hbridgedriver2.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 HBRIDGEDRIVER2_H
#define HBRIDGEDRIVER2_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_spi_master.h"
#include "spi_specifics.h"
#include "drv_pwm.h"
 
 
#define HBRIDGEDRIVER2_CMD_REG_CTL_0        0x00
#define HBRIDGEDRIVER2_CMD_REG_STAT_0       0x10
#define HBRIDGEDRIVER2_CMD_REG_CFG          0x3F
#define HBRIDGEDRIVER2_ID_REG_ID_HDR        0x00
#define HBRIDGEDRIVER2_ID_REG_VERSION       0x01
#define HBRIDGEDRIVER2_ID_REG_P_CODE_1      0x02
#define HBRIDGEDRIVER2_ID_REG_P_CODE_2      0x03
#define HBRIDGEDRIVER2_ID_REG_SPI_F_ID      0x3E
 
 // hbridgedriver2_reg
 
#define HBRIDGEDRIVER2_GLB_FLT              0x80
#define HBRIDGEDRIVER2_GLB_TF               0x40
#define HBRIDGEDRIVER2_GLB_RESB_NORMAL      0x20
#define HBRIDGEDRIVER2_GLB_TSD              0x10
#define HBRIDGEDRIVER2_GLB_UOV_OC           0x04
#define HBRIDGEDRIVER2_GLB_NRDY             0x01
 
 // global_fault
 
#define HBRIDGEDRIVER2_DEF_FREQ            20000
 
#define HBRIDGEDRIVER2_ID_VAL_ID_HDR      0x4300 
#define HBRIDGEDRIVER2_ID_VAL_VERSION     0x0100 
#define HBRIDGEDRIVER2_ID_VAL_P_CODE_1    0x7500 
#define HBRIDGEDRIVER2_ID_VAL_P_CODE_2    0x3500 
#define HBRIDGEDRIVER2_ID_VAL_SPI_F_ID    0x0200 
 
#define HBRIDGEDRIVER2_CTL_0_HS1          0x0200 
#define HBRIDGEDRIVER2_CTL_0_LS1          0x0100 
#define HBRIDGEDRIVER2_CTL_0_HS2          0x0080 
#define HBRIDGEDRIVER2_CTL_0_LS2          0x0040 
#define HBRIDGEDRIVER2_CTL_0_FWH          0x0010 
#define HBRIDGEDRIVER2_CTL_0_FWA          0x0008 
#define HBRIDGEDRIVER2_CTL_0_OVR          0x0004 
#define HBRIDGEDRIVER2_CTL_0_UVR          0x0002 
#define HBRIDGEDRIVER2_CTL_0_MODE         0x0001
 
#define HBRIDGEDRIVER2_STAT_0_OCHS1       0x0200 
#define HBRIDGEDRIVER2_STAT_0_OCLS1       0x0100 
#define HBRIDGEDRIVER2_STAT_0_OCHS2       0x0080 
#define HBRIDGEDRIVER2_STAT_0_OCLS2       0x0040 
#define HBRIDGEDRIVER2_STAT_0_VSUV        0x0008 
#define HBRIDGEDRIVER2_STAT_0_VSOV        0x0004 
#define HBRIDGEDRIVER2_STAT_0_OK          0x0000
 
