hbridge.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 HBRIDGE_H
#define HBRIDGE_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"
 
#define HBRIDGE_DIR_CW                      0
#define HBRIDGE_DIR_CCW                     1
 
#define HBRIDGE_PIN_LOW_LEVEL               0
#define HBRIDGE_PIN_HIGH_LEVEL              1
 
#define HBRIDGE_MODE_FULL_STEP              0
#define HBRIDGE_MODE_HALF_STEP              1
 
#define HBRIDGE_SPEED_VERY_SLOW             0
#define HBRIDGE_SPEED_SLOW                  1
#define HBRIDGE_SPEED_MEDIUM                2
#define HBRIDGE_SPEED_FAST                  3
#define HBRIDGE_SPEED_VERY_FAST             4 
 
 // hbridge_set
 
#define HBRIDGE_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.in2a = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.in2b = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.in1b = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.in1a = MIKROBUS( mikrobus, MIKROBUS_PWM );
 
 // hbridge_map
 // hbridge
 
typedef struct
{
    digital_out_t in2a;         
    digital_out_t in2b;         
    digital_out_t in1b;         
    digital_out_t in1a;         
    uint8_t step_mode;          
    uint8_t direction;          
} hbridge_t;
 
typedef struct
{
    pin_name_t in2a;            
    pin_name_t in2b;            
    pin_name_t in1b;            
    pin_name_t in1a;            
} hbridge_cfg_t;
 
typedef enum
{
    HBRIDGE_OK = 0,
    HBRIDGE_ERROR = -1
 
} hbridge_return_value_t;
 
void hbridge_cfg_setup ( hbridge_cfg_t *cfg );
 
err_t hbridge_init ( hbridge_t *ctx, hbridge_cfg_t *cfg );
 
void hbridge_set_in1a_pin ( hbridge_t *ctx, uint8_t state );
 
void hbridge_set_in2a_pin ( hbridge_t *ctx, uint8_t state );
 
void hbridge_set_in1b_pin ( hbridge_t *ctx, uint8_t state );
 
void hbridge_set_in2b_pin ( hbridge_t *ctx, uint8_t state );
 
void hbridge_set_step_mode ( hbridge_t *ctx, uint8_t mode );
 
void hbridge_set_direction ( hbridge_t *ctx, uint8_t dir );
 
void hbridge_switch_direction ( hbridge_t *ctx );
 
void hbridge_enable_device ( hbridge_t *ctx );
 
void hbridge_disable_device ( hbridge_t *ctx );
 
void hbridge_drive_motor ( hbridge_t *ctx, uint32_t steps, uint8_t speed );
 
#ifdef __cplusplus
}
#endif
#endif // HBRIDGE_H
 
 // hbridge
 
// ------------------------------------------------------------------------ END