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38 #include "drv_digital_out.h"
39 #include "drv_digital_in.h"
40 #include "drv_i2c_master.h"
54 #define BRUSHLESS3_MAP_MIKROBUS( cfg, mikrobus ) \
55 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
56 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
57 cfg.dir = MIKROBUS( mikrobus, MIKROBUS_RST ); \
58 cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
59 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
66 #define BRUSHLESS3_OK 0
67 #define BRUSHLESS3_ERROR -1
70 #define BRUSHLESS3_I2C_ADDRESS 0x52
71 #define BRUSHLESS3_MAX_SPEED 0x1FF
72 #define BRUSHLESS3_DEF_FREQ 25000
78 #define BRUSHLESS3_SPEED_CTRL_1 0x00
79 #define BRUSHLESS3_SPEED_CTRL_2 0x01
80 #define BRUSHLESS3_DEV_CTRL 0x02
81 #define BRUSHLESS3_EE_CTRL 0x03
88 #define BRUSHLESS3_STATUS 0x10
89 #define BRUSHLESS3_MOTOR_SPEED_1 0x11
90 #define BRUSHLESS3_MOTOR_SPEED_2 0x12
91 #define BRUSHLESS3_MOTOR_PERIOD_1 0x13
92 #define BRUSHLESS3_MOTOR_PERIOD_2 0x14
93 #define BRUSHLESS3_MOTOR_KT_1 0x15
94 #define BRUSHLESS3_MOTOR_KT_2 0x16
95 #define BRUSHLESS3_IPD_POSITION 0x19
96 #define BRUSHLESS3_SUPPLY_VOLTAGE 0x1A
97 #define BRUSHLESS3_SPEED_CMD 0x1B
98 #define BRUSHLESS3_SPD_CMD_BUFFER 0x1C
99 #define BRUSHLESS3_FAULT_CODE 0x1E
106 #define BRUSHLESS3_MOTOR_PARAM_1 0x20
107 #define BRUSHLESS3_MOTOR_PARAM_2 0x21
108 #define BRUSHLESS3_MOTOR_PARAM_3 0x22
109 #define BRUSHLESS3_SYS_OPT_1 0x23
110 #define BRUSHLESS3_SYS_OPT_2 0x24
111 #define BRUSHLESS3_SYS_OPT_3 0x25
112 #define BRUSHLESS3_SYS_OPT_4 0x26
113 #define BRUSHLESS3_SYS_OPT_5 0x27
114 #define BRUSHLESS3_SYS_OPT_6 0x28
115 #define BRUSHLESS3_SYS_OPT_7 0x29
116 #define BRUSHLESS3_SYS_OPT_8 0x2A
117 #define BRUSHLESS3_SYS_OPT_9 0x2B
124 #define BRUSHLESS3_PARAM_START_EE_CTRL 0x40
125 #define BRUSHLESS3_PARAM_STOP_EE_CTRL 0x50
126 #define BRUSHLESS3_PARAM_MOTOR_PARAM_1 0x39
127 #define BRUSHLESS3_PARAM_MOTOR_PARAM_2 0x1E
128 #define BRUSHLESS3_PARAM_MOTOR_PARAM_3 0x3A
129 #define BRUSHLESS3_PARAM_SYS_OPT_1 0x08
130 #define BRUSHLESS3_PARAM_SYS_OPT_2 0x50
131 #define BRUSHLESS3_PARAM_SYS_OPT_3 0xDA
132 #define BRUSHLESS3_PARAM_SYS_OPT_4 0xB8
133 #define BRUSHLESS3_PARAM_SYS_OPT_5 0x10
134 #define BRUSHLESS3_PARAM_SYS_OPT_6 0x27
135 #define BRUSHLESS3_PARAM_SYS_OPT_7 0x37
136 #define BRUSHLESS3_PARAM_SYS_OPT_8 0x04
137 #define BRUSHLESS3_PARAM_SYS_OPT_9 0x0C
138 #define BRUSHLESS3_PARAM_DEV_CTRL 0xB6
655 #endif // _BRUSHLESS3_H_
err_t brushless3_set_an_mode(brushless3_t *ctx)
Set Analog mode function.
uint8_t slave_address
Definition: brushless3.h:164
err_t brushless3_pwm_start(brushless3_t *ctx)
Start PWM module.
