dcmotor13.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,
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** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
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#ifndef DCMOTOR13_H
#define DCMOTOR13_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_i2c_master.h"
 
#define DCMOTOR13_REG_INPUT                 0x00
#define DCMOTOR13_REG_OUTPUT                0x01
#define DCMOTOR13_REG_POLARITY              0x02
#define DCMOTOR13_REG_CONFIG                0x03
 
 // dcmotor13_reg
 
#define DCMOTOR13_LO_PIN                    0x01
#define DCMOTOR13_AI2_PIN                   0x02
#define DCMOTOR13_BI2_PIN                   0x04
#define DCMOTOR13_TA1_PIN                   0x08
#define DCMOTOR13_TA2_PIN                   0x10
#define DCMOTOR13_TB1_PIN                   0x20
#define DCMOTOR13_TB2_PIN                   0x40
 
#define DCMOTOR13_DEFAULT_CONFIG            0x81
 
#define DCMOTOR13_PIN_LOW_LEVEL             0
#define DCMOTOR13_PIN_HIGH_LEVEL            1
 
#define DCMOTOR13_MODE_SHORT_BRAKE          0x00
#define DCMOTOR13_MODE_CCW                  0x01
#define DCMOTOR13_MODE_CW                   0x02
 
#define DCMOTOR13_TORQUE_0                  0x00
#define DCMOTOR13_TORQUE_38                 0x01
#define DCMOTOR13_TORQUE_71                 0x02
#define DCMOTOR13_TORQUE_100                0x03
 
#define DCMOTOR13_DEVICE_ADDRESS_A1A0_00    0x70
#define DCMOTOR13_DEVICE_ADDRESS_A1A0_01    0x71
#define DCMOTOR13_DEVICE_ADDRESS_A1A0_10    0x72
#define DCMOTOR13_DEVICE_ADDRESS_A1A0_11    0x73
 
 // dcmotor13_set
 
#define DCMOTOR13_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.ai1 = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.slp = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.bi1 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // dcmotor13_map
 // dcmotor13
 
typedef struct
{
    // Output pins
    digital_out_t ai1;              
    digital_out_t slp;              
    digital_out_t rst;              
    digital_out_t bi1;              
    // Input pins
    digital_in_t  int_pin;          
    // Modules
    i2c_master_t i2c;               
    // I2C slave address
    uint8_t slave_address;          
} dcmotor13_t;
 
typedef struct
{
    pin_name_t  scl;                
    pin_name_t  sda;                
    pin_name_t  ai1;                
    pin_name_t  slp;                
    pin_name_t  rst;                
    pin_name_t  bi1;                
    pin_name_t  int_pin;            
    uint32_t  i2c_speed;            
    uint8_t   i2c_address;          
} dcmotor13_cfg_t;
 
typedef enum
{
    DCMOTOR13_OK = 0,
    DCMOTOR13_ERROR = -1
 
} dcmotor13_return_value_t;
 
void dcmotor13_cfg_setup ( dcmotor13_cfg_t *cfg );
 
err_t dcmotor13_init ( dcmotor13_t *ctx, dcmotor13_cfg_t *cfg );
 
err_t dcmotor13_default_cfg ( dcmotor13_t *ctx );
 
err_t dcmotor13_write_register ( dcmotor13_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t dcmotor13_read_register ( dcmotor13_t *ctx, uint8_t reg, uint8_t *data_out );
 
void dcmotor13_enable_device ( dcmotor13_t *ctx );
 
void dcmotor13_disable_device ( dcmotor13_t *ctx );
 
void dcmotor13_reset_device ( dcmotor13_t *ctx );
 
uint8_t dcmotor13_get_int_pin ( dcmotor13_t *ctx );
 
void dcmotor13_set_ai1_pin ( dcmotor13_t *ctx, uint8_t state );
 
void dcmotor13_set_bi1_pin ( dcmotor13_t *ctx, uint8_t state );
 
err_t dcmotor13_get_lo_pin ( dcmotor13_t *ctx, uint8_t *pin_state );
 
err_t dcmotor13_set_outa_mode ( dcmotor13_t *ctx, uint8_t mode );
 
err_t dcmotor13_set_outb_mode ( dcmotor13_t *ctx, uint8_t mode );
 
err_t dcmotor13_set_outa_torque ( dcmotor13_t *ctx, uint8_t torque );
 
err_t dcmotor13_set_outb_torque ( dcmotor13_t *ctx, uint8_t torque );
 
#ifdef __cplusplus
}
#endif
#endif // DCMOTOR13_H
 
 // dcmotor13
 
// ------------------------------------------------------------------------ END