hbridge16.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 HBRIDGE16_H
#define HBRIDGE16_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"
 
#define HBRIDGE16_REG_INPUT_PORT                    0x00
#define HBRIDGE16_REG_OUTPUT_PORT                   0x01
#define HBRIDGE16_REG_POLARITY_INV                  0x02
#define HBRIDGE16_REG_CONFIG                        0x03
 
 // hbridge16_reg
 
#define HBRIDGE16_NONE_PIN                          0x00
#define HBRIDGE16_IN1_PIN                           0x01
#define HBRIDGE16_IN2_PIN                           0x02
#define HBRIDGE16_IN3_PIN                           0x04
#define HBRIDGE16_IN4_PIN                           0x08
#define HBRIDGE16_DECAY_PIN                         0x10
#define HBRIDGE16_MD_PIN                            0x20
#define HBRIDGE16_OCPM_PIN                          0x40
#define HBRIDGE16_FLT_PIN                           0x80
#define HBRIDGE16_ALL_OUTPUT_PIN                    0x7F
#define HBRIDGE16_ALL_PIN                           0xFF
 
#define HBRIDGE16_DRIVE_MOTOR_REVERSE               0x00
#define HBRIDGE16_DRIVE_MOTOR_FORWARD               0x01
#define HBRIDGE16_DRIVE_MOTOR_FREEWHEEL             0x02
#define HBRIDGE16_DRIVE_MOTOR_BRAKE                 0x03
 
#define HBRIDGE16_PWM_MODE                          0x01
#define HBRIDGE16_PH_EN_MODE                        0x00
 
#define HBRIDGE16_SLEEP_MODE_OFF                    0x01
#define HBRIDGE16_SLEEP_MODE_ON                     0x00
 
#define HBRIDGE16_DEVICE_ADDRESS_A1A0_00            0x70
#define HBRIDGE16_DEVICE_ADDRESS_A1A0_01            0x71
#define HBRIDGE16_DEVICE_ADDRESS_A1A0_10            0x72
#define HBRIDGE16_DEVICE_ADDRESS_A1A0_11            0x73
 
 // hbridge16_set
 
#define HBRIDGE16_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.slp = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // hbridge16_map
 // hbridge16
 
typedef struct
{
    // Output pins
    digital_out_t rst;              
    digital_out_t slp;              
    // Input pins
    digital_in_t int_pin;           
    // Modules
    i2c_master_t i2c;               
    // I2C slave address
    uint8_t slave_address;          
} hbridge16_t;
 
typedef struct
{
    pin_name_t scl;                 
    pin_name_t sda;                 
    pin_name_t rst;                 
    pin_name_t slp;                 
    pin_name_t int_pin;             
    uint32_t   i2c_speed;           
    uint8_t    i2c_address;         
} hbridge16_cfg_t;
 
typedef enum
{
    HBRIDGE16_OK = 0,
    HBRIDGE16_ERROR = -1
 
} hbridge16_return_value_t;
 
void hbridge16_cfg_setup ( hbridge16_cfg_t *cfg );
 
err_t hbridge16_init ( hbridge16_t *ctx, hbridge16_cfg_t *cfg );
 
err_t hbridge16_default_cfg ( hbridge16_t *ctx );
 
err_t hbridge16_generic_write ( hbridge16_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t hbridge16_generic_read ( hbridge16_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
 
void hbridge16_reset_port_exp ( hbridge16_t *ctx );
 
uint8_t hbridge16_get_int_pin ( hbridge16_t *ctx );
 
void hbridge16_set_slp_pin ( hbridge16_t *ctx, uint8_t pin_state );
 
err_t hbridge16_write_reg ( hbridge16_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t hbridge16_read_reg ( hbridge16_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t hbridge16_set_pins ( hbridge16_t *ctx, uint8_t set_mask, uint8_t clr_mask );
 
err_t hbridge16_set_mode ( hbridge16_t *ctx, uint8_t mode_sel );
 
err_t hbridge16_set_out_state ( hbridge16_t *ctx, uint8_t out_state );
 
#ifdef __cplusplus
}
#endif
#endif // HBRIDGE16_H
 
 // hbridge16
 
// ------------------------------------------------------------------------ END