pwm_t pwm
Definition: brushless3.h:160
uint8_t i2c_address
Definition: brushless3.h:185
err_t brushless3_check_fault_code(brushless3_t *ctx, uint8_t *fault_code)
Check fault code function.
err_t brushless3_default_cfg(brushless3_t *ctx)
Click Default Configuration function.
digital_out_t dir
Definition: brushless3.h:153
i2c_master_t i2c
Definition: brushless3.h:159
err_t brushless3_get_speed(brushless3_t *ctx, float *speed)
Get speed function.
err_t brushless3_get_vel_const(brushless3_t *ctx, float *velocity)
Get measured velocity constant function.
void brushless3_forward_direction(brushless3_t *ctx)
Set the direction of rotation in the forward direction function.
pin_name_t pwm
Definition: brushless3.h:176
err_t brushless3_init(brushless3_t *ctx, brushless3_cfg_t *cfg)
Initialization function.
err_t brushless3_get_supply_voltage(brushless3_t *ctx, float *voltage)
Get the supply voltage function.
err_t brushless3_set_speed_pwm(brushless3_t *ctx, uint16_t motor_speed_hz)
Set speed PWM function.
void brushless3_reverse_direction(brushless3_t *ctx)
Set the direction of rotation in the reverse direction function.
err_t brushless3_write_data(brushless3_t *ctx, uint8_t reg_addr, uint8_t write_data)
Write function.
err_t brushless3_dis_config(brushless3_t *ctx)
Disable the writing to the configuration registers function.
err_t brushless3_pwm_stop(brushless3_t *ctx)
Stop PWM module.
err_t brushless3_set_default_param(brushless3_t *ctx)
Set default parameter function.
err_t brushless3_copy_eeprom(brushless3_t *ctx)
Copy EEPROM data to register function.
err_t brushless3_get_period(brushless3_t *ctx, float *period)
Get motor period function.
pin_name_t scl
Definition: brushless3.h:174
err_t brushless3_read_data(brushless3_t *ctx, uint8_t reg_addr, uint8_t *read_data)
Read function.
err_t brushless3_check_motor_lock(brushless3_t *ctx, uint8_t *motor_lock)
Check indicate that the motor is locked function.
err_t brushless3_dis_sleep_mode(brushless3_t *ctx)
Disable entering into sleep or standby mode function.
err_t brushless3_dis_write_eeprom(brushless3_t *ctx)
Disable the writing to the EEPROM registers function.
digital_in_t int_pin
Definition: brushless3.h:156
err_t brushless3_set_speed(brushless3_t *ctx, uint16_t motor_speed_hz)
Set speed function.
err_t brushless3_get_speed_cmd(brushless3_t *ctx, float *speed_cmd)
Get the speed command ( % ) based on analog or PWM or I2C function.
err_t brushless3_check_sleep_mode(brushless3_t *ctx, uint8_t *sleep_mode)
Check indicate that device went into sleep or standby mode function.
uint32_t dev_pwm_freq
Definition: brushless3.h:183
void brushless3_cfg_setup(brushless3_cfg_t *cfg)
Config Object Initialization function.
err_t brushless3_set_duty_cycle(brushless3_t *ctx, float duty_cycle)
Generic sets PWM duty cycle.
pin_name_t sda
Definition: brushless3.h:175
err_t brushless3_en_write_eeprom(brushless3_t *ctx)
Enable the writing to the EEPROM registers function.
pin_name_t int_pin
Definition: brushless3.h:180
err_t brushless3_set_pwm_mode(brushless3_t *ctx)
Set PWM mode function.
err_t brushless3_en_prog_eeprom(brushless3_t *ctx)
Set prog key function.
uint8_t brushless3_get_int_pin(brushless3_t *ctx)
Get Interrupt pin state function.
err_t brushless3_check_over_temp(brushless3_t *ctx, uint8_t *over_temp)
Check indicate device temperature is over its limits function.
uint32_t i2c_speed
Definition: brushless3.h:184
Click ctx object definition.
Definition: brushless3.h:151
uint32_t pwm_freq
Definition: brushless3.h:163
err_t brushless3_en_config(brushless3_t *ctx)
Enable the writing to the configuration registers function.
Click configuration structure definition.
Definition: brushless3.h:172
pin_name_t dir
Definition: brushless3.h:179