dcmotor29.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
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****************************************************************************/
 
#ifndef DCMOTOR29_H
#define DCMOTOR29_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_i2c_master.h"
 
#define DCMOTOR29_REG_DEVICE_ID                   0x00
#define DCMOTOR29_REG_FAULT_SUMMARY               0x01
#define DCMOTOR29_REG_STATUS1                     0x02
#define DCMOTOR29_REG_STATUS2                     0x03
#define DCMOTOR29_REG_COMMAND                     0x08
#define DCMOTOR29_REG_SPI_IN                      0x09
#define DCMOTOR29_REG_CONFIG1                     0x0A
#define DCMOTOR29_REG_CONFIG2                     0x0B
#define DCMOTOR29_REG_CONFIG3                     0x0C
#define DCMOTOR29_REG_CONFIG4                     0x0D
#define DCMOTOR29_REG_INPUT_PORT                  0x00
#define DCMOTOR29_REG_OUTPUT_PORT                 0x01
#define DCMOTOR29_REG_POLARITY_INV                0x02
#define DCMOTOR29_REG_CONFIG                      0x03
 
 // dcmotor29_reg
 
#define DCMOTOR29_CLR_FLT_CMD                     0x80
#define DCMOTOR29_SPI_IN_UNLOCK_CMD               0x10
#define DCMOTOR29_SPI_IN_LOCK_CMD                 0x08
#define DCMOTOR29_REG_UNLOCK_CMD                  0x01
#define DCMOTOR29_REG_LOCK_CMD                    0x02
 
#define DCMOTOR29_NONE_PIN                        0x00
#define DCMOTOR29_IN2_PIN                         0x01
#define DCMOTOR29_DOF_PIN                         0x02
#define DCMOTOR29_FLT_PIN                         0x04
#define DCMOTOR29_ALL_PIN                         0x07
 
#define DCMOTOR29_READ_REG_MASK                   0x40
 
#define DCMOTOR29_DRVOFF_ON                       0x01
#define DCMOTOR29_DRVOFF_OFF                      0x00
 
#define DCMOTOR29_PIN_STATE_HIGH                  0x01
#define DCMOTOR29_PIN_STATE_LOW                   0x00
 
#define DCMOTOR29_S_EN_DEVOFF_MASK                0x08
#define DCMOTOR29_S_EN_DEVOFF2_MASK               0x04
#define DCMOTOR29_S_EN_IN1_MASK                   0x02
#define DCMOTOR29_S_EN_IN2_MASK                   0x01
#define DCMOTOR29_S_EN_NONE                       0x00
 
#define DCMOTOR29_EN_OLA                          0x80
#define DCMOTOR29_VMOV_SEL_DISABLED               0x60
#define DCMOTOR29_VMOV_SEL_18V                    0x40
#define DCMOTOR29_VMOV_SEL_28V                    0x20
#define DCMOTOR29_VMOV_SEL_35V                    0x00
#define DCMOTOR29_SSC_DISABLE                     0x10
#define DCMOTOR29_OCP_RETRY                       0x08
#define DCMOTOR29_TSD_RETRY                       0x04
#define DCMOTOR29_VMOV_RETRY                      0x02
#define DCMOTOR29_OLA_RETRY                       0x01
 
#define DCMOTOR29_TOF_50_US                       0xC0
#define DCMOTOR29_TOF_40_US                       0x80
#define DCMOTOR29_TOF_30_US                       0x40
#define DCMOTOR29_TOF_20_US                       0x00
#define DCMOTOR29_S_SR_50_V_US                    0x1C
#define DCMOTOR29_S_SR_38_V_US                    0x18
#define DCMOTOR29_S_SR_26_V_US                    0x14
#define DCMOTOR29_S_SR_20_V_US                    0x10
#define DCMOTOR29_S_SR_14_V_US                    0x0C
#define DCMOTOR29_S_SR_9_8V_US                    0x08
#define DCMOTOR29_S_SR_5_V_US                     0x04
#define DCMOTOR29_S_SR_1_5V_US                    0x00
#define DCMOTOR29_S_MODE_PWM                      0x03
#define DCMOTOR29_S_MODE_INDEPENDENT              0x01
#define DCMOTOR29_S_MODE_PH_EN                    0x00
 
