dcmotor7.h

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/*
 * MikroSDK - MikroE Software Development Kit
 * Copyright© 2020 MikroElektronika d.o.o.
 * 
 * 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 DCMOTOR7_H
#define DCMOTOR7_H
 
#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"
 
// -------------------------------------------------------------- PUBLIC MACROS 
#define DCMOTOR7_MAP_MIKROBUS( cfg, mikrobus ) \
  cfg.scl  = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
  cfg.sda  = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
  cfg.pwma = MIKROBUS( mikrobus, MIKROBUS_RST ); \
  cfg.pwmb = MIKROBUS( mikrobus, MIKROBUS_PWM )
#define DCMOTOR7_RETVAL  uint8_t
 
#define DCMOTOR7_OK           0x00
#define DCMOTOR7_INIT_ERROR   0xFF
#define DCMOTOR7_CMD_INPUT_PORT           0x00 // def xxxx xxxx
#define DCMOTOR7_CMD_OUTPUT_PORT          0x01 // def 1111 1111
#define DCMOTOR7_CMD_POLARITY_INVERSION   0x02 // def 0000 0000
#define DCMOTOR7_CMD_CONFIGURATION        0x03 // def 1111 1111
#define DCMOTOR7_PORT_0   0x01
#define DCMOTOR7_PORT_1   0x02
#define DCMOTOR7_PORT_2   0x04
#define DCMOTOR7_PORT_3   0x08
#define DCMOTOR7_PORT_4   0x10
#define DCMOTOR7_PORT_5   0x20
#define DCMOTOR7_PORT_6   0x40
#define DCMOTOR7_PORT_7   0x80
#define DCMOTOR7_TBLK_FOSCM_X4_CLK    0x00
#define DCMOTOR7_TBLK_FOSCM_X6_CLK    0x01
#define DCMOTOR7_HBMODE_SMALL_MODE   0x00
#define DCMOTOR7_HBMODE_LARGE_MODE   0x01
#define DCMOTOR7_MOTOR_A  0x01
#define DCMOTOR7_MOTOR_B  0x02
#define DCMOTOR7_SLAVE_ADDRESS_0_0   0x70
#define DCMOTOR7_SLAVE_ADDRESS_0_1   0x71
#define DCMOTOR7_SLAVE_ADDRESS_1_0   0x72
#define DCMOTOR7_SLAVE_ADDRESS_1_1   0x73
#define DCMOTOR7_ENABLE_ALL_OUTPUT_PORT    0x00
#define DCMOTOR7_DISABLE_ALL_OUTPUT_PORT   0xFF
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef struct
{
    // Output pins 
 
    digital_out_t pwma;
    digital_out_t pwmb;
    
    // Modules 
 
    i2c_master_t i2c;
 
    // ctx variable 
 
    uint8_t slave_address;
 
} dcmotor7_t;
 
typedef struct
{
    // Communication gpio pins 
 
    pin_name_t scl;
    pin_name_t sda;
    
    // Additional gpio pins 
 
    pin_name_t pwma;
    pin_name_t pwmb;
 
    // static variable 
 
    uint32_t i2c_speed;
    uint8_t i2c_address;
 
} dcmotor7_cfg_t;
 
 // End types group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
 
#ifdef __cplusplus
extern "C"{
#endif
 
void dcmotor7_cfg_setup ( dcmotor7_cfg_t *cfg );
 
DCMOTOR7_RETVAL dcmotor7_init ( dcmotor7_t *ctx, dcmotor7_cfg_t *cfg );
 
void dcmotor7_default_cfg ( dcmotor7_t *ctx );
 
void dcmotor7_generic_write ( dcmotor7_t *ctx, uint8_t reg, uint8_t tmp );
 
void dcmotor7_generic_read ( dcmotor7_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void dcmotor7_set_port ( dcmotor7_t *ctx, uint8_t port, uint8_t value );
 
void dcmotor7_set_motor ( dcmotor7_t *ctx, uint8_t motor, uint8_t in1, uint8_t in2 );
 
void dcmotor7_set_tblkab ( dcmotor7_t *ctx, uint8_t tblk );
 
void dcmotor7_set_hb_mode ( dcmotor7_t *ctx, uint8_t mode );
 
void dcmotor7_motor_stop ( dcmotor7_t *ctx, uint8_t motor );
 
void dcmotor7_go_to_stand_by_mode ( dcmotor7_t *ctx, uint8_t motor );
 
void dcmotor7_set_pwm_motor_a ( dcmotor7_t *ctx, uint8_t state );
 
void dcmotor7_set_pwm_motor_b ( dcmotor7_t *ctx, uint8_t state );
 
#ifdef __cplusplus
}
#endif
#endif  // _DCMOTOR7_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END