dcmotor12.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.
**
** 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 DCMOTOR12_H
#define DCMOTOR12_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_spi_master.h"
#include "spi_specifics.h"
#include "drv_i2c_master.h"
#include "drv_analog_in.h"
 
#define DCMOTOR12_REG_STATUS1                   0x01
#define DCMOTOR12_REG_STATUS2                   0x02
#define DCMOTOR12_REG_STATUS3                   0x03
#define DCMOTOR12_REG_CONFIG1                   0x04
#define DCMOTOR12_REG_CONFIG2                   0x05
#define DCMOTOR12_REG_CONFIG3                   0x06
#define DCMOTOR12_REG_CONFIG4                   0x07
#define DCMOTOR12_REG_CONFIG5                   0x08
#define DCMOTOR12_REG_CONFIG6                   0x09
#define DCMOTOR12_REG_CONFIG7                   0x0A
 
#define DCMOTOR12_REG_INPUT                     0x00
#define DCMOTOR12_REG_OUTPUT                    0x01
#define DCMOTOR12_REG_POLARITY                  0x02
#define DCMOTOR12_REG_CONFIG                    0x03
 
 // dcmotor12_reg
 
#define DCMOTOR12_CONFIG12_OPEN_LOAD_NOP_100US  0x000000ul
#define DCMOTOR12_CONFIG12_OPEN_LOAD_NOP_50US   0x002000ul
#define DCMOTOR12_CONFIG12_OPEN_LOAD_NOP_500US  0x004000ul
#define DCMOTOR12_CONFIG12_OPEN_LOAD_NOP_MASK   0x006000ul
#define DCMOTOR12_CONFIG12_DUTY_OFF_LOW_SIDE    0x000000ul
#define DCMOTOR12_CONFIG12_DUTY_OFF_HIGH_SIDE   0x001000ul
#define DCMOTOR12_CONFIG12_DUTY_OFF_MASK        0x001000ul
#define DCMOTOR12_CONFIG12_VBAT_UVC_0US         0x000000ul
#define DCMOTOR12_CONFIG12_VBAT_UVC_100US       0x000800ul
#define DCMOTOR12_CONFIG12_VBAT_UVC_MASK        0x000800ul
#define DCMOTOR12_CONFIG12_CLIMIT_UP_6p5A       0x000000ul
#define DCMOTOR12_CONFIG12_CLIMIT_UP_4p6A       0x000400ul
#define DCMOTOR12_CONFIG12_CLIMIT_UP_MASK       0x000400ul
#define DCMOTOR12_CONFIG12_CLIMIT_LOW_0p25A     0x000000ul
#define DCMOTOR12_CONFIG12_CLIMIT_LOW_0p5A      0x000200ul
#define DCMOTOR12_CONFIG12_CLIMIT_LOW_MASK      0x000200ul
#define DCMOTOR12_CONFIG12_CLIMIT_LOW_0p25A     0x000000ul
#define DCMOTOR12_CONFIG12_CLIMIT_LOW_0p5A      0x000200ul
#define DCMOTOR12_CONFIG12_OPEN_LOAD_OP_200mA   0x000000ul
#define DCMOTOR12_CONFIG12_OPEN_LOAD_OP_100mA   0x000080ul
#define DCMOTOR12_CONFIG12_OPEN_LOAD_OP_300mA   0x000100ul
#define DCMOTOR12_CONFIG12_OPEN_LOAD_OP_MASK    0x000180ul
#define DCMOTOR12_CONFIG12_SR_MODE_NORMAL       0x000000ul
#define DCMOTOR12_CONFIG12_SR_MODE_SLOW1        0x000010ul
#define DCMOTOR12_CONFIG12_SR_MODE_SLOW2        0x000020ul
#define DCMOTOR12_CONFIG12_SR_MODE_SLOW3        0x000030ul
#define DCMOTOR12_CONFIG12_SR_MODE_SLOW4        0x000040ul
#define DCMOTOR12_CONFIG12_SR_MODE_FAST2        0x000050ul
#define DCMOTOR12_CONFIG12_SR_MODE_FAST1        0x000060ul
#define DCMOTOR12_CONFIG12_SR_MODE_MASK         0x000070ul
#define DCMOTOR12_CONFIG12_OC_LATCH             0x000000ul
#define DCMOTOR12_CONFIG12_OC_AUTO              0x000008ul
#define DCMOTOR12_CONFIG12_OC_MASK              0x000008ul
#define DCMOTOR12_CONFIG12_OC_LATCH             0x000000ul
#define DCMOTOR12_CONFIG12_OC_AUTO              0x000008ul
#define DCMOTOR12_CONFIG12_SPI_DISR_10mS        0x000000ul
#define DCMOTOR12_CONFIG12_SPI_DISR_100mS       0x000002ul
#define DCMOTOR12_CONFIG12_SPI_DISR_1S          0x000004ul
#define DCMOTOR12_CONFIG12_SPI_DISR_DISABLE     0x000006ul
#define DCMOTOR12_CONFIG12_SPI_DISR_MASK        0x000006ul
#define DCMOTOR12_CONFIG12_OPMODE_DISR_OFF      0x000000ul
#define DCMOTOR12_CONFIG12_OPMODE_DISR_CONTINUE 0x000001ul
#define DCMOTOR12_CONFIG12_OPMODE_DISR_MASK     0x000001ul
 
