hbridge12.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 HBRIDGE12_H
#define HBRIDGE12_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"
 
#define HBRIDGE12_ADDR_AB                       0x00
#define HBRIDGE12_ADDR_CD                       0x01
 
 // hbridge12_reg
 
#define HBRIDGE12_CURRENT_SCALE_20_PER          0x00
#define HBRIDGE12_CURRENT_SCALE_38_PER          0x04
#define HBRIDGE12_CURRENT_SCALE_56_PER          0x02
#define HBRIDGE12_CURRENT_SCALE_71_PER          0x06
#define HBRIDGE12_CURRENT_SCALE_83_PER          0x01
#define HBRIDGE12_CURRENT_SCALE_92_PER          0x05
#define HBRIDGE12_CURRENT_SCALE_98_PER          0x03
#define HBRIDGE12_CURRENT_SCALE_100_PER         0x07
 
#define HBRIDGE12_PHASE_OUT1_H_OUT2_L           0x01
#define HBRIDGE12_PHASE_OUT1_L_OUT2_H           0x00
 
#define HBRIDGE12_ENABLE_BRIDGE_OUTPUT          0x01
#define HBRIDGE12_DISABLE_BRIDGE_OUTPUT         0x00
 
#define HBRIDGE12_AB_BRIDGE_SEL                 0x00
#define HBRIDGE12_CD_BRIDGE_SEL                 0x01
 
#define HBRIDGE12_PIN_STATE_LOW                 0x00
#define HBRIDGE12_PIN_STATE_HIGH                0x01
 
#define HBRIDGE12_SET_DATA_SAMPLE_EDGE      SET_SPI_DATA_SAMPLE_EDGE
#define HBRIDGE12_SET_DATA_SAMPLE_MIDDLE    SET_SPI_DATA_SAMPLE_MIDDLE
 
 // hbridge12_set
 
#define HBRIDGE12_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.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.slp = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.stb = MIKROBUS( mikrobus, MIKROBUS_AN )
 
 // hbridge12_map
 // hbridge12
 
typedef struct
{
    uint8_t addr;           
    uint8_t ch1_en;         
    uint8_t ch1_phase;      
    uint8_t ch1_cur_scale;  
    uint8_t ch1_decay;      
    uint8_t ch2_en;         
    uint8_t ch2_phase;      
    uint8_t ch2_cur_scale;  
    uint8_t ch2_decay;      
} hbridge12_config_t;
 
typedef struct
{
    // Output pins
    digital_out_t rst;              
    digital_out_t slp;              
    digital_out_t stb;              
    // Configuration structures
    hbridge12_config_t ab_config_data;  
    hbridge12_config_t cd_config_data;  
    // Modules
    spi_master_t spi;               
    pin_name_t   chip_select;       
} hbridge12_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t miso;            
    pin_name_t mosi;            
    pin_name_t sck;             
    pin_name_t cs;              
    // Additional gpio pins
    pin_name_t rst;             
    pin_name_t slp;             
    pin_name_t stb;             
    // static variable
    uint32_t                          spi_speed;    
    spi_master_mode_t                 spi_mode;     
    spi_master_chip_select_polarity_t cs_polarity;  
} hbridge12_cfg_t;
 
typedef enum
{
    HBRIDGE12_OK = 0,
    HBRIDGE12_ERROR = -1
 
} hbridge12_return_value_t;
 
void hbridge12_cfg_setup ( hbridge12_cfg_t *cfg );
 
err_t hbridge12_init ( hbridge12_t *ctx, hbridge12_cfg_t *cfg );
 
err_t hbridge12_default_cfg ( hbridge12_t *ctx );
 
void hbridge12_set_rst ( hbridge12_t *ctx, uint8_t pin_state );
 
void hbridge12_set_slp ( hbridge12_t *ctx, uint8_t pin_state );
 
void hbridge12_set_strobe ( hbridge12_t *ctx, uint8_t pin_state );
 
void hbridge12_generate_strobe ( hbridge12_t *ctx );
 
void hbridge12_get_settings ( hbridge12_t *ctx, uint8_t channel_sel, hbridge12_config_t *config_data );
 
void hbridge12_set_settings ( hbridge12_t *ctx, uint8_t channel_sel, hbridge12_config_t config_data );
 
 
err_t hbridge12_write_config ( hbridge12_t *ctx, hbridge12_config_t config_data );
 
void hbridge12_set_current_scale ( hbridge12_t *ctx, uint8_t channel_sel, uint8_t out1_curr_scale,
                                   uint8_t out2_curr_scale );
 
void hbridge12_set_decay ( hbridge12_t *ctx, uint8_t channel_sel, uint8_t out1_decay, 
                           uint8_t out2_decay );
 
err_t hbridge12_turn_clockwise ( hbridge12_t *ctx, uint8_t channel_sel );
 
err_t hbridge12_turn_counterclockwise ( hbridge12_t *ctx, uint8_t channel_sel );
 
err_t hbridge12_turn_brake_on ( hbridge12_t *ctx, uint8_t channel_sel );
 
err_t hbridge12_freewheeling_on ( hbridge12_t *ctx, uint8_t channel_sel );
 
#ifdef __cplusplus
}
#endif
#endif // HBRIDGE12_H
 
 // hbridge12
 
// ------------------------------------------------------------------------ END