dcmotor.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 DCMOTOR_H
#define DCMOTOR_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_pwm.h"
 
// -------------------------------------------------------------- PUBLIC MACROS 
#define DCMOTOR_MAP_MIKROBUS( cfg, mikrobus ) \
  cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
  cfg. slp = MIKROBUS( mikrobus, MIKROBUS_AN ); \
  cfg. sl1 = MIKROBUS( mikrobus, MIKROBUS_RST ); \
  cfg. sl2 = MIKROBUS( mikrobus, MIKROBUS_CS ); \
  cfg. flt = MIKROBUS( mikrobus, MIKROBUS_INT )
#define DCMOTOR_RETVAL  uint8_t
 
#define DCMOTOR_OK           0x00
#define DCMOTOR_INIT_ERROR   0xFF
#define DCMOTOR_DEF_FREQ     20000
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef struct
{
    
    // Output pins 
 
    digital_out_t  slp;
    digital_out_t  sl1;
    digital_out_t  sl2;
 
    // Input pins 
 
    digital_in_t  flt;
    
    // Modules 
 
    pwm_t pwm;
 
    // ctx variable 
 
    uint16_t pwm_period;
    uint32_t  pwm_freq;
 
} dcmotor_t;
 
typedef struct
{
    // Communication gpio pins 
 
    pin_name_t pwm;
    
    // Additional gpio pins 
 
    pin_name_t  slp;
    pin_name_t  sl1;
    pin_name_t  sl2;
    pin_name_t  flt;
 
    // static variable 
 
    uint32_t  dev_pwm_freq;
 
} dcmotor_cfg_t;
 
 // End types group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
 
#ifdef __cplusplus
extern "C"{
#endif
 
void dcmotor_cfg_setup ( dcmotor_cfg_t *cfg );
 
DCMOTOR_RETVAL dcmotor_init ( dcmotor_t *ctx, dcmotor_cfg_t *cfg );
 
void dcmotor_set_duty_cycle ( dcmotor_t *ctx, float duty_cycle );
 
void dcmotor_pwm_stop ( dcmotor_t *ctx );
 
void dcmotor_pwm_start ( dcmotor_t *ctx );
 
 void dcmotor_enable ( dcmotor_t *ctx );
 
 void dcmotor_sleep_mode ( dcmotor_t *ctx );
 
 void dcmotor_left_direction_fast ( dcmotor_t *ctx );
 
 void dcmotor_right_direction_fast ( dcmotor_t *ctx );
 
void dcmotor_left_direction_slow ( dcmotor_t *ctx );
 
 void dcmotor_right_direction_slow ( dcmotor_t *ctx );
 
 uint8_t dcmotor_get_diagnostic ( dcmotor_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif  // _DCMOTOR_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END