brushless28.h

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/****************************************************************************
** Copyright (C) 2026 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.
** 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
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****************************************************************************/

 
#ifndef BRUSHLESS28_H
#define BRUSHLESS28_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 BRUSHLESS28_REG_IC_STAT1                    0x00
#define BRUSHLESS28_REG_IC_STAT2                    0x01
#define BRUSHLESS28_REG_IC_STAT3                    0x02
#define BRUSHLESS28_REG_IC_STAT4                    0x03
#define BRUSHLESS28_REG_IC_STAT5                    0x04
#define BRUSHLESS28_REG_IC_STAT6                    0x05
#define BRUSHLESS28_REG_IC_CTRL1                    0x1A
#define BRUSHLESS28_REG_IC_CTRL2                    0x1B
#define BRUSHLESS28_REG_IC_CTRL3                    0x1C
#define BRUSHLESS28_REG_GD_CTRL1                    0x1E
#define BRUSHLESS28_REG_GD_CTRL2                    0x1F
#define BRUSHLESS28_REG_GD_CTRL3                    0x21
#define BRUSHLESS28_REG_GD_CTRL3B                   0x22
#define BRUSHLESS28_REG_GD_CTRL4                    0x23
#define BRUSHLESS28_REG_GD_CTRL5                    0x24
#define BRUSHLESS28_REG_GD_CTRL6                    0x25
#define BRUSHLESS28_REG_GD_CTRL7                    0x26
#define BRUSHLESS28_REG_CSA_CTRL                    0x29
#define BRUSHLESS28_REG_MON_CTRL1                   0x2B
#define BRUSHLESS28_REG_MON_CTRL2                   0x2C
#define BRUSHLESS28_REG_MON_CTRL3                   0x2D
#define BRUSHLESS28_REG_MON_CTRL4                   0x2E
#define BRUSHLESS28_REG_SPI_TEST                    0x36
#define BRUSHLESS28_REG_OTP_USR                     0x48
 // brushless28_reg



#define BRUSHLESS28_IC_CTRL2_ENABLE_DRV             0x8000
#define BRUSHLESS28_IC_CTRL2_MODE_NSLEEP            0x4000
#define BRUSHLESS28_IC_CTRL2_CFG_CRC_EN             0x2000
#define BRUSHLESS28_IC_CTRL2_CLKMON_EN              0x1000
#define BRUSHLESS28_IC_CTRL2_CSA_EN                 0x0800
#define BRUSHLESS28_IC_CTRL2_CSA_AZ_DIS             0x0400
#define BRUSHLESS28_IC_CTRL2_GVDD_MODE_LDO          0x0100
#define BRUSHLESS28_IC_CTRL2_VCP_MODE_NORMAL        0x0000
#define BRUSHLESS28_IC_CTRL2_VCP_MODE_SW_DIS        0x0040
#define BRUSHLESS28_IC_CTRL2_VCP_MODE_SHUTDOWN      0x0080
#define BRUSHLESS28_IC_CTRL2_VCP_MODE_TCP_DIS       0x00C0
#define BRUSHLESS28_IC_CTRL2_VCP_MODE_MASK          0x00C0
#define BRUSHLESS28_IC_CTRL2_LOCK_UNLOCK            0x0006
#define BRUSHLESS28_IC_CTRL2_LOCK_LOCK              0x000C
#define BRUSHLESS28_IC_CTRL2_LOCK_MASK              0x000E
#define BRUSHLESS28_IC_CTRL2_CLR_FLT                0x0001

