dcmotor31.h

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/****************************************************************************
** Copyright (C) 2026 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
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** of this software and associated documentation files (the "Software"), to deal
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#ifndef DCMOTOR31_H
#define DCMOTOR31_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"




#define DCMOTOR31_REG_INPUT                     0x00
#define DCMOTOR31_REG_OUTPUT                    0x01
#define DCMOTOR31_REG_POLARITY                  0x02
#define DCMOTOR31_REG_CONFIG                    0x03
 // dcmotor31_reg



#define DCMOTOR31_PIN_LO                        0x01
#define DCMOTOR31_PIN_TRQ_0                     0x02
#define DCMOTOR31_PIN_TRQ_1                     0x04
#define DCMOTOR31_PIN_TRQ_2                     0x08
#define DCMOTOR31_PIN_TRQ_3                     0x10
#define DCMOTOR31_PIN_TRQ_4                     0x20
#define DCMOTOR31_PINS_TRQ                      0x3E

#define DCMOTOR31_DEFAULT_CONFIG                0xC1

#define DCMOTOR31_TORQUE_0                      0x00
#define DCMOTOR31_TORQUE_5                      0x01
#define DCMOTOR31_TORQUE_10                     0x02
#define DCMOTOR31_TORQUE_15                     0x03
#define DCMOTOR31_TORQUE_20                     0x04
#define DCMOTOR31_TORQUE_24                     0x05
#define DCMOTOR31_TORQUE_29                     0x06
#define DCMOTOR31_TORQUE_34                     0x07
#define DCMOTOR31_TORQUE_38                     0x08
#define DCMOTOR31_TORQUE_43                     0x09
#define DCMOTOR31_TORQUE_47                     0x0A
#define DCMOTOR31_TORQUE_51                     0x0B
#define DCMOTOR31_TORQUE_56                     0x0C
#define DCMOTOR31_TORQUE_60                     0x0D
#define DCMOTOR31_TORQUE_63                     0x0E
#define DCMOTOR31_TORQUE_67                     0x0F
#define DCMOTOR31_TORQUE_71                     0x10
#define DCMOTOR31_TORQUE_74                     0x11
#define DCMOTOR31_TORQUE_77                     0x12
#define DCMOTOR31_TORQUE_80                     0x13
#define DCMOTOR31_TORQUE_83                     0x14
#define DCMOTOR31_TORQUE_86                     0x15
#define DCMOTOR31_TORQUE_88                     0x16
#define DCMOTOR31_TORQUE_90                     0x17
#define DCMOTOR31_TORQUE_92                     0x18
#define DCMOTOR31_TORQUE_94                     0x19
#define DCMOTOR31_TORQUE_96                     0x1A
#define DCMOTOR31_TORQUE_97                     0x1B
#define DCMOTOR31_TORQUE_98                     0x1C
#define DCMOTOR31_TORQUE_99                     0x1D
#define DCMOTOR31_TORQUE_100                    0x1E

#define DCMOTOR31_MODE_BRAKE                    0
#define DCMOTOR31_MODE_FORWARD                  1
#define DCMOTOR31_MODE_REVERSE                  2

#define DCMOTOR31_DEVICE_ADDRESS_A1A0_00        0x70
#define DCMOTOR31_DEVICE_ADDRESS_A1A0_01        0x71
#define DCMOTOR31_DEVICE_ADDRESS_A1A0_10        0x72
#define DCMOTOR31_DEVICE_ADDRESS_A1A0_11        0x73
 // dcmotor31_set



#define DCMOTOR31_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.sleep = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.pha = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 // dcmotor31_map // dcmotor31

typedef struct
{
    // Output pins
    digital_out_t en;           
    digital_out_t sleep;        
    digital_out_t rst;          
    digital_out_t pha;          
 
    // Input pins
    digital_in_t int_pin;       
 
    // Modules
    i2c_master_t i2c;           
 
    // I2C slave address
    uint8_t slave_address;      
 
} dcmotor31_t;

typedef struct
{
    pin_name_t scl;             
    pin_name_t sda;             
 
    pin_name_t en;              
    pin_name_t sleep;           
    pin_name_t rst;             
    pin_name_t pha;             
    pin_name_t int_pin;         
 
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
 
} dcmotor31_cfg_t;

typedef enum
{
    DCMOTOR31_OK = 0,
    DCMOTOR31_ERROR = -1
 
} dcmotor31_return_value_t;


void dcmotor31_cfg_setup ( dcmotor31_cfg_t *cfg );

err_t dcmotor31_init ( dcmotor31_t *ctx, dcmotor31_cfg_t *cfg );

err_t dcmotor31_default_cfg ( dcmotor31_t *ctx );

err_t dcmotor31_write_reg ( dcmotor31_t *ctx, uint8_t reg, uint8_t data_in );

err_t dcmotor31_read_reg ( dcmotor31_t *ctx, uint8_t reg, uint8_t *data_out );

void dcmotor31_enter_sleep ( dcmotor31_t *ctx );

void dcmotor31_exit_sleep ( dcmotor31_t *ctx );

void dcmotor31_enable_device ( dcmotor31_t *ctx );

void dcmotor31_disable_device ( dcmotor31_t *ctx );

void dcmotor31_enable_output ( dcmotor31_t *ctx );

void dcmotor31_disable_output ( dcmotor31_t *ctx );

void dcmotor31_set_forward_dir ( dcmotor31_t *ctx );

void dcmotor31_set_reverse_dir ( dcmotor31_t *ctx );

uint8_t dcmotor31_get_int_pin ( dcmotor31_t *ctx );

err_t dcmotor31_get_lo_pin ( dcmotor31_t *ctx, uint8_t *state );

err_t dcmotor31_set_torque ( dcmotor31_t *ctx, uint8_t torque );

void dcmotor31_set_mode ( dcmotor31_t *ctx, uint8_t mode );
 
#ifdef __cplusplus
}
#endif
#endif // DCMOTOR31_H
 // dcmotor31
 
// ------------------------------------------------------------------------ END