dcmotor30.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.
**
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** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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#ifndef DCMOTOR30_H
#define DCMOTOR30_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_analog_in.h"




#define DCMOTOR30_REG_FAULT_STATUS          0x00
#define DCMOTOR30_REG_RC_STATUS1            0x01
#define DCMOTOR30_REG_RC_STATUS2            0x02
#define DCMOTOR30_REG_RC_STATUS3            0x03
#define DCMOTOR30_REG_STATUS1               0x04
#define DCMOTOR30_REG_STATUS2               0x05
#define DCMOTOR30_REG_STATUS3               0x06
#define DCMOTOR30_REG_STATUS4               0x07
#define DCMOTOR30_REG_STATUS5               0x08
#define DCMOTOR30_REG_CONFIG0               0x09
#define DCMOTOR30_REG_CONFIG1               0x0A
#define DCMOTOR30_REG_CONFIG2               0x0B
#define DCMOTOR30_REG_CONFIG3               0x0C
#define DCMOTOR30_REG_CONFIG4               0x0D
#define DCMOTOR30_REG_CTRL0                 0x0E
#define DCMOTOR30_REG_CTRL1                 0x0F
#define DCMOTOR30_REG_CTRL2                 0x10
#define DCMOTOR30_REG_RC_CTRL0              0x11
#define DCMOTOR30_REG_RC_CTRL1              0x12
#define DCMOTOR30_REG_RC_CTRL2              0x13
#define DCMOTOR30_REG_RC_CTRL3              0x14
#define DCMOTOR30_REG_RC_CTRL4              0x15
#define DCMOTOR30_REG_RC_CTRL5              0x16
#define DCMOTOR30_REG_RC_CTRL6              0x17
#define DCMOTOR30_REG_RC_CTRL7              0x18
#define DCMOTOR30_REG_RC_CTRL8              0x19
 // dcmotor30_reg



#define DCMOTOR30_FAULT_STATUS_FAULT        0x80
#define DCMOTOR30_FAULT_STATUS_STALL        0x20
#define DCMOTOR30_FAULT_STATUS_OCP          0x10
#define DCMOTOR30_FAULT_STATUS_OVP          0x08
#define DCMOTOR30_FAULT_STATUS_TSD          0x04
#define DCMOTOR30_FAULT_STATUS_NPOR         0x02

#define DCMOTOR30_CONFIG0_EN_OUT            0x80
#define DCMOTOR30_CONFIG0_EN_OVP            0x40
#define DCMOTOR30_CONFIG0_EN_STALL          0x20
#define DCMOTOR30_CONFIG0_VSNS_SEL_AN       0x00
#define DCMOTOR30_CONFIG0_VSNS_SEL_DIG      0x10
#define DCMOTOR30_CONFIG0_VSNS_SEL_MASK     0x10
#define DCMOTOR30_CONFIG0_CLR_FLT           0x02
#define DCMOTOR30_CONFIG0_DUTY_CTRL_EN      0x01

#define DCMOTOR30_RIPROPI_V_TO_MA           1.5
#define DCMOTOR30_SCALING_FACTOR            1.5

#define DCMOTOR30_NUM_CONVERSIONS           200

#define DCMOTOR30_VREF_3V3                  3.3
#define DCMOTOR30_VREF_5V                   5.0
#define DCMOTOR30_VREF_DEFAULT              DCMOTOR30_VREF_3V3

#define DCMOTOR30_TIMEOUT_MS                2000

#define DCMOTOR30_MOTOR_COAST               0
#define DCMOTOR30_MOTOR_FORWARD             1
#define DCMOTOR30_MOTOR_REVERSE             2
#define DCMOTOR30_MOTOR_BRAKE               3

#define DCMOTOR30_DEVICE_ADDRESS_A1A0_00    0x30
#define DCMOTOR30_DEVICE_ADDRESS_A1A0_0Z    0x31
#define DCMOTOR30_DEVICE_ADDRESS_A1A0_01    0x32
#define DCMOTOR30_DEVICE_ADDRESS_A1A0_Z0    0x33
#define DCMOTOR30_DEVICE_ADDRESS_A1A0_ZZ    0x34
#define DCMOTOR30_DEVICE_ADDRESS_A1A0_Z1    0x35
#define DCMOTOR30_DEVICE_ADDRESS_A1A0_10    0x36
#define DCMOTOR30_DEVICE_ADDRESS_A1A0_1Z    0x37
#define DCMOTOR30_DEVICE_ADDRESS_A1A0_11    0x38
 // dcmotor30_set



#define DCMOTOR30_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.ipropi = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.in2 = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.in1 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.fault = MIKROBUS( mikrobus, MIKROBUS_INT )
 // dcmotor30_map // dcmotor30

typedef struct
{
    // Output pins
    digital_out_t in2;          
    digital_out_t in1;          
 
    // Input pins
    digital_in_t fault;         
 
    // Modules
    i2c_master_t i2c;           
    analog_in_t adc;            
 
    // I2C slave address
    uint8_t slave_address;      
 
    float zero_curr_offset;     
 
} dcmotor30_t;

typedef struct
{
    pin_name_t scl;             
    pin_name_t sda;             
    pin_name_t ipropi;          
 
    pin_name_t in2;             
    pin_name_t in1;             
    pin_name_t fault;           
 
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
 
    analog_in_resolution_t resolution;  
    float                  vref;        
 
} dcmotor30_cfg_t;

typedef enum
{
    DCMOTOR30_OK = 0,
    DCMOTOR30_ERROR = -1
 
} dcmotor30_return_value_t;


void dcmotor30_cfg_setup ( dcmotor30_cfg_t *cfg );

err_t dcmotor30_init ( dcmotor30_t *ctx, dcmotor30_cfg_t *cfg );

err_t dcmotor30_default_cfg ( dcmotor30_t *ctx );

err_t dcmotor30_write_reg ( dcmotor30_t *ctx, uint8_t reg, uint8_t data_in );

err_t dcmotor30_read_reg ( dcmotor30_t *ctx, uint8_t reg, uint8_t *data_out );

err_t dcmotor30_read_adc_raw ( dcmotor30_t *ctx, uint16_t *data_out );

err_t dcmotor30_read_adc_volt ( dcmotor30_t *ctx, float *data_out );

err_t dcmotor30_read_adc_volt_avg ( dcmotor30_t *ctx, uint16_t num_conv, float *volt_avg );

err_t dcmotor30_set_adc_vref ( dcmotor30_t *ctx, float vref );

void dcmotor30_set_in1_pin ( dcmotor30_t *ctx );

void dcmotor30_clear_in1_pin ( dcmotor30_t *ctx );

void dcmotor30_set_in2_pin ( dcmotor30_t *ctx );

void dcmotor30_clear_in2_pin ( dcmotor30_t *ctx );

uint8_t dcmotor30_get_fault_pin ( dcmotor30_t *ctx );

void dcmotor30_drive_motor ( dcmotor30_t *ctx, uint8_t state );

err_t dcmotor30_clear_fault ( dcmotor30_t *ctx );

err_t dcmotor30_calib_offset ( dcmotor30_t *ctx );

err_t dcmotor30_get_out_current ( dcmotor30_t *ctx, float *current );
 
#ifdef __cplusplus
}
#endif
#endif // DCMOTOR30_H
 // dcmotor30
 
// ------------------------------------------------------------------------ END