#define HBRIDGEDRIVER2_CFG_NOCRLH_250_NS   0x0000
#define HBRIDGEDRIVER2_CFG_NOCRLH_500_NS   0x1000
#define HBRIDGEDRIVER2_CFG_NOCRLH_750_NS   0x2000
#define HBRIDGEDRIVER2_CFG_NOCRLH_1_US     0x3000
#define HBRIDGEDRIVER2_CFG_NOCRLH_1_25_US  0x4000
#define HBRIDGEDRIVER2_CFG_NOCRLH_1_5_US   0x5000
#define HBRIDGEDRIVER2_CFG_NOCRLH_1_75_US  0x6000
#define HBRIDGEDRIVER2_CFG_NOCRLH_2_US     0x7000
#define HBRIDGEDRIVER2_CFG_NOCRLH_2_25_US  0x8000
#define HBRIDGEDRIVER2_CFG_NOCRLH_2_5_US   0x9000
#define HBRIDGEDRIVER2_CFG_NOCRLH_2_75_US  0xA000
#define HBRIDGEDRIVER2_CFG_NOCRLH_3_US     0xB000
#define HBRIDGEDRIVER2_CFG_NOCRLH_3_25_US  0xC000
#define HBRIDGEDRIVER2_CFG_NOCRLH_3_5_US   0xD000
#define HBRIDGEDRIVER2_CFG_NOCRLH_3_75_US  0xE000
#define HBRIDGEDRIVER2_CFG_NOCRLH_4_US     0xF000
#define HBRIDGEDRIVER2_CFG_NOCRHL_250_NS   0x0000
#define HBRIDGEDRIVER2_CFG_NOCRHL_500_NS   0x0100
#define HBRIDGEDRIVER2_CFG_NOCRHL_750_NS   0x0200
#define HBRIDGEDRIVER2_CFG_NOCRHL_1_US     0x0300
#define HBRIDGEDRIVER2_CFG_NOCRHL_1_25_US  0x0400
#define HBRIDGEDRIVER2_CFG_NOCRHL_1_5_US   0x0500
#define HBRIDGEDRIVER2_CFG_NOCRHL_1_75_US  0x0600
#define HBRIDGEDRIVER2_CFG_NOCRHL_2_US     0x0700
#define HBRIDGEDRIVER2_CFG_NOCRHL_2_25_US  0x0800
#define HBRIDGEDRIVER2_CFG_NOCRHL_2_5_US   0x0900
#define HBRIDGEDRIVER2_CFG_NOCRHL_2_75_US  0x0A00
#define HBRIDGEDRIVER2_CFG_NOCRHL_3_US     0x0B00
#define HBRIDGEDRIVER2_CFG_NOCRHL_3_25_US  0x0C00
#define HBRIDGEDRIVER2_CFG_NOCRHL_3_5_US   0x0D00
#define HBRIDGEDRIVER2_CFG_NOCRHL_3_75_US  0x0E00
#define HBRIDGEDRIVER2_CFG_NOCRHL_4_US     0x0F00
#define HBRIDGEDRIVER2_CFG_OCTH_0_25_V     0x0000
#define HBRIDGEDRIVER2_CFG_OCTH_0_5_V      0x0020
#define HBRIDGEDRIVER2_CFG_OCTH_0_75_V     0x0040
#define HBRIDGEDRIVER2_CFG_OCTH_1_V        0x0060
#define HBRIDGEDRIVER2_CFG_OCTH_1_25_V     0x0080
#define HBRIDGEDRIVER2_CFG_OCTH_1_5_V      0x0090
#define HBRIDGEDRIVER2_CFG_OCTH_1_75_V     0x00C0
#define HBRIDGEDRIVER2_CFG_OCTH_2_V        0x00E0
#define HBRIDGEDRIVER2_CFG_FULL_H_BRIDGE   0x0000
#define HBRIDGEDRIVER2_CFG_2_HALF_BRIDGES  0x0010
#define HBRIDGEDRIVER2_CFG_SLOW_SLEW_RATE  0x0000
#define HBRIDGEDRIVER2_CFG_FAST_SLEW_RATE  0x0008
 
#define HBRIDGEDRIVER2_CLEAR                0x00
#define HBRIDGEDRIVER2_SET                  0x01
 
#define HBRIDGEDRIVER2_SET_DATA_SAMPLE_EDGE      SET_SPI_DATA_SAMPLE_EDGE
#define HBRIDGEDRIVER2_SET_DATA_SAMPLE_MIDDLE    SET_SPI_DATA_SAMPLE_MIDDLE
 
 // hbridgedriver2_set
 
#define HBRIDGEDRIVER2_MAP_MIKROBUS( cfg, mikrobus ) \
    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.en = MIKROBUS( mikrobus, MIKROBUS_RST );     \
    cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM )
 