#define DCMOTOR12_CONFIG56_MOTOR_OPMODE_MAX     3u
#define DCMOTOR12_CONFIG56_MOTOR_OPMODE_SHIFT   22ul
#define DCMOTOR12_CONFIG56_MOTOR_OPMODE_MASK    0xC00000ul
#define DCMOTOR12_CONFIG56_DRV_FREQ_MAX         2047u
#define DCMOTOR12_CONFIG56_DRV_FREQ_SHIFT       11ul
#define DCMOTOR12_CONFIG56_DRV_FREQ_MASK        0x3FF800ul
#define DCMOTOR12_CONFIG56_DUTY_PERIOD_MAX      2047u
#define DCMOTOR12_CONFIG56_DUTY_PERIOD_SHIFT    0ul
#define DCMOTOR12_CONFIG56_DUTY_PERIOD_MASK     0x0007FFul
 
#define DCMOTOR12_DIAG1_PIN                     0x01
#define DCMOTOR12_DIAG2_PIN                     0x02
#define DCMOTOR12_EN1_PIN                       0x04
#define DCMOTOR12_EN2_PIN                       0x08
#define DCMOTOR12_CM_SEL_PIN                    0x10
#define DCMOTOR12_SLP_PIN                       0x20
 
#define DCMOTOR12_DEFAULT_CONFIG                0xE3
 
#define DCMOTOR12_MODE_OUTPUT_OFF               0x00
#define DCMOTOR12_MODE_FORWARD                  0x01
#define DCMOTOR12_MODE_REVERSE                  0x02
#define DCMOTOR12_MODE_BRAKE                    0x03
 
#define DCMOTOR12_PIN_LOW_LEVEL                 0
#define DCMOTOR12_PIN_HIGH_LEVEL                1
 
#define DCMOTOR12_VREF_3V3                      3.3
#define DCMOTOR12_VREF_5V                       5.0
 
#define DCMOTOR12_NUM_CONVERSIONS               5000
#define DCMOTOR12_RSENSE                        220.0f
#define DCMOTOR12_VOLTAGE_TO_CURRENT            0.00238167f
 
#define DCMOTOR12_DEVICE_ADDRESS_A1A0_00        0x70
#define DCMOTOR12_DEVICE_ADDRESS_A1A0_01        0x71
#define DCMOTOR12_DEVICE_ADDRESS_A1A0_10        0x72
#define DCMOTOR12_DEVICE_ADDRESS_A1A0_11        0x73
 
#define DCMOTOR12_SET_DATA_SAMPLE_EDGE          SET_SPI_DATA_SAMPLE_EDGE
#define DCMOTOR12_SET_DATA_SAMPLE_MIDDLE        SET_SPI_DATA_SAMPLE_MIDDLE
 
