dcmotor24.h

Go to the documentation of this file.

/****************************************************************************
** 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 DCMOTOR24_H
#define DCMOTOR24_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_pwm.h"
 
#define DCMOTOR24_CFG_DR                    0x0002u
#define DCMOTOR24_CFG_CL_2p5A               0x0000u
#define DCMOTOR24_CFG_CL_4A                 0x0004u
#define DCMOTOR24_CFG_CL_6p6A               0x0008u
#define DCMOTOR24_CFG_CL_8p6A               0x000Cu
#define DCMOTOR24_CFG_CL_MASK               0x000Cu
#define DCMOTOR24_CFG_VSR                   0x0100u
#define DCMOTOR24_CFG_ISR                   0x0200u
#define DCMOTOR24_CFG_ISR_DIS               0x0400u
#define DCMOTOR24_CFG_OL_ON                 0x0800u
 
#define DCMOTOR24_DIA_OL_OFF                0x0001u
#define DCMOTOR24_DIA_OL_ON                 0x0002u
#define DCMOTOR24_DIA_VS_UV                 0x0004u
#define DCMOTOR24_DIA_VDD_OV                0x0008u
#define DCMOTOR24_DIA_ILIM                  0x0010u
#define DCMOTOR24_DIA_TWARN                 0x0020u
#define DCMOTOR24_DIA_TSD                   0x0040u
#define DCMOTOR24_DIA_ACT                   0x0080u
#define DCMOTOR24_DIA_OC_LS1                0x0100u
#define DCMOTOR24_DIA_OC_LS2                0x0200u
#define DCMOTOR24_DIA_OC_HS1                0x0400u
#define DCMOTOR24_DIA_OC_HS2                0x0800u
#define DCMOTOR24_DIA_SGND_OFF              0x4000u
#define DCMOTOR24_DIA_SBAT_OFF              0x8000u
 
#define DCMOTOR24_DIR_REVERSE               0
#define DCMOTOR24_DIR_FORWARD               1
 
#define DCMOTOR24_DEF_FREQ                  5000
 
#define DCMOTOR24_SET_DATA_SAMPLE_EDGE      SET_SPI_DATA_SAMPLE_EDGE
#define DCMOTOR24_SET_DATA_SAMPLE_MIDDLE    SET_SPI_DATA_SAMPLE_MIDDLE
 
 // dcmotor24_set
 
#define DCMOTOR24_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.dir  = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.en   = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.pwm  = MIKROBUS( mikrobus, MIKROBUS_PWM );
 
 // dcmotor24_map
 // dcmotor24
 
typedef struct
{
    // Output pins
    digital_out_t dir;          
    digital_out_t en;           
    // Modules
    spi_master_t spi;           
    pwm_t        pwm;           
    pin_name_t   chip_select;   
    uint32_t     pwm_freq;      
    uint16_t     config_word;
 
} dcmotor24_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t miso;            
    pin_name_t mosi;            
    pin_name_t sck;             
    pin_name_t cs;              
    pin_name_t pwm;             
    // Additional gpio pins
    pin_name_t dir;             
    pin_name_t en;              
    // static variable
    uint32_t                          spi_speed;    
    spi_master_mode_t                 spi_mode;     
    spi_master_chip_select_polarity_t cs_polarity;  
    uint32_t                          dev_pwm_freq; 
} dcmotor24_cfg_t;
 
typedef enum
{
    DCMOTOR24_OK = 0,
    DCMOTOR24_ERROR = -1
 
} dcmotor24_return_value_t;
 
void dcmotor24_cfg_setup ( dcmotor24_cfg_t *cfg );
 
err_t dcmotor24_init ( dcmotor24_t *ctx, dcmotor24_cfg_t *cfg );
 
err_t dcmotor24_default_cfg ( dcmotor24_t *ctx );
 
err_t dcmotor24_write_config ( dcmotor24_t *ctx, uint16_t config_word );
 
err_t dcmotor24_read_diag ( dcmotor24_t *ctx, uint16_t *diag );
 
void dcmotor24_set_direction ( dcmotor24_t *ctx, uint8_t dir );
 
void dcmotor24_switch_direction ( dcmotor24_t *ctx );
 
void dcmotor24_enable_output ( dcmotor24_t *ctx );
 
void dcmotor24_disable_output ( dcmotor24_t *ctx );
 
err_t dcmotor24_set_duty_cycle ( dcmotor24_t *ctx, float duty_cycle );
 
err_t dcmotor24_pwm_stop ( dcmotor24_t *ctx );
 
err_t dcmotor24_pwm_start ( dcmotor24_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // DCMOTOR24_H
 
 // dcmotor24
 
// ------------------------------------------------------------------------ END