 // hbridgedriver2_map
 // hbridgedriver2
 
typedef struct
{
    // Output pins
    digital_out_t  en;          
    // Modules
    spi_master_t  spi;          
    pin_name_t  chip_select;    
    pwm_t pwm;                  
    uint32_t pwm_freq;          
} hbridgedriver2_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t  miso;    
    pin_name_t  mosi;    
    pin_name_t  sck;     
    pin_name_t  cs;      
    // Additional gpio pins
    pin_name_t  en;      
    // static variable
    uint32_t                           spi_speed;        
    spi_master_mode_t                  spi_mode;         
    spi_master_chip_select_polarity_t  cs_polarity;      
    pin_name_t pwm;           
    uint32_t dev_pwm_freq;   
} hbridgedriver2_cfg_t;
 
typedef struct
{   
    uint16_t id_header;         
    uint16_t version;           
    uint16_t product_code_1;    
    uint16_t product_code_2;    
    uint16_t spi_frame_id;     
} hbridgedriver2_dev_id_t;
 
typedef struct
{   
    uint8_t hs_1;  /* HS 1 Output Control */       
    uint8_t ls_1;  /* LS 1 Output Control */    
    uint8_t hs_2;  /* HS 2 Output Control */           
    uint8_t ls_2;  /* LS 2 Output Control */    
    
    uint8_t fw_h;  /* Freewheeling High side or low side */      
    uint8_t fw_a;  /* Freewheeling Active or passive */
    
    uint8_t ovr;  /* Over−voltage Recovery */      
    uint8_t uvr;  /* Under−voltage Recovery */ 
    
    uint8_t mode; /* Mode Control */
 
} hbridgedriver2_ctrl_t;
 
typedef enum
{
    HBRIDGEDRIVER2_OK = 0,
    HBRIDGEDRIVER2_ERROR = -1
 
} hbridgedriver2_return_value_t;
 
void hbridgedriver2_cfg_setup ( hbridgedriver2_cfg_t *cfg );
 
err_t hbridgedriver2_init ( hbridgedriver2_t *ctx, hbridgedriver2_cfg_t *cfg );
 
err_t hbridgedriver2_default_cfg ( hbridgedriver2_t *ctx );
 
err_t hbridgedriver2_enable ( hbridgedriver2_t *ctx );
 
err_t hbridgedriver2_disable ( hbridgedriver2_t *ctx );
 
err_t hbridgedriver2_write_reg ( hbridgedriver2_t *ctx, uint8_t reg, uint8_t *global_fault, uint16_t data_in );
 
err_t hbridgedriver2_read_reg ( hbridgedriver2_t *ctx, uint8_t reg, uint8_t *global_fault, uint16_t *data_out );
 
err_t hbridgedriver2_read_clear_reg ( hbridgedriver2_t *ctx, uint8_t reg, uint8_t *global_fault, uint16_t *data_out );
 
err_t hbridgedriver2_read_id ( hbridgedriver2_t *ctx, uint8_t reg, uint8_t *global_fault, uint16_t *data_out );
 
err_t hbridgedriver2_set_active_mode ( hbridgedriver2_t *ctx );
 
err_t hbridgedriver2_get_status ( hbridgedriver2_t *ctx, uint16_t *status );
 
err_t hbridgedriver2_get_control ( hbridgedriver2_t *ctx, uint16_t *control );
 
err_t hbridgedriver2_set_control ( hbridgedriver2_t *ctx, uint8_t *global_fault, uint16_t control );
 
err_t hbridgedriver2_get_config ( hbridgedriver2_t *ctx, uint16_t *config );
 
err_t hbridgedriver2_set_config ( hbridgedriver2_t *ctx, uint8_t *global_fault, uint16_t config );
 
err_t hbridgedriver2_get_device_id ( hbridgedriver2_t *ctx, uint8_t *global_fault, hbridgedriver2_dev_id_t *dev_id );
 
err_t hbridgedriver2_control ( hbridgedriver2_t *ctx, uint8_t *global_fault, hbridgedriver2_ctrl_t dev_ctrl );
 
err_t hbridgedriver2_run_backward ( hbridgedriver2_t *ctx, uint8_t *global_fault );
 
err_t hbridgedriver2_run_forward ( hbridgedriver2_t *ctx, uint8_t *global_fault );
 
err_t hbridgedriver2_stop ( hbridgedriver2_t *ctx, uint8_t *global_fault );
 
err_t hbridgedriver2_stop_with_brake ( hbridgedriver2_t *ctx, uint8_t *global_fault );
 
err_t hbridgedriver2_set_duty_cycle ( hbridgedriver2_t *ctx, float duty_cycle );
 
err_t hbridgedriver2_pwm_stop ( hbridgedriver2_t *ctx );
 
err_t hbridgedriver2_pwm_start ( hbridgedriver2_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // HBRIDGEDRIVER2_H
 
 // hbridgedriver2
 
// ------------------------------------------------------------------------ END