hbridge13.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 HBRIDGE13_H
#define HBRIDGE13_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_i2c_master.h"
#include "drv_analog_in.h"
#include "drv_pwm.h"
    
#define HBRIDGE13_REG_INPUT_PORT                    0x00
#define HBRIDGE13_REG_OUTPUT_PORT                   0x01
#define HBRIDGE13_REG_POLARITY_INV                  0x02
#define HBRIDGE13_REG_CONFIG                        0x03
 
 // hbridge13_reg
 
#define HBRIDGE13_NONE_PIN                          0x00
#define HBRIDGE13_AIN1_IO_PIN                       0x01
#define HBRIDGE13_AIN2_IO_PIN                       0x02
#define HBRIDGE13_PWM_SW1_PIN                       0x04
#define HBRIDGE13_PWM_SW2_PIN                       0x08
#define HBRIDGE13_BIN1_IO_PIN                       0x10
#define HBRIDGE13_BIN2_IO_PIN                       0x20
#define HBRIDGE13_AN_SW_PIN                         0x40
#define HBRIDGE13_FLT_PIN                           0x80
#define HBRIDGE13_ALL_PIN                           0xFF
 
#define HBRIDGE13_DIR_FORWARD                       0x01
#define HBRIDGE13_DIR_REVERSE                       0x00
 
#define HBRIDGE13_AN_A_PIN_SEL                      0x01
#define HBRIDGE13_AN_B_PIN_SEL                      0x00
 
#define HBRIDGE13_DEVICE_ADDRESS_A1A0_00            0x70
#define HBRIDGE13_DEVICE_ADDRESS_A1A0_01            0x71
#define HBRIDGE13_DEVICE_ADDRESS_A1A0_10            0x72
#define HBRIDGE13_DEVICE_ADDRESS_A1A0_11            0x73
 
#define HBRIDGE13_ADC_RESOLUTION                    0x0FFF
#define HBRIDGE13_VREF_3V3                          3.3
#define HBRIDGE13_VREF_5V                           5.0
 
#define HBRIDGE13_DEF_FREQ                          5000
 
 // hbridge13_set
 
#define HBRIDGE13_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.an = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // hbridge13_map
 // hbridge13
 
typedef struct
{
    // Output pins
    digital_out_t rst;          
    // Input pins
    digital_in_t int_pin;       
    // Modules
    i2c_master_t i2c;           
    pwm_t pwm;                  
    analog_in_t  adc;           
    // I2C slave address
    uint8_t slave_address;      
    // ADC reference voltage
    float        vref;          
    // PWM variable
    uint32_t pwm_freq;          
} hbridge13_t;
 
typedef struct
{
    pin_name_t scl;                     
    pin_name_t sda;                     
    pin_name_t pwm;                     
    pin_name_t an;                      
    pin_name_t rst;                     
    pin_name_t int_pin;                 
    uint32_t   i2c_speed;               
    uint8_t    i2c_address;             
    // Static variable
    uint32_t dev_pwm_freq;              
    analog_in_resolution_t resolution;  
    float                  vref;        
} hbridge13_cfg_t;
 
typedef enum
{
    HBRIDGE13_OK = 0,
    HBRIDGE13_ERROR = -1
 
} hbridge13_return_value_t;
 
void hbridge13_cfg_setup ( hbridge13_cfg_t *cfg );
 
err_t hbridge13_init ( hbridge13_t *ctx, hbridge13_cfg_t *cfg );
 
err_t hbridge13_default_cfg ( hbridge13_t *ctx );
 
err_t hbridge13_generic_write ( hbridge13_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t hbridge13_generic_read ( hbridge13_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
err_t hbridge13_write_reg ( hbridge13_t *ctx, uint8_t reg, uint8_t data_out );
 
err_t hbridge13_read_reg ( hbridge13_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t hbridge13_set_pins ( hbridge13_t *ctx, uint8_t set_mask, uint8_t clr_mask );
 
err_t hbridge13_set_duty_cycle ( hbridge13_t *ctx, float duty_cycle );
 
err_t hbridge13_pwm_stop ( hbridge13_t *ctx );
 
err_t hbridge13_pwm_start ( hbridge13_t *ctx );
 
err_t hbridge13_set_brake ( hbridge13_t *ctx );
 
err_t hbridge13_set_coast ( hbridge13_t *ctx );
 
err_t hbridge13_set_direction ( hbridge13_t *ctx, uint8_t dir_set, uint8_t speed );
 
err_t hbridge13_read_raw_adc ( hbridge13_t *ctx, uint16_t *raw_adc );
 
err_t hbridge13_read_voltage ( hbridge13_t *ctx, float *voltage );
 
err_t hbridge13_set_vref ( hbridge13_t *ctx, float vref );
 
err_t hbridge13_get_an_voltage ( hbridge13_t *ctx, float *voltage, uint8_t an_sel );
 
err_t hbridge13_get_flt_state ( hbridge13_t *ctx, uint8_t *pin_state );
 
#ifdef __cplusplus
}
#endif
#endif // HBRIDGE13_H
 
 // hbridge13
 
// ------------------------------------------------------------------------ END