hbridge14.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 HBRIDGE14_H
#define HBRIDGE14_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_spi_master.h"
#include "spi_specifics.h"
 
#define HBRIDGE14_REG_FAULT_STATUS                0x00
#define HBRIDGE14_REG_DIAG_STATUS                 0x02
#define HBRIDGE14_REG_IC1_CTRL                    0x04
#define HBRIDGE14_REG_IC2_CTRL                    0x06
#define HBRIDGE14_REG_IC3_CTRL                    0x08
#define HBRIDGE14_REG_IC4_CTRL                    0x0A
#define HBRIDGE14_REG_INPUT_PORT                  0x00
#define HBRIDGE14_REG_OUTPUT_PORT                 0x01
#define HBRIDGE14_REG_POLARITY_INV                0x02
#define HBRIDGE14_REG_CONFIG                      0x03
 
 // hbridge14_reg
 
#define HBRIDGE14_DIS_ON                            0x01
#define HBRIDGE14_DIS_OFF                           0x00
 
#define HBRIDGE14_SLEEP_ON                          0x01
#define HBRIDGE14_SLEEP_OFF                         0x00
 
#define HBRIDGE14_PIN_STATE_HIGH                    0x01
#define HBRIDGE14_PIN_STATE_LOW                     0x00
 
#define HBRIDGE14_DRIVE_MOTOR_CW                    0x00
#define HBRIDGE14_DRIVE_MOTOR_CCW                   0x01
#define HBRIDGE14_DRIVE_MOTOR_BRAKE                 0x02
#define HBRIDGE14_DRIVE_MOTOR_COASTING              0x03
 
#define HBRIDGE14_NONE_PIN                          0x00
#define HBRIDGE14_SLP_PIN                           0x01
#define HBRIDGE14_FLT_PIN                           0x02
#define HBRIDGE14_DIS_PIN                           0x04
#define HBRIDGE14_ALL_PIN                           0x07
 
#define HBRIDGE14_TOF_80_US                         0xC0
#define HBRIDGE14_TOF_60_US                         0x80
#define HBRIDGE14_TOF_40_US                         0x40
#define HBRIDGE14_TOF_20_US                         0x00
#define HBRIDGE14_SPI_IN_EN                         0x20
#define HBRIDGE14_SPI_IN_DIS                        0x00
#define HBRIDGE14_S_SR_2_6V_US                      0x1C
#define HBRIDGE14_S_SR_5_3V_US                      0x18
#define HBRIDGE14_S_SR_7_9V_US                      0x14
#define HBRIDGE14_S_SR_10_8V_US                     0x10
#define HBRIDGE14_S_SR_13_V_US                      0x0C
#define HBRIDGE14_S_SR_18_3V_US                     0x08
#define HBRIDGE14_S_SR_34_V_US                      0x04
#define HBRIDGE14_S_SR_53_2V_US                     0x00
#define HBRIDGE14_MODE_DISABLED                     0x03
#define HBRIDGE14_MODE_INDEPENDENT                  0x02
#define HBRIDGE14_MODE_PWM                          0x01
#define HBRIDGE14_MODE_PH_EN                        0x00
 
#define HBRIDGE14_ITRIP_REP                         0x80
#define HBRIDGE14_TSD_MODE_AUTO                     0x40
#define HBRIDGE14_OTW_REP                           0x20
#define HBRIDGE14_DIS_CPUV                          0x10
#define HBRIDGE14_OCP_TRETRY_4_MS                   0x0C
#define HBRIDGE14_OCP_TRETRY_2_MS                   0x08
#define HBRIDGE14_OCP_TRETRY_1_MS                   0x04
#define HBRIDGE14_OCP_TRETRY_500_NS                 0x00
#define HBRIDGE14_OCP_MODE_NOT_REPORT               0x03
#define HBRIDGE14_OCP_MODE_REPORT                   0x02
#define HBRIDGE14_OCP_MODE_RETRING                  0x01
#define HBRIDGE14_OCP_MODE_LATCHED                  0x00
 
#define HBRIDGE14_CLR_FLT                           0x80
#define HBRIDGE14_LOCK_REG                          0x30
#define HBRIDGE14_UNLOCK_REG                        0x40
#define HBRIDGE14_OUT1_DIS                          0x08
#define HBRIDGE14_OUT2_DIS                          0x04
#define HBRIDGE14_EN_IN1                            0x02
#define HBRIDGE14_PH_IN2                            0x01
 
