dcmotor16.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.
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#ifndef DCMOTOR16_H
#define DCMOTOR16_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"
 
#define DCMOTOR16_DIR_FORWARD                 0
#define DCMOTOR16_DIR_BACKWARD                1
 
#define DCMOTOR16_ENABLE                      1
#define DCMOTOR16_DISABLE                     0
#define DCMOTOR16_SET_DATA_SAMPLE_EDGE      SET_SPI_DATA_SAMPLE_EDGE
#define DCMOTOR16_SET_DATA_SAMPLE_MIDDLE    SET_SPI_DATA_SAMPLE_MIDDLE
 
 // dcmotor16_set
 
#define DCMOTOR16_MAP_MIKROBUS( cfg, mikrobus ) \
    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.fwd = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.rev = MIKROBUS( mikrobus, MIKROBUS_PWM )
 
 // dcmotor16_map
 // dcmotor16
 
typedef struct
{
    // Output pins
    digital_out_t  fwd;     
    digital_out_t  rev;     
    // Modules
    spi_master_t  spi;                               
    pin_name_t  chip_select;                         
} dcmotor16_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t  miso;                                    
    pin_name_t  mosi;                                    
    pin_name_t  sck;                                     
    pin_name_t  cs;                                      
    // Additional gpio pins
    pin_name_t  fwd;        
    pin_name_t  rev;        
    // static variable
    uint32_t                           spi_speed;        
    spi_master_mode_t                  spi_mode;         
    spi_master_chip_select_polarity_t  cs_polarity;      
} dcmotor16_cfg_t;
 
typedef enum
{
   DCMOTOR16_OK = 0,
   DCMOTOR16_ERROR = -1
 
} dcmotor16_return_value_t;
 
void dcmotor16_cfg_setup ( dcmotor16_cfg_t *cfg );
 
err_t dcmotor16_init ( dcmotor16_t *ctx, dcmotor16_cfg_t *cfg );
 
err_t dcmotor16_generic_write ( dcmotor16_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t dcmotor16_generic_read ( dcmotor16_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
 
void dcmotor16_set_direction( dcmotor16_t *ctx, uint8_t dir );
 
void dcmotor16_ctrl_fwd_pin( dcmotor16_t *ctx, uint8_t state );
 
void dcmotor16_ctrl_rev_pin( dcmotor16_t *ctx, uint8_t state );
 
void dcmotor16_ctrl_vref( dcmotor16_t *ctx, uint16_t value );
 
void dcmotor16_stop( dcmotor16_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // DCMOTOR16_H
 
 // dcmotor16
 
// ------------------------------------------------------------------------ END