dcmotor22.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 DCMOTOR22_H
#define DCMOTOR22_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_uart.h"
#include "drv_i2c_master.h"
 
#define DCMOTOR22_REG_GCONF                         0x00
#define DCMOTOR22_REG_GSTAT                         0x01
#define DCMOTOR22_REG_IFCNT                         0x02
#define DCMOTOR22_REG_SLAVECONF                     0x03
#define DCMOTOR22_REG_IOIN                          0x06
#define DCMOTOR22_REG_CURRENT_LIMIT                 0x10
#define DCMOTOR22_REG_PWM_AB                        0x22
#define DCMOTOR22_REG_CHOPCONF                      0x6C
#define DCMOTOR22_REG_DRV_STATUS                    0x6F
#define DCMOTOR22_REG_PWMCONF                       0x70
 
#define DCMOTOR22_SYNC_BYTE                         0x05
#define DCMOTOR22_READ_WRITE_BIT                    0x80
#define DCMOTOR22_RETRY_SEND_TIMEOUT                100
#define DCMOTOR22_READ_TIMEOUT                      1000
 
#define DCMOTOR22_GCONF_PWM_DIRECT                  ( 0x01ul )
#define DCMOTOR22_GCONF_EXTCAP_AVAILABLE            ( 0x02ul )
#define DCMOTOR22_GCONF_PAR_MODE_DUAL_MOTOR         ( 0x00ul )
#define DCMOTOR22_GCONF_PAR_MODE_SINGLE_MOTOR       ( 0x04ul )
#define DCMOTOR22_GCONF_TEST_MODE                   ( 0x08ul )
 
#define DCMOTOR22_GSTAT_RESET                       ( 0x01ul )
#define DCMOTOR22_GSTAT_DRV_ERR                     ( 0x02ul )
#define DCMOTOR22_GSTAT_UNDER_3V5                   ( 0x04ul )
#define DCMOTOR22_GSTAT_CLEAR_ALL                   ( 0x07ul )
 
#define DCMOTOR22_SLAVECONF_SENDDELAY_8BIT          ( 0x0000ul )
#define DCMOTOR22_SLAVECONF_SENDDELAY_24BIT         ( 0x0200ul )
#define DCMOTOR22_SLAVECONF_SENDDELAY_40BIT         ( 0x0400ul )
#define DCMOTOR22_SLAVECONF_SENDDELAY_56BIT         ( 0x0600ul )
#define DCMOTOR22_SLAVECONF_SENDDELAY_72BIT         ( 0x0800ul )
#define DCMOTOR22_SLAVECONF_SENDDELAY_88BIT         ( 0x0A00ul )
#define DCMOTOR22_SLAVECONF_SENDDELAY_104BIT        ( 0x0C00ul )
#define DCMOTOR22_SLAVECONF_SENDDELAY_120BIT        ( 0x0E00ul )
 
#define DCMOTOR22_IOIN_EN                           ( 0x01ul )
#define DCMOTOR22_IOIN_NSTDBY                       ( 0x02ul )
#define DCMOTOR22_IOIN_AD0                          ( 0x04ul )
#define DCMOTOR22_IOIN_AD1                          ( 0x08ul )
#define DCMOTOR22_IOIN_DIAG                         ( 0x10ul )
#define DCMOTOR22_IOIN_UART_ON                      ( 0x20ul )
#define DCMOTOR22_IOIN_UART_IN                      ( 0x40ul )
#define DCMOTOR22_IOIN_MODE_IN                      ( 0x80ul )
#define DCMOTOR22_IOIN_A2                           ( 0x0100ul )
#define DCMOTOR22_IOIN_A1                           ( 0x0200ul )
#define DCMOTOR22_IOIN_COMP_A1A2                    ( 0x0400ul )
#define DCMOTOR22_IOIN_COMP_B1B2                    ( 0x0800ul )
#define DCMOTOR22_IOIN_VERSION                      ( 0x40000000ul )
#define DCMOTOR22_IOIN_VERSION_MASK                 ( 0xFF000000ul )
 
#define DCMOTOR22_CURRENT_LIMIT_EN_FREEWHEELING     ( 0x01ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_1_32           ( 0x0000ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_2_32           ( 0x0100ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_3_32           ( 0x0200ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_4_32           ( 0x0300ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_5_32           ( 0x0400ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_6_32           ( 0x0500ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_7_32           ( 0x0600ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_8_32           ( 0x0700ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_9_32           ( 0x0800ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_10_32          ( 0x0900ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_11_32          ( 0x0A00ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_12_32          ( 0x0B00ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_13_32          ( 0x0C00ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_14_32          ( 0x0D00ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_15_32          ( 0x0E00ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_16_32          ( 0x0F00ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_17_32          ( 0x1000ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_18_32          ( 0x1100ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_19_32          ( 0x1200ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_20_32          ( 0x1300ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_21_32          ( 0x1400ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_22_32          ( 0x1500ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_23_32          ( 0x1600ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_24_32          ( 0x1700ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_25_32          ( 0x1800ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_26_32          ( 0x1900ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_27_32          ( 0x1A00ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_28_32          ( 0x1B00ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_29_32          ( 0x1C00ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_30_32          ( 0x1D00ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_31_32          ( 0x1E00ul )
#define DCMOTOR22_CURRENT_LIMIT_IRUN_32_32          ( 0x1F00ul )
 