#define HBRIDGE14_EN_OLP                            0x40
#define HBRIDGE14_OLP_DLY_300_US                    0x00
#define HBRIDGE14_OLP_DLY_1_2_MS                    0x20
#define HBRIDGE14_EN_OLA                            0x10
#define HBRIDGE14_ITRIP_LVL_7_A                     0x0C
#define HBRIDGE14_ITRIP_LVL_6_5_A                   0x08
#define HBRIDGE14_ITRIP_LVL_5_4_A                   0x04
#define HBRIDGE14_ITRIP_LVL_4_A                     0x00
#define HBRIDGE14_DIS_ITRIP_OUT1_OUT2               0x03
#define HBRIDGE14_DIS_ITRIP_OUT2                    0x02
#define HBRIDGE14_DIS_ITRIP_OUT1                    0x01
#define HBRIDGE14_DIS_ITRIP                         0x00
 
#define HBRIDGE14_DEVICE_ADDRESS_A1A0_00            0x70
#define HBRIDGE14_DEVICE_ADDRESS_A1A0_01            0x71
#define HBRIDGE14_DEVICE_ADDRESS_A1A0_10            0x72
#define HBRIDGE14_DEVICE_ADDRESS_A1A0_11            0x73
 
#define HBRIDGE14_SET_DATA_SAMPLE_EDGE      SET_SPI_DATA_SAMPLE_EDGE
#define HBRIDGE14_SET_DATA_SAMPLE_MIDDLE    SET_SPI_DATA_SAMPLE_MIDDLE
 
 // hbridge14_set
 
#define HBRIDGE14_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl  = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda  = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    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.in2  = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.rst  = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.in1  = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // hbridge14_map
 // hbridge14
 
typedef struct hbridge14_s
{
    digital_out_t in2;          
    digital_out_t rst;          
    digital_out_t in1;          
    digital_in_t int_pin;       
    i2c_master_t i2c;           
    spi_master_t spi;           
    uint8_t      slave_address; 
    pin_name_t   chip_select;   
} hbridge14_t;
 
typedef struct
{
    pin_name_t scl;             
    pin_name_t sda;             
    pin_name_t miso;            
    pin_name_t mosi;            
    pin_name_t sck;             
    pin_name_t cs;              
    pin_name_t in2;             
    pin_name_t rst;             
    pin_name_t in1;             
    pin_name_t int_pin;         
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
    uint32_t                          spi_speed;    
    spi_master_mode_t                 spi_mode;     
    spi_master_chip_select_polarity_t cs_polarity;  
} hbridge14_cfg_t;
 
typedef enum
{
    HBRIDGE14_OK = 0,
    HBRIDGE14_ERROR = -1
 
} hbridge14_return_value_t;
 
void hbridge14_cfg_setup ( hbridge14_cfg_t *cfg );
 
err_t hbridge14_init ( hbridge14_t *ctx, hbridge14_cfg_t *cfg );
 
err_t hbridge14_default_cfg ( hbridge14_t *ctx );
 
err_t hbridge14_generic_write ( hbridge14_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t hbridge14_generic_read ( hbridge14_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
void hbridge14_set_in1_pin ( hbridge14_t *ctx, uint8_t pin_state );
 
void hbridge14_set_rst_pin ( hbridge14_t *ctx, uint8_t pin_state );
 
uint8_t hbridge14_get_ip_pin ( hbridge14_t *ctx );
 
uint8_t hbridge14_get_int_pin ( hbridge14_t *ctx );
 
err_t hbridge14_register_write ( hbridge14_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t hbridge14_register_read ( hbridge14_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t hbridge14_port_expander_write ( hbridge14_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t hbridge14_port_expander_read ( hbridge14_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t hbridge14_set_pins ( hbridge14_t *ctx, uint8_t set_mask, uint8_t clr_mask );
 
err_t hbridge14_disable_state ( hbridge14_t *ctx, uint8_t dis_state );
 
err_t hbridge14_sleep_state ( hbridge14_t *ctx, uint8_t sleep_state );
 
err_t hbridge14_drive_motor ( hbridge14_t *ctx, uint8_t state );
 
#ifdef __cplusplus
}
#endif
#endif // HBRIDGE14_H
 
 // hbridge14
 
// ------------------------------------------------------------------------ END