 // dcmotor12_set
 
#define DCMOTOR12_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
    cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
    cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
    cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.cm = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.slp = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.clk = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // dcmotor12_map
 // dcmotor12
 
typedef struct
{
    // Output pins
    digital_out_t clk;          
    digital_out_t slp;          
    // Input pins
    digital_in_t int_pin;       
    // Modules
    spi_master_t spi;           
    i2c_master_t i2c;           
    analog_in_t  adc;           
    uint8_t      slave_address; 
    pin_name_t   chip_select;   
} dcmotor12_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t scl;             
    pin_name_t sda;             
    pin_name_t miso;            
    pin_name_t mosi;            
    pin_name_t sck;             
    pin_name_t cs;              
    pin_name_t cm;              
    // Additional gpio pins
    pin_name_t clk;             
    pin_name_t slp;             
    pin_name_t int_pin;         
    // static variable
    uint32_t                          spi_speed;    
    spi_master_mode_t                 spi_mode;     
    spi_master_chip_select_polarity_t cs_polarity;  
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
    analog_in_resolution_t resolution;  
    float                  vref;        
} dcmotor12_cfg_t;
 
typedef enum
{
    DCMOTOR12_OK = 0,
    DCMOTOR12_ERROR = -1
 
} dcmotor12_return_value_t;
 
void dcmotor12_cfg_setup ( dcmotor12_cfg_t *cfg );
 
err_t dcmotor12_init ( dcmotor12_t *ctx, dcmotor12_cfg_t *cfg );
 
err_t dcmotor12_default_cfg ( dcmotor12_t *ctx );
 
err_t dcmotor12_write_register ( dcmotor12_t *ctx, uint8_t reg, uint32_t data_in );
 
err_t dcmotor12_read_register ( dcmotor12_t *ctx, uint8_t reg, uint32_t *data_out );
 
err_t dcmotor12_pca9538a_write_register ( dcmotor12_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t dcmotor12_pca9538a_read_register ( dcmotor12_t *ctx, uint8_t reg, uint8_t *data_out );
 
void dcmotor12_enter_sleep_mode ( dcmotor12_t *ctx );
 
void dcmotor12_wake_up_device ( dcmotor12_t *ctx );
 
uint8_t dcmotor12_get_int_pin ( dcmotor12_t *ctx );
 
void dcmotor12_set_clk_pin ( dcmotor12_t *ctx, uint8_t state );
 
err_t dcmotor12_set_en1_pin ( dcmotor12_t *ctx, uint8_t state );
 
err_t dcmotor12_get_en1_pin ( dcmotor12_t *ctx, uint8_t *state );
 
err_t dcmotor12_set_en2_pin ( dcmotor12_t *ctx, uint8_t state );
 
err_t dcmotor12_get_en2_pin ( dcmotor12_t *ctx, uint8_t *state );
 
err_t dcmotor12_set_cm_sel_pin ( dcmotor12_t *ctx, uint8_t state );
 
err_t dcmotor12_get_cm_sel_pin ( dcmotor12_t *ctx, uint8_t *state );
 
err_t dcmotor12_get_diag1_pin ( dcmotor12_t *ctx, uint8_t *state );
 
err_t dcmotor12_get_diag2_pin ( dcmotor12_t *ctx, uint8_t *state );
 
err_t dcmotor12_get_sleep_pin ( dcmotor12_t *ctx, uint8_t *state );
 
err_t dcmotor12_read_an_pin_value ( dcmotor12_t *ctx, uint16_t *data_out );
 
err_t dcmotor12_read_an_pin_voltage ( dcmotor12_t *ctx, float *data_out );
 
err_t dcmotor12_get_motor_current ( dcmotor12_t *ctx, float *current );
 
err_t dcmotor12_set_ch1_operation_mode ( dcmotor12_t *ctx, uint8_t mode );
 
err_t dcmotor12_set_ch2_operation_mode ( dcmotor12_t *ctx, uint8_t mode );
 
err_t dcmotor12_set_ch1_drive_frequency ( dcmotor12_t *ctx, uint16_t drv_freq );
 
err_t dcmotor12_set_ch2_drive_frequency ( dcmotor12_t *ctx, uint16_t drv_freq );
 
err_t dcmotor12_set_ch1_duty_period ( dcmotor12_t *ctx, uint16_t duty_period );
 
err_t dcmotor12_set_ch2_duty_period ( dcmotor12_t *ctx, uint16_t duty_period );
 
#ifdef __cplusplus
}
#endif
#endif // DCMOTOR12_H
 
 // dcmotor12
 
// ------------------------------------------------------------------------ END