#define DCMOTOR22_MAX_PWM                           255
#define DCMOTOR22_MIN_PWM                           ( -255 )
#define DCMOTOR22_PWM_RES                           0x01FF
#define DCMOTOR22_PWM_DUTY_0                        ( 0x00ul )
 
#define DCMOTOR22_CHOPCONF_DISS2VS                  ( 0x80000000ul )
#define DCMOTOR22_CHOPCONF_DISS2G                   ( 0x40000000ul )
#define DCMOTOR22_CHOPCONF_TBL_0                    ( 0x00000000ul )
#define DCMOTOR22_CHOPCONF_TBL_1                    ( 0x00008000ul )
#define DCMOTOR22_CHOPCONF_TBL_2                    ( 0x00010000ul )
#define DCMOTOR22_CHOPCONF_TBL_3                    ( 0x00018000ul )
#define DCMOTOR22_CHOPCONF_ENABLEDRV                ( 0x00000001ul )
 
#define DCMOTOR22_PWMCONF_FREEWHEEL_NORMAL_OP       ( 0x00000000ul )
#define DCMOTOR22_PWMCONF_FREEWHEEL_FREEWHEELING    ( 0x00100000ul )
#define DCMOTOR22_PWMCONF_FREEWHEEL_LS_SHORTED      ( 0x00200000ul )
#define DCMOTOR22_PWMCONF_FREEWHEEL_HS_SHORTED      ( 0x00300000ul )
#define DCMOTOR22_PWMCONF_PWM_FREQ_2_1024           ( 0x00000000ul )
#define DCMOTOR22_PWMCONF_PWM_FREQ_2_683            ( 0x00010000ul )
#define DCMOTOR22_PWMCONF_PWM_FREQ_2_512            ( 0x00020000ul )
#define DCMOTOR22_PWMCONF_PWM_FREQ_2_410            ( 0x00030000ul )
 
#define DCMOTOR22_MOTOR_A                           0x00
#define DCMOTOR22_MOTOR_B                           0x01
 
#define DCMOTOR22_NUM_CONVERSIONS                   100
#define DCMOTOR22_RSENSE                            0.1
 
#define DCMOTOR22_ADC_REG_SETUP                     0x80
#define DCMOTOR22_ADC_SETUP_VREF_VDD_REF_NC_OFF     0x00
#define DCMOTOR22_ADC_SETUP_VREF_EXT_REF_IN_OFF     0x20
#define DCMOTOR22_ADC_SETUP_VREF_INT_REF_NC_OFF     0x40
#define DCMOTOR22_ADC_SETUP_VREF_INT_REF_NC_ON      0x50
#define DCMOTOR22_ADC_SETUP_VREF_INT_REF_OUT_OFF    0x60
#define DCMOTOR22_ADC_SETUP_VREF_INT_REF_OUT_ON     0x70
#define DCMOTOR22_ADC_SETUP_CLK_INT                 0x00
#define DCMOTOR22_ADC_SETUP_CLK_EXT                 0x08
#define DCMOTOR22_ADC_SETUP_UNIPOLAR                0x00
#define DCMOTOR22_ADC_SETUP_BIPOLAR                 0x04
#define DCMOTOR22_ADC_SETUP_RST_RESET               0x00
#define DCMOTOR22_ADC_SETUP_RST_NO_ACTION           0x02
 
#define DCMOTOR22_ADC_REG_CONFIG                    0x00
#define DCMOTOR22_ADC_CONFIG_SCAN_AIN0_TO_CS0       0x00
#define DCMOTOR22_ADC_CONFIG_SCAN_CS0_8_TIMES       0x20
#define DCMOTOR22_ADC_CONFIG_SCAN_CS0               0x60
#define DCMOTOR22_ADC_CONFIG_CS0_AIN0               0x00
#define DCMOTOR22_ADC_CONFIG_CS0_AIN1               0x02
#define DCMOTOR22_ADC_CONFIG_DIFFERENTIAL           0x00
#define DCMOTOR22_ADC_CONFIG_SINGLE_ENDED           0x01
 
