dcmotor23.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 DCMOTOR23_H
#define DCMOTOR23_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 DCMOTOR23_REG_INPUT                 0x00
#define DCMOTOR23_REG_OUTPUT                0x01
#define DCMOTOR23_REG_POLARITY              0x02
#define DCMOTOR23_REG_CONFIG                0x03
 
 // dcmotor23_reg
 
#define DCMOTOR23_LO_PIN                    0x01
#define DCMOTOR23_PHASE_A_PIN               0x02
#define DCMOTOR23_PHASE_B_PIN               0x04
#define DCMOTOR23_TRQ_A1_PIN                0x08
#define DCMOTOR23_TRQ_A2_PIN                0x10
#define DCMOTOR23_TRQ_B1_PIN                0x20
#define DCMOTOR23_TRQ_B2_PIN                0x40
 
#define DCMOTOR23_DEFAULT_CONFIG            0x01
 
#define DCMOTOR23_PIN_LOW_LEVEL             0
#define DCMOTOR23_PIN_HIGH_LEVEL            1
 
#define DCMOTOR23_MODE_DECAY                0x00
#define DCMOTOR23_MODE_CCW                  0x01
#define DCMOTOR23_MODE_CW                   0x02
 
#define DCMOTOR23_TORQUE_0                  0x00
#define DCMOTOR23_TORQUE_38                 0x01
#define DCMOTOR23_TORQUE_71                 0x02
#define DCMOTOR23_TORQUE_100                0x03
 
#define DCMOTOR23_SEL_OUT_A                 0x00
#define DCMOTOR23_SEL_OUT_B                 0x01
 
#define DCMOTOR23_DEVICE_ADDRESS_0          0x70
#define DCMOTOR23_DEVICE_ADDRESS_1          0x71
#define DCMOTOR23_DEVICE_ADDRESS_2          0x72
#define DCMOTOR23_DEVICE_ADDRESS_3          0x73
 
 // dcmotor23_set
 
#define DCMOTOR23_MAP_MIKROBUS( cfg, mikrobus )    \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL );  \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA );  \
    cfg.en_a = MIKROBUS( mikrobus, MIKROBUS_CS );  \
    cfg.slp = MIKROBUS( mikrobus, MIKROBUS_AN );   \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST );  \
    cfg.en_b = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // dcmotor23_map
 // dcmotor23
 
typedef struct
{
    // Output pins
    digital_out_t en_a;      
    digital_out_t slp;       
    digital_out_t rst;       
    digital_out_t en_b;      
    // Input pins
 
    digital_in_t int_pin;    
    // Modules
    i2c_master_t i2c;        
    // I2C slave address
    uint8_t slave_address;   
} dcmotor23_t;
 
typedef struct
{
    pin_name_t scl;            
    pin_name_t sda;            
    pin_name_t en_a;           
    pin_name_t slp;            
    pin_name_t rst;            
    pin_name_t en_b;           
    pin_name_t int_pin;        
    uint32_t   i2c_speed;      
    uint8_t    i2c_address;    
} dcmotor23_cfg_t;
 
typedef enum
{
    DCMOTOR23_OK = 0,
    DCMOTOR23_ERROR = -1
 
} dcmotor23_return_value_t;
 
void dcmotor23_cfg_setup ( dcmotor23_cfg_t *cfg );
 
err_t dcmotor23_init ( dcmotor23_t *ctx, dcmotor23_cfg_t *cfg );
 
err_t dcmotor23_default_cfg ( dcmotor23_t *ctx );
 
err_t dcmotor23_write_register ( dcmotor23_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t dcmotor23_read_register ( dcmotor23_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t dcmotor23_get_lo_pin ( dcmotor23_t *ctx, uint8_t *pin_state );
 
err_t dcmotor23_set_output_mode ( dcmotor23_t *ctx, uint8_t mode, uint8_t sel_motor );
 
err_t dcmotor23_set_clockwise ( dcmotor23_t *ctx, uint8_t sel_motor );
 
err_t dcmotor23_set_counter_clockwise ( dcmotor23_t *ctx, uint8_t sel_motor );
 
err_t dcmotor23_set_decay ( dcmotor23_t *ctx, uint8_t sel_motor );
 
err_t dcmotor23_set_outa_torque ( dcmotor23_t *ctx, uint8_t torque );
 
err_t dcmotor23_set_outb_torque ( dcmotor23_t *ctx, uint8_t torque );
 
void dcmotor23_normal_operation_mode ( dcmotor23_t *ctx );
 
void dcmotor23_sleep_mode ( dcmotor23_t *ctx );
 
void dcmotor23_reset_device ( dcmotor23_t *ctx );
 
uint8_t dcmotor23_get_int_pin ( dcmotor23_t *ctx );
 
void dcmotor23_set_en_a_pin ( dcmotor23_t *ctx, uint8_t state );
 
void dcmotor23_set_en_b_pin ( dcmotor23_t *ctx, uint8_t state );
 
#ifdef __cplusplus
}
#endif
#endif // DCMOTOR23_H
 
 // dcmotor23
 
// ------------------------------------------------------------------------ END