hbridge6.h

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/****************************************************************************
** Copyright (C) 2021 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 HBRIDGE6_H
#define HBRIDGE6_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_pwm.h"
   
#define HBRIDGE6_REG_IN_PORT                                        0x00
#define HBRIDGE6_REG_OUT_PORT                                       0x01
#define HBRIDGE6_REG_POL_INV                                        0x02
#define HBRIDGE6_REG_CONFIG                                         0x03
 
#define HBRIDGE6_PIN_STATE_LOW                                      0x00
#define HBRIDGE6_PIN_STATE_HIGH                                     0x01
 
#define HBRIDGE6_IN_PORT_MULTI_SENSE_LOW                            0xFB
#define HBRIDGE6_IN_PORT_MULTI_SENSE_HIGH                           0x04
 
#define HBRIDGE6_IN_PORT_IN_LOW                                     0xFE
#define HBRIDGE6_IN_PORT_IN_HIGH                                    0x01
 
#define HBRIDGE6_MS_EN_LOW                                          0xFD
#define HBRIDGE6_MS_EN_HIGH                                         0x02
 
#define HBRIDGE6_DIAGNOSTIC_DISABLE                                 0x00
#define HBRIDGE6_DIAGNOSTIC_ENABLE                                  0x01
 
#define HBRIDGE6_DEFAULT_CFG                                        0xE0
 
#define HBRIDGE6_IN_PORT_SEL_BIT_MASK                               0x01
#define HBRIDGE6_IN_PORT_SEL_0                                      0x00
#define HBRIDGE6_IN_PORT_SEL_1                                      0x01
 
#define HBRIDGE6_NUMBER_OF_PORTS                                    0x07
 
#define HBRIDGE6_DIRECTION_BRAKE                                    0x00
#define HBRIDGE6_DIRECTION_CLOCKWISE                                0x01
#define HBRIDGE6_DIRECTION_COUNTERCLOCKWISE                         0x02
 
#define HBRIDGE6_I2C_SLAVE_ADR_0                                    0x70
#define HBRIDGE6_I2C_SLAVE_ADR_1                                    0x71
#define HBRIDGE6_I2C_SLAVE_ADR_2                                    0x72
#define HBRIDGE6_I2C_SLAVE_ADR_3                                    0x73
 
#define HBRIDGE6_DEF_FREQ                                           5000
 
 // hbridge6_set
 
#define HBRIDGE6_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.ms = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM )
 
 // hbridge6_map
 // hbridge6
 
typedef struct
{
    // Output pins
    digital_out_t  rst;         
    // Input pins
    digital_in_t  ms;           
    // Modules
    i2c_master_t i2c;           
    pwm_t pwm;                  
    // I2C slave address
    uint8_t slave_address;      
    uint32_t pwm_freq;          
} hbridge6_t;
 
typedef struct
{
    pin_name_t  scl;            
    pin_name_t  sda;            
    pin_name_t  ms;             
    pin_name_t  rst;            
    pin_name_t  pwm;            
    uint32_t  i2c_speed;        
    uint8_t   i2c_address;      
    uint32_t dev_pwm_freq;      
    uint8_t in_out;
    uint8_t invert;
    uint8_t out_val;
 
} hbridge6_cfg_t;
 
typedef enum
{
   HBRIDGE6_OK = 0,
   HBRIDGE6_ERROR = -1
 
} hbridge6_return_value_t;
 
void hbridge6_cfg_setup ( hbridge6_cfg_t *cfg );
 
err_t hbridge6_init ( hbridge6_t *ctx, hbridge6_cfg_t *cfg );
 
void hbridge6_generic_write ( hbridge6_t *ctx, uint8_t reg, uint8_t tx_buf );
 
uint8_t hbridge6_generic_read ( hbridge6_t *ctx, uint8_t reg );
 
err_t hbridge6_default_cfg ( hbridge6_t *ctx );
 
err_t hbridge6_set_duty_cycle ( hbridge6_t *ctx, float duty_cycle );
 
err_t hbridge6_pwm_stop ( hbridge6_t *ctx );
 
err_t hbridge6_pwm_start ( hbridge6_t *ctx );
 
void hbridge6_reset ( hbridge6_t *ctx );
 
void hbridge6_set_output ( hbridge6_t *ctx, uint8_t n_out_port, hbridge6_cfg_t cfg_data );
 
void hbridge6_get_output ( hbridge6_t *ctx, uint8_t n_out_port, hbridge6_cfg_t *cfg_data );
 
void hbridge6_default_config ( hbridge6_t *ctx );
 
void hbridge6_set_input_port_a ( hbridge6_t *ctx, uint8_t pin_state );
 
void hbridge6_set_input_port_b ( hbridge6_t *ctx, uint8_t pin_state );
 
void hbridge6_enable_diagnostic ( hbridge6_t *ctx, uint8_t en_state );
 
void hbridge6_set_multi_sense ( hbridge6_t *ctx, uint8_t sel_num, uint8_t pin_state );
 
void hbridge6_set_direction ( hbridge6_t *ctx, uint8_t direction );
 
uint8_t hbridge6_get_an_diagnostic ( hbridge6_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // HBRIDGE6_H
 
 // hbridge6
 
// ------------------------------------------------------------------------ END