#define DCMOTOR22_ADC_REG_BIT_MASK                  0x80
#define DCMOTOR22_ADC_SETUP_VREF_BIT_MASK           0x70
#define DCMOTOR22_ADC_SETUP_CLK_BIT_MASK            0x08
#define DCMOTOR22_ADC_SETUP_UNI_BIP_BIT_MASK        0x04
#define DCMOTOR22_ADC_SETUP_RST_BIT_MASK            0x02
#define DCMOTOR22_ADC_CONFIG_SCAN_BIT_MASK          0x60
#define DCMOTOR22_ADC_CONFIG_CS0_BIT_MASK           0x02
#define DCMOTOR22_ADC_CONFIG_SGL_DIF_BIT_MASK       0x01
 
#define DCMOTOR22_ADC_CHANNEL_0                     0
#define DCMOTOR22_ADC_CHANNEL_1                     1
 
#define DCMOTOR22_ADC_RESOLUTION                    0x0FFF
#define DCMOTOR22_ADC_VREF                          2.048
 
#define DCMOTOR22_ADC_DEVICE_ADDRESS                0x36
#define DCMOTOR22_UART_DEVICE_ADDRESS_0             0x00
#define DCMOTOR22_UART_DEVICE_ADDRESS_1             0x01
#define DCMOTOR22_UART_DEVICE_ADDRESS_2             0x02
#define DCMOTOR22_UART_DEVICE_ADDRESS_3             0x03
#define DCMOTOR22_UART_DEVICE_ADDRESS_MASK          0x03
 
#define DRV_BUFFER_SIZE                             200
 
 // dcmotor22_cmd
 
#define DCMOTOR22_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.tx_pin = MIKROBUS( mikrobus, MIKROBUS_TX ); \
    cfg.rx_pin = MIKROBUS( mikrobus, MIKROBUS_RX ); \
    cfg.a0 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.a1 = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.en = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT );
 
 // dcmotor22_map
 // dcmotor22
 
typedef struct
{
    // Output pins
    digital_out_t a0;           
    digital_out_t a1;           
    digital_out_t en;           
    // Input pins
    digital_in_t int_pin;       
    // Modules
    i2c_master_t i2c;           
    uart_t uart;                
    uint8_t uart_device_address;
    uint8_t i2c_slave_address;  
    char uart_rx_buffer[ DRV_BUFFER_SIZE ];     
    char uart_tx_buffer[ DRV_BUFFER_SIZE ];     
    uint8_t adc_setup_byte;     
    uint8_t adc_config_byte;    
    uint32_t pwm_ab;            
} dcmotor22_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t rx_pin;          
    pin_name_t tx_pin;          
    pin_name_t scl;             
    pin_name_t sda;             
    // Additional gpio pins
    pin_name_t a0;              
    pin_name_t a1;              
    pin_name_t en;              
    pin_name_t int_pin;         
    // Static variable
    uint32_t          baud_rate;        
    bool              uart_blocking;    
    uart_data_bits_t  data_bit;         
    uart_parity_t     parity_bit;       
    uart_stop_bits_t  stop_bit;         
    uint32_t  i2c_speed;        
    uint8_t   i2c_address;      
} dcmotor22_cfg_t;
 
typedef enum
{
    DCMOTOR22_OK = 0,
    DCMOTOR22_ERROR = -1
 
} dcmotor22_return_value_t;
 
void dcmotor22_cfg_setup ( dcmotor22_cfg_t *cfg );
 
err_t dcmotor22_init ( dcmotor22_t *ctx, dcmotor22_cfg_t *cfg );
 
err_t dcmotor22_default_cfg ( dcmotor22_t *ctx );
 
err_t dcmotor22_write_register ( dcmotor22_t *ctx, uint8_t reg, uint32_t data_in );
 
err_t dcmotor22_read_register ( dcmotor22_t *ctx, uint8_t reg, uint32_t *data_out );
 
err_t dcmotor22_adc_write_setup_byte ( dcmotor22_t *ctx, uint8_t setup_byte );
 
err_t dcmotor22_adc_write_config_byte ( dcmotor22_t *ctx, uint8_t config_byte );
 
err_t dcmotor22_adc_set_channel ( dcmotor22_t *ctx, uint8_t channel );
 
err_t dcmotor22_adc_get_voltage ( dcmotor22_t *ctx, float *voltage );
 
err_t dcmotor22_get_motor_current ( dcmotor22_t *ctx, uint8_t motor_sel, float *current );
 
err_t dcmotor22_set_motor_pwm ( dcmotor22_t *ctx, uint8_t motor_sel, int16_t pwm_duty );
 
void dcmotor22_enable_device ( dcmotor22_t *ctx );
 
void dcmotor22_disable_device ( dcmotor22_t *ctx );
 
void dcmotor22_reset_device ( dcmotor22_t *ctx );
 
void dcmotor22_set_device_address ( dcmotor22_t *ctx, uint8_t addr );
 
uint8_t dcmotor22_get_int_pin ( dcmotor22_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // DCMOTOR22_H
 
 // dcmotor22
 
// ------------------------------------------------------------------------ END