servo3.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 SERVO3_H
#define SERVO3_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_pwm.h"




#define SERVO3_PWM_MAX                          4095
#define SERVO3_PWM_MIN                          0
#define SERVO3_PWM_ZERO_DEGREE_PULSE            3969
#define SERVO3_PWM_180_DEGREE_PULSE             3461

#define SERVO3_FC_PS_MODE_DISABLED              0x000000ul
#define SERVO3_FC_PS_MODE_ENABLED               0x038000ul
#define SERVO3_FC_PS_MODE_MASK                  0x038000ul
#define SERVO3_FC_OLDENA_DISABLED               0x000000ul
#define SERVO3_FC_OLDENA_ENABLED                0x004000ul
#define SERVO3_FC_OLDENA_MASK                   0x004000ul
#define SERVO3_FC_IDMCUR_2_UA                   0x000000ul
#define SERVO3_FC_IDMCUR_10_UA                  0x001000ul
#define SERVO3_FC_IDMCUR_20_UA                  0x002000ul
#define SERVO3_FC_IDMCUR_1_MA                   0x003000ul
#define SERVO3_FC_IDMCUR_MASK                   0x003000ul
#define SERVO3_FC_IDMRPT_NOT_REPEATED           0x000000ul
#define SERVO3_FC_IDMRPT_REPEATED               0x000800ul
#define SERVO3_FC_IDMRPT_MASK                   0x000800ul
#define SERVO3_FC_IDMENA_DISABLED               0x000000ul
#define SERVO3_FC_IDMENA_ENABLED                0x000400ul
#define SERVO3_FC_IDMENA_MASK                   0x000400ul
#define SERVO3_FC_LATTMG_17TH                   0x000000ul
#define SERVO3_FC_LATTMG_33TH                   0x000100ul
#define SERVO3_FC_LATTMG_65TH                   0x000200ul
#define SERVO3_FC_LATTMG_129TH                  0x000300ul
#define SERVO3_FC_LATTMG_MASK                   0x000300ul
#define SERVO3_FC_LSDVLT_35PCT_VCC              0x000000ul
#define SERVO3_FC_LSDVLT_45PCT_VCC              0x000040ul
#define SERVO3_FC_LSDVLT_55PCT_VCC              0x000080ul
#define SERVO3_FC_LSDVLT_65PCT_VCC              0x0000C0ul
#define SERVO3_FC_LSDVLT_MASK                   0x0000C0ul
#define SERVO3_FC_LODVLT_0_3_V                  0x000000ul
#define SERVO3_FC_LODVLT_0_6_V                  0x000010ul
#define SERVO3_FC_LODVLT_0_9_V                  0x000020ul
#define SERVO3_FC_LODVLT_1_2_V                  0x000030ul
#define SERVO3_FC_LODVLT_MASK                   0x000030ul
#define SERVO3_FC_ESPWM_DISABLED                0x000000ul
#define SERVO3_FC_ESPWM_ENABLED                 0x000008ul
#define SERVO3_FC_ESPWM_MASK                    0x000008ul
#define SERVO3_FC_TMGRST_DISABLED               0x000000ul
#define SERVO3_FC_TMGRST_ENABLED                0x000004ul
#define SERVO3_FC_TMGRST_MASK                   0x000004ul
#define SERVO3_FC_DSPRPT_DISABLED               0x000000ul
#define SERVO3_FC_DSPRPT_ENABLED                0x000002ul
#define SERVO3_FC_DSPRPT_MASK                   0x000002ul
#define SERVO3_FC_BLANK_ON                      0x000000ul
#define SERVO3_FC_BLANK_OFF                     0x000001ul
#define SERVO3_FC_BLANK_MASK                    0x000001ul
#define SERVO3_BC_MIN                           0x00
#define SERVO3_BC_MAX                           0x7F
#define SERVO3_BC_MASK                          0x7F

#define SERVO3_ANGLE_MIN                        0
#define SERVO3_ANGLE_MAX                        180
#define SERVO3_CHANNEL_0                        0
#define SERVO3_CHANNEL_1                        1
#define SERVO3_CHANNEL_2                        2
#define SERVO3_CHANNEL_3                        3
#define SERVO3_CHANNEL_4                        4
#define SERVO3_CHANNEL_5                        5
#define SERVO3_CHANNEL_6                        6
#define SERVO3_CHANNEL_7                        7
#define SERVO3_CHANNEL_8                        8
#define SERVO3_CHANNEL_9                        9
#define SERVO3_CHANNEL_10                       10
#define SERVO3_CHANNEL_11                       11
#define SERVO3_CHANNEL_12                       12
#define SERVO3_CHANNEL_13                       13
#define SERVO3_CHANNEL_14                       14
#define SERVO3_CHANNEL_15                       15
#define SERVO3_CHANNEL_ALL                      16
#define SERVO3_NUM_CHANNELS                     16

#define SERVO3_DEF_FREQ                         256000ul
#define SERVO3_DEF_DC                           0.5
 // servo3_cfg



#define SERVO3_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.sout = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
    cfg.sin = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
    cfg.sclk = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
    cfg.xlat = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.gsclk = MIKROBUS( mikrobus, MIKROBUS_PWM );
 // servo3_map // servo3

typedef struct
{
    // Output pins
    digital_out_t xlat;         
    digital_out_t sclk;         
    digital_out_t sin;          
 
    // Input pins
    digital_in_t sout;          
 
    // Modules
    pwm_t pwm;                  
 
    // ctx variable
    uint32_t pwm_freq;          
 
    uint16_t pwm_out[ SERVO3_NUM_CHANNELS ];    
 
} servo3_t;

typedef struct
{
    // Communication gpio pins
    pin_name_t xlat;            
    pin_name_t sclk;            
    pin_name_t sin;             
    pin_name_t sout;            
    pin_name_t gsclk;           
 
    // Static variable
    uint32_t dev_pwm_freq;      
 
} servo3_cfg_t;

typedef enum
{
    SERVO3_OK = 0,
    SERVO3_ERROR = -1
 
} servo3_return_value_t;


void servo3_cfg_setup ( servo3_cfg_t *cfg );

err_t servo3_init ( servo3_t *ctx, servo3_cfg_t *cfg );

err_t servo3_set_duty_cycle ( servo3_t *ctx, float duty_cycle );

err_t servo3_pwm_stop ( servo3_t *ctx );

err_t servo3_pwm_start ( servo3_t *ctx );

void servo3_write_control ( servo3_t *ctx, uint32_t fc_data, uint8_t bc_data );

void servo3_write_data ( servo3_t *ctx, uint8_t *data_in, uint8_t len );

void servo3_set_sclk_pin ( servo3_t *ctx, uint8_t state );

void servo3_set_sin_pin ( servo3_t *ctx, uint8_t state );

void servo3_set_xlat_pin ( servo3_t *ctx, uint8_t state );

uint8_t servo3_get_sout_pin ( servo3_t *ctx );

err_t servo3_set_channel_pwm ( servo3_t *ctx, uint8_t ch_num, uint16_t pwm_out );

err_t servo3_set_angle ( servo3_t *ctx, uint8_t ch_num, uint8_t angle );

void servo3_update_output ( servo3_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // SERVO3_H
 // servo3
 
// ------------------------------------------------------------------------ END