                0
#define BRUSHLESS7_START_DUTY_MAX                      49.8
#define BRUSHLESS7_START_DUTY_AMP                      512
#define BRUSHLESS7_STOP_DUTY_MAX                       49.6
#define BRUSHLESS7_STOP_DUTY_AMP                       256
#define BRUSHLESS7_STOP_DUTY_MASK                      0x80
#define BRUSHLESS7_CHANGE_DUTY_MIN                     0.4
#define BRUSHLESS7_CHANGE_DUTY_MAX                     99.6
#define BRUSHLESS7_CHANGE_DUTY_AMP                     256
#define BRUSHLESS7_MAX_DUTY_MIN                        50.2
#define BRUSHLESS7_MAX_DUTY_MAX                        100.0
#define BRUSHLESS7_MAX_DUTY_AMP                        512
#define BRUSHLESS7_MAX_DUTY_DEC                        257
#define BRUSHLESS7_START_RPM_MAX                       4095
#define BRUSHLESS7_START_RPM_SHIFT                     4
#define BRUSHLESS7_START_RPM_MASK                      0x0F
#define BRUSHLESS7_MAX_SPEED_RMP_MASK                  0xF9
#define BRUSHLESS7_PRECENTAGE_DIV                      100
#define BRUSHLESS7_DEF_FREQ                            5000
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef struct
{
    // Output pins 
 
    digital_out_t dir;
    digital_out_t sby;
 
    // Input pins 
 
    digital_in_t cmo;
    digital_in_t int_pin;
    
    // Modules 
 
    pwm_t pwm;
    i2c_master_t i2c;
 
    // ctx variable 
 
    uint32_t  pwm_freq;
    uint8_t slave_address;
 
} brushless7_t;
 
typedef struct
{
    // Communication gpio pins 
 
    pin_name_t scl;
    pin_name_t sda;
    pin_name_t pwm;
    
    // Additional gpio pins 
 
    pin_name_t cmo;
    pin_name_t dir;
    pin_name_t sby;
    pin_name_t int_pin;
 
    // static variable 
 
    uint32_t dev_pwm_freq;
    uint32_t i2c_speed;
    uint8_t i2c_address;
 
} brushless7_cfg_t;
 
 // End types group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
 
#ifdef __cplusplus
extern "C"{
#endif
 
void brushless7_cfg_setup ( brushless7_cfg_t *cfg );
 
BRUSHLESS7_RETVAL brushless7_init ( brushless7_t *ctx, brushless7_cfg_t *cfg );
 
void brushless7_default_cfg ( brushless7_t *ctx );
 
void brushless7_generic_write ( brushless7_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void brushless7_generic_read ( brushless7_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void brushless7_set_sby_pin_state ( brushless7_t *ctx, uint8_t state );
 
void brushless7_toggle_dir_pin_state ( brushless7_t *ctx );
 
uint8_t brushless7_get_int_pin_state ( brushless7_t *ctx );
 
uint8_t brushless7_start_duty ( brushless7_t *ctx, float duty_ptc );
 
uint8_t brushless7_stop_duty ( brushless7_t *ctx, float duty_ptc );
 
uint8_t brushless7_change_duty ( brushless7_t *ctx, float duty_ptc );
 
uint8_t brushless7_max_duty ( brushless7_t *ctx, float duty_ptc );
 
uint8_t brushless7_start_rpm ( brushless7_t *ctx, uint16_t rpm_val );
 
uint8_t brushless7_max_speed_rpm ( brushless7_t *ctx, uint8_t max_speed_rpm );
 
uint8_t brushless7_rotating_direction ( brushless7_t *ctx, uint8_t direction_rot );
 
uint8_t brushless7_control_mode_set ( brushless7_t *ctx, uint8_t ctrl_type );
 
void brushless7_set_duty_cycle ( brushless7_t *ctx, float duty_cycle );
 
void brushless7_pwm_stop ( brushless7_t *ctx );
 
void brushless7_pwm_start ( brushless7_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif  // _BRUSHLESS7_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END