hbridge5.h

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/*
 * MikroSDK - MikroE Software Development Kit
 * Copyright© 2020 MikroElektronika d.o.o.
 * 
 * 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 HBRIDGE5_H
#define HBRIDGE5_H
 
#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"
 
// -------------------------------------------------------------- PUBLIC MACROS 
#define HBRIDGE5_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.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
#define HBRIDGE5_RETVAL  uint8_t
 
#define HBRIDGE5_OK           0x00
#define HBRIDGE5_INIT_ERROR   0xFF
#define HBRIDGE5_DEVICE_SLAVE_ADDR_0_0   0x70
#define HBRIDGE5_DEVICE_SLAVE_ADDR_0_1   0x71
#define HBRIDGE5_DEVICE_SLAVE_ADDR_1_0   0x72
#define HBRIDGE5_DEVICE_SLAVE_ADDR_1_1   0x73
#define HBRIDGE5_CMD_INPUT_PORT          0x00
#define HBRIDGE5_CMD_OUTPUT_PORT         0x01
#define HBRIDGE5_CMD_POLARITY_INVERSION  0x02
#define HBRIDGE5_CMD_CONFIGURATION       0x03
#define HBRIDGE5_PORT_PHASE              0x01
#define HBRIDGE5_PORT_ENABLE             0x02
#define HBRIDGE5_PORT_BRAKE              0x04
#define HBRIDGE5_PORT_B_MODE             0x08
#define HBRIDGE5_PORT_N_SLEEP            0x10
#define HBRIDGE5_PORT_N_FAULT            0x20
#define HBRIDGE5_ENABLE_ALL_OUTPUT_PORT  0xE0
#define HBRIDGE5_DISABLE_ALL_OUTPUT_PORT 0xFF
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef struct
{
    // Output pins 
 
    digital_out_t rst;
 
    // Input pins 
 
    digital_in_t an;
    digital_in_t int_pin;
    
    // Modules 
 
    i2c_master_t i2c;
 
    // ctx variable 
 
    uint8_t slave_address;
 
} hbridge5_t;
 
typedef struct
{
    // Communication gpio pins 
 
    pin_name_t scl;
    pin_name_t sda;
    
    // Additional gpio pins 
 
    pin_name_t an;
    pin_name_t rst;
    pin_name_t int_pin;
 
    // static variable 
 
    uint32_t i2c_speed;
    uint8_t i2c_address;
 
} hbridge5_cfg_t;
 
 // End types group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
 
#ifdef __cplusplus
extern "C"{
#endif
 
void hbridge5_cfg_setup ( hbridge5_cfg_t *cfg );
 
HBRIDGE5_RETVAL hbridge5_init ( hbridge5_t *ctx, hbridge5_cfg_t *cfg );
 
void hbridge5_default_cfg ( hbridge5_t *ctx );
 
void hbridge5_generic_write ( hbridge5_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void hbridge5_generic_read ( hbridge5_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );
 
void hbridge5_rst_state ( hbridge5_t *ctx, uint8_t state );
 
uint8_t hbridge5_get_interrupt_state ( hbridge5_t *ctx );
 
uint8_t hbridge5_read_byte ( hbridge5_t *ctx, uint8_t cmd );
 
void hbridge5_write_byte ( hbridge5_t *ctx, uint8_t cmd, uint8_t data_in );
 
void hbridge5_set_port ( hbridge5_t *ctx, uint8_t port, uint8_t value );
 
void hbridge5_reverse ( hbridge5_t *ctx );
 
void hbridge5_forward ( hbridge5_t *ctx );
 
void hbridge5_brake_low ( hbridge5_t *ctx );
 
void hbridge5_brake_high ( hbridge5_t *ctx );
 
void hbridge5_sync_decay_fwd ( hbridge5_t *ctx );
 
void hbridge5_sync_decay_rev ( hbridge5_t *ctx );
 
void hbridge5_sleep( hbridge5_t *ctx, uint8_t state );
 
void hbridge5_configuration ( hbridge5_t *ctx, uint8_t cfg_data );
 
uint8_t hbridge5_n_fault_check ( hbridge5_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif  // _HBRIDGE5_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END