dcmotor32.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.
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#ifndef DCMOTOR32_H
#define DCMOTOR32_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_analog_in.h"




#define DCMOTOR32_CONTROL_SDO_SEL_CONTROL               0x00
#define DCMOTOR32_CONTROL_SDO_SEL_STATUS                0x80
#define DCMOTOR32_CONTROL_SDO_SEL_MASK                  0x80
#define DCMOTOR32_CONTROL_MODE_PD_GND_OUT               0x00
#define DCMOTOR32_CONTROL_MODE_PU_SHORT_TO_GND          0x08
#define DCMOTOR32_CONTROL_MODE_SLOW_DECAY_LSB           0x10
#define DCMOTOR32_CONTROL_MODE_SLOW_DECAY_LSA           0x18
#define DCMOTOR32_CONTROL_MODE_FAST_DECAY_HSB           0x20
#define DCMOTOR32_CONTROL_MODE_FAST_DECAY_HSB_OPEN_LOAD 0x28
#define DCMOTOR32_CONTROL_MODE_FORWARD_HSB              0x30
#define DCMOTOR32_CONTROL_MODE_FORWARD_LSA              0x38
#define DCMOTOR32_CONTROL_MODE_FAST_DECAY_HSA_OPEN_LOAD 0x40
#define DCMOTOR32_CONTROL_MODE_FAST_DECAY_HSA           0x48
#define DCMOTOR32_CONTROL_MODE_REVERSE_LSB              0x50
#define DCMOTOR32_CONTROL_MODE_REVERSE_HSA              0x58
#define DCMOTOR32_CONTROL_MODE_SLOW_DECAY_HSB           0x60
#define DCMOTOR32_CONTROL_MODE_SLOW_DECAY_HSA           0x68
#define DCMOTOR32_CONTROL_MODE_HALF_BRIDGE_A_TRI_STATE  0x70
#define DCMOTOR32_CONTROL_MODE_HALF_BRIDGE_B_TRI_STATE  0x78
#define DCMOTOR32_CONTROL_MODE_MASK                     0x78
#define DCMOTOR32_CONTROL_CURRENT_SENSE_DISABLE         0x00
#define DCMOTOR32_CONTROL_CURRENT_SENSE_ENABLE          0x04
#define DCMOTOR32_CONTROL_CURRENT_SENSE_MASK            0x04
#define DCMOTOR32_CONTROL_SLEW_RATE_SLOW                0x00
#define DCMOTOR32_CONTROL_SLEW_RATE_FAST                0x02
#define DCMOTOR32_CONTROL_SLEW_RATE_MASK                0x02
#define DCMOTOR32_CONTROL_EN_DISABLE                    0x00
#define DCMOTOR32_CONTROL_EN_ENABLE                     0x01
#define DCMOTOR32_CONTROL_EN_MASK                       0x01

#define DCMOTOR32_STATUS_SDO_SEL_CONTROL                0x00
#define DCMOTOR32_STATUS_SDO_SEL_STATUS                 0x80
#define DCMOTOR32_STATUS_SDO_SEL_MASK                   0x80
#define DCMOTOR32_STATUS_OCA_MASK                       0x40
#define DCMOTOR32_STATUS_OCB_MASK                       0x20
#define DCMOTOR32_STATUS_OL_MASK                        0x10
#define DCMOTOR32_STATUS_UV_MASK                        0x08
#define DCMOTOR32_STATUS_TSDA_MASK                      0x04
#define DCMOTOR32_STATUS_TSDB_MASK                      0x02
#define DCMOTOR32_STATUS_EN_MASK                        0x01

#define DCMOTOR32_R8                                    1000.0
#define DCMOTOR32_R9                                    820.0

#define DCMOTOR32_NUM_CONVERSIONS                       200

#define DCMOTOR32_VREF_3V3                              3.3
#define DCMOTOR32_VREF_5V                               5.0
#define DCMOTOR32_VREF_DEFAULT                          DCMOTOR32_VREF_3V3

#define DCMOTOR32_TIMEOUT_MS                            2000
 // dcmotor32_set



#define DCMOTOR32_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.is_pin = MIKROBUS( mikrobus, MIKROBUS_AN )
 // dcmotor32_map // dcmotor32

typedef struct
{
    digital_out_t mosi;             
    digital_out_t sck;              
    digital_out_t cs;               
    digital_in_t miso;              
    analog_in_t adc;                
 
    uint8_t control;                
    uint8_t status;                 
    float zero_curr_offset;         
 
} dcmotor32_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 is_pin;              
 
    analog_in_resolution_t resolution;  
    float                  vref;        
 
} dcmotor32_cfg_t;

typedef enum
{
    DCMOTOR32_OK = 0,
    DCMOTOR32_ERROR = -1
 
} dcmotor32_return_value_t;


void dcmotor32_cfg_setup ( dcmotor32_cfg_t *cfg );

err_t dcmotor32_init ( dcmotor32_t *ctx, dcmotor32_cfg_t *cfg );

err_t dcmotor32_default_cfg ( dcmotor32_t *ctx );

err_t dcmotor32_set_control ( dcmotor32_t *ctx, uint8_t control );

err_t dcmotor32_get_status ( dcmotor32_t *ctx );

err_t dcmotor32_set_operation_mode ( dcmotor32_t *ctx, uint8_t mode );

err_t dcmotor32_enable_isense ( dcmotor32_t *ctx );

err_t dcmotor32_disable_isense ( dcmotor32_t *ctx );

err_t dcmotor32_set_fast_slew_rate ( dcmotor32_t *ctx );

err_t dcmotor32_set_slow_slew_rate ( dcmotor32_t *ctx );

err_t dcmotor32_enable_device ( dcmotor32_t *ctx );

err_t dcmotor32_disable_device ( dcmotor32_t *ctx );

err_t dcmotor32_read_adc_raw ( dcmotor32_t *ctx, uint16_t *data_out );

err_t dcmotor32_read_adc_volt ( dcmotor32_t *ctx, float *data_out );

err_t dcmotor32_read_adc_volt_avg ( dcmotor32_t *ctx, uint16_t num_conv, float *volt_avg );

err_t dcmotor32_set_adc_vref ( dcmotor32_t *ctx, float vref );

err_t dcmotor32_calib_offset ( dcmotor32_t *ctx );

err_t dcmotor32_get_out_current ( dcmotor32_t *ctx, float *current );
 
#ifdef __cplusplus
}
#endif
#endif // DCMOTOR32_H
 // dcmotor32
 
// ------------------------------------------------------------------------ END