#define BRUSHLESS28_GD_CTRL1_PWM_MODE_6X_PWM        0x0000
#define BRUSHLESS28_GD_CTRL1_PWM_MODE_3X_PWM_INLX   0x1000
#define BRUSHLESS28_GD_CTRL1_PWM_MODE_3X_PWM_SPI    0x2000
#define BRUSHLESS28_GD_CTRL1_PWM_MODE_1X_PWM        0x3000
#define BRUSHLESS28_GD_CTRL1_PWM_MODE_SPI_GATE      0x5000
#define BRUSHLESS28_GD_CTRL1_PWM_MODE_MASK          0x7000
#define BRUSHLESS28_GD_CTRL1_SGD_MODE_FIXED         0x0000
#define BRUSHLESS28_GD_CTRL1_SGD_MODE_DYNAMIC       0x0200
#define BRUSHLESS28_GD_CTRL1_SGD_MODE_MASK          0x0600
#define BRUSHLESS28_GD_CTRL1_SGD_TMP_EN             0x0100
#define BRUSHLESS28_GD_CTRL1_STP_MODE_0             0x0000
#define BRUSHLESS28_GD_CTRL1_STP_MODE_1             0x0080
#define BRUSHLESS28_GD_CTRL1_STP_MODE_MASK          0x0080
#define BRUSHLESS28_GD_CTRL1_DEADT_70NS             0x0000
#define BRUSHLESS28_GD_CTRL1_DEADT_200NS            0x0008
#define BRUSHLESS28_GD_CTRL1_DEADT_300NS            0x0010
#define BRUSHLESS28_GD_CTRL1_DEADT_500NS            0x0018
#define BRUSHLESS28_GD_CTRL1_DEADT_750NS            0x0020
#define BRUSHLESS28_GD_CTRL1_DEADT_1000NS           0x0028
#define BRUSHLESS28_GD_CTRL1_DEADT_1500NS           0x0030
#define BRUSHLESS28_GD_CTRL1_DEADT_2000NS           0x0038
#define BRUSHLESS28_GD_CTRL1_DEADT_MASK             0x0038
#define BRUSHLESS28_GD_CTRL1_DEADT_MODE_0           0x0000
#define BRUSHLESS28_GD_CTRL1_DEADT_MODE_1           0x0004
#define BRUSHLESS28_GD_CTRL1_DEADT_MODE_MASK        0x0004
#define BRUSHLESS28_GD_CTRL1_DEADT_MODE_6X_0        0x0000
#define BRUSHLESS28_GD_CTRL1_DEADT_MODE_6X_1        0x0001
#define BRUSHLESS28_GD_CTRL1_DEADT_MODE_6X_2        0x0002
#define BRUSHLESS28_GD_CTRL1_DEADT_MODE_6X_3        0x0003
#define BRUSHLESS28_GD_CTRL1_DEADT_MODE_6X_MASK     0x0003

#define BRUSHLESS28_SPI_TEST_WORD                   0x5AA5

#define BRUSHLESS28_SPI_FRAME_READ_BIT              0x01
#define BRUSHLESS28_SPI_FRAME_CRC_DISABLE           0x00
#define BRUSHLESS28_SPI_FRAME_CRC_ENABLE            0x01
#define BRUSHLESS28_SPI_FRAME_CRC_MASK              0x01

#define BRUSHLESS28_DIR_CW                          0
#define BRUSHLESS28_DIR_CCW                         1

#define BRUSHLESS28_DEF_DUTY                        0.0
#define BRUSHLESS28_DEF_FREQ                        5000

#define BRUSHLESS28_SET_DATA_SAMPLE_EDGE            SET_SPI_DATA_SAMPLE_EDGE
#define BRUSHLESS28_SET_DATA_SAMPLE_MIDDLE          SET_SPI_DATA_SAMPLE_MIDDLE
 // brushless28_set



#define BRUSHLESS28_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.dir   = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.brake = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.pwm   = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.fault = MIKROBUS( mikrobus, MIKROBUS_INT )
 // brushless28_map // brushless28

typedef struct
{
    // Output pins
    digital_out_t dir;              
    digital_out_t brake;            
 
    // Input pins
    digital_in_t fault;             
 
    // Modules
    spi_master_t spi;               
    pwm_t pwm;                      
 
    pin_name_t chip_select;         
    uint32_t pwm_freq;              
 
    uint8_t crc_en;                 
 
} brushless28_t;

typedef struct
{
    // Communication gpio pins
    pin_name_t miso;                
    pin_name_t mosi;                
    pin_name_t sck;                 
    pin_name_t cs;                  
    pin_name_t pwm;                 
 
    // Additional gpio pins
    pin_name_t dir;                 
    pin_name_t brake;               
    pin_name_t fault;               
 
    // static variable
    uint32_t                          spi_speed;    
    spi_master_mode_t                 spi_mode;     
    spi_master_chip_select_polarity_t cs_polarity;  
    uint32_t dev_pwm_freq;          
 
} brushless28_cfg_t;

typedef enum
{
    BRUSHLESS28_OK = 0,
    BRUSHLESS28_ERROR = -1
 
} brushless28_return_value_t;


void brushless28_cfg_setup ( brushless28_cfg_t *cfg );

err_t brushless28_init ( brushless28_t *ctx, brushless28_cfg_t *cfg );

err_t brushless28_default_cfg ( brushless28_t *ctx );

err_t brushless28_write_reg ( brushless28_t *ctx, uint8_t reg, uint16_t data_in );

err_t brushless28_read_reg ( brushless28_t *ctx, uint8_t reg, uint16_t *data_out );

err_t brushless28_set_duty_cycle ( brushless28_t *ctx, float duty_cycle );

err_t brushless28_pwm_stop ( brushless28_t *ctx );

err_t brushless28_pwm_start ( brushless28_t *ctx );

void brushless28_set_direction ( brushless28_t *ctx, uint8_t dir );

void brushless28_switch_direction ( brushless28_t *ctx );

void brushless28_pull_brake ( brushless28_t *ctx );

void brushless28_release_brake ( brushless28_t *ctx );

uint8_t brushless28_get_fault_pin ( brushless28_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // BRUSHLESS28_H
 // brushless28
 
// ------------------------------------------------------------------------ END