#define DCMOTOR29_DRIVE_MOTOR_CW                  0x00
#define DCMOTOR29_DRIVE_MOTOR_CCW                 0x01
#define DCMOTOR29_DRIVE_MOTOR_BRAKE               0x02
#define DCMOTOR29_DRIVE_MOTOR_COASTING            0x03
 
#define DCMOTOR29_DEVICE_ADDRESS_A1A0_00          0x70
#define DCMOTOR29_DEVICE_ADDRESS_A1A0_01          0x71
#define DCMOTOR29_DEVICE_ADDRESS_A1A0_10          0x72
#define DCMOTOR29_DEVICE_ADDRESS_A1A0_11          0x73
 
#define DCMOTOR29_SET_DATA_SAMPLE_EDGE      SET_SPI_DATA_SAMPLE_EDGE
#define DCMOTOR29_SET_DATA_SAMPLE_MIDDLE    SET_SPI_DATA_SAMPLE_MIDDLE
 
 // dcmotor29_set
 
#define DCMOTOR29_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.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.ip = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.in1 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // dcmotor29_map
 // dcmotor29
 
typedef struct
{
    // Output pins
    digital_out_t rst;          
    digital_out_t in1;          
    // Input pins
    digital_in_t ip;            
    digital_in_t int_pin;       
    // Modules
    spi_master_t spi;           
    i2c_master_t i2c;           
    // I2C slave address
    uint8_t slave_address;      
    pin_name_t   chip_select;   
} dcmotor29_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 scl;             
    pin_name_t sda;             
    // Additional gpio pins
    pin_name_t ip;              
    pin_name_t rst;             
    pin_name_t in1;             
    pin_name_t int_pin;         
    // static variable
    uint32_t                          spi_speed;    
    spi_master_mode_t                 spi_mode;     
    spi_master_chip_select_polarity_t cs_polarity;  
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
} dcmotor29_cfg_t;
 
typedef enum
{
    DCMOTOR29_OK = 0,
    DCMOTOR29_ERROR = -1
 
} dcmotor29_return_value_t;
 
void dcmotor29_cfg_setup ( dcmotor29_cfg_t *cfg );
 
err_t dcmotor29_init ( dcmotor29_t *ctx, dcmotor29_cfg_t *cfg );
 
err_t dcmotor29_default_cfg ( dcmotor29_t *ctx );
 
err_t dcmotor29_generic_write ( dcmotor29_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t dcmotor29_generic_read ( dcmotor29_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
void dcmotor29_set_in1_pin ( dcmotor29_t *ctx, uint8_t pin_state );
 
void dcmotor29_set_rst_pin ( dcmotor29_t *ctx, uint8_t pin_state );
 
uint8_t dcmotor29_get_ip_pin ( dcmotor29_t *ctx );
 
uint8_t dcmotor29_get_int_pin ( dcmotor29_t *ctx );
 
err_t dcmotor29_register_write ( dcmotor29_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t dcmotor29_register_read ( dcmotor29_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t dcmotor29_port_expander_write ( dcmotor29_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t dcmotor29_port_expander_read ( dcmotor29_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t dcmotor29_set_pins ( dcmotor29_t *ctx, uint8_t set_mask, uint8_t clr_mask );
 
err_t dcmotor29_drvoff_state ( dcmotor29_t *ctx, uint8_t drvoff_state );
 
err_t dcmotor29_drive_motor ( dcmotor29_t *ctx, uint8_t state );
 
#ifdef __cplusplus
}
#endif
#endif // DCMOTOR29_H
 
 // dcmotor29
 
// ------------------------------------------------------------------------ END