brushless3  2.0.0.0
brushless3.h
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1 /*
2  * MikroSDK - MikroE Software Development Kit
3  * Copyright© 2020 MikroElektronika d.o.o.
4  *
5  * Permission is hereby granted, free of charge, to any person
6  * obtaining a copy of this software and associated documentation
7  * files (the "Software"), to deal in the Software without restriction,
8  * including without limitation the rights to use, copy, modify, merge,
9  * publish, distribute, sublicense, and/or sell copies of the Software,
10  * and to permit persons to whom the Software is furnished to do so,
11  * subject to the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
18  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
19  * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
20  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
21  * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE
22  * OR OTHER DEALINGS IN THE SOFTWARE.
23  */
24 
33 // ----------------------------------------------------------------------------
34 
35 #ifndef BRUSHLESS3_H
36 #define BRUSHLESS3_H
37 
42 #ifdef PREINIT_SUPPORTED
43 #include "preinit.h"
44 #endif
45 
46 #ifdef MikroCCoreVersion
47  #if MikroCCoreVersion >= 1
48  #include "delays.h"
49  #endif
50 #endif
51 
52 #include "drv_digital_out.h"
53 #include "drv_digital_in.h"
54 #include "drv_i2c_master.h"
55 #include "drv_pwm.h"
56 
57 
58 // -------------------------------------------------------------- PUBLIC MACROS
68 #define BRUSHLESS3_MAP_MIKROBUS( cfg, mikrobus ) \
69  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
70  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
71  cfg.dir = MIKROBUS( mikrobus, MIKROBUS_RST ); \
72  cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
73  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
74 
80 #define BRUSHLESS3_OK 0
81 #define BRUSHLESS3_ERROR -1
82 
84 #define BRUSHLESS3_I2C_ADDRESS 0x52
85 #define BRUSHLESS3_MAX_SPEED 0x1FF
86 #define BRUSHLESS3_DEF_FREQ 25000
87 
92 #define BRUSHLESS3_SPEED_CTRL_1 0x00
93 #define BRUSHLESS3_SPEED_CTRL_2 0x01
94 #define BRUSHLESS3_DEV_CTRL 0x02
95 #define BRUSHLESS3_EE_CTRL 0x03
96 
102 #define BRUSHLESS3_STATUS 0x10
103 #define BRUSHLESS3_MOTOR_SPEED_1 0x11
104 #define BRUSHLESS3_MOTOR_SPEED_2 0x12
105 #define BRUSHLESS3_MOTOR_PERIOD_1 0x13
106 #define BRUSHLESS3_MOTOR_PERIOD_2 0x14
107 #define BRUSHLESS3_MOTOR_KT_1 0x15
108 #define BRUSHLESS3_MOTOR_KT_2 0x16
109 #define BRUSHLESS3_IPD_POSITION 0x19
110 #define BRUSHLESS3_SUPPLY_VOLTAGE 0x1A
111 #define BRUSHLESS3_SPEED_CMD 0x1B
112 #define BRUSHLESS3_SPD_CMD_BUFFER 0x1C
113 #define BRUSHLESS3_FAULT_CODE 0x1E
114 
120 #define BRUSHLESS3_MOTOR_PARAM_1 0x20
121 #define BRUSHLESS3_MOTOR_PARAM_2 0x21
122 #define BRUSHLESS3_MOTOR_PARAM_3 0x22
123 #define BRUSHLESS3_SYS_OPT_1 0x23
124 #define BRUSHLESS3_SYS_OPT_2 0x24
125 #define BRUSHLESS3_SYS_OPT_3 0x25
126 #define BRUSHLESS3_SYS_OPT_4 0x26
127 #define BRUSHLESS3_SYS_OPT_5 0x27
128 #define BRUSHLESS3_SYS_OPT_6 0x28
129 #define BRUSHLESS3_SYS_OPT_7 0x29
130 #define BRUSHLESS3_SYS_OPT_8 0x2A
131 #define BRUSHLESS3_SYS_OPT_9 0x2B
132 
138 #define BRUSHLESS3_PARAM_START_EE_CTRL 0x40
139 #define BRUSHLESS3_PARAM_STOP_EE_CTRL 0x50
140 #define BRUSHLESS3_PARAM_MOTOR_PARAM_1 0x39
141 #define BRUSHLESS3_PARAM_MOTOR_PARAM_2 0x1E
142 #define BRUSHLESS3_PARAM_MOTOR_PARAM_3 0x3A
143 #define BRUSHLESS3_PARAM_SYS_OPT_1 0x08
144 #define BRUSHLESS3_PARAM_SYS_OPT_2 0x50
145 #define BRUSHLESS3_PARAM_SYS_OPT_3 0xDA
146 #define BRUSHLESS3_PARAM_SYS_OPT_4 0xB8
147 #define BRUSHLESS3_PARAM_SYS_OPT_5 0x10
148 #define BRUSHLESS3_PARAM_SYS_OPT_6 0x27
149 #define BRUSHLESS3_PARAM_SYS_OPT_7 0x37
150 #define BRUSHLESS3_PARAM_SYS_OPT_8 0x04
151 #define BRUSHLESS3_PARAM_SYS_OPT_9 0x0C
152 #define BRUSHLESS3_PARAM_DEV_CTRL 0xB6
153  // End group macro
155 // --------------------------------------------------------------- PUBLIC TYPES
164 typedef struct
165 {
166  // Output pins
167  digital_out_t dir;
168 
169  // Input pins
170  digital_in_t int_pin;
171 
172  // Modules
173  i2c_master_t i2c;
174  pwm_t pwm;
175 
176  // ctx variable
177  uint32_t pwm_freq;
178  uint8_t slave_address;
179 
180 } brushless3_t;
181 
185 typedef struct
186 {
187  // Communication gpio pins
188  pin_name_t scl;
189  pin_name_t sda;
190  pin_name_t pwm;
191 
192  // Additional gpio pins
193  pin_name_t dir;
194  pin_name_t int_pin;
195 
196  // static variable
197  uint32_t dev_pwm_freq;
198  uint32_t i2c_speed;
199  uint8_t i2c_address;
200 
202  // End types group
204 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
205 
211 #ifdef __cplusplus
212 extern "C"{
213 #endif
214 
224 
234 
246 
259 err_t brushless3_write_data ( brushless3_t *ctx, uint8_t reg_addr, uint8_t write_data );
260 
273 err_t brushless3_read_data ( brushless3_t *ctx, uint8_t reg_addr, uint8_t *read_data );
274 
288 
302 
316 
330 
344 
358 
372 
386 
400 
414 err_t brushless3_check_over_temp ( brushless3_t *ctx, uint8_t *over_temp );
415 
430 err_t brushless3_check_sleep_mode ( brushless3_t *ctx, uint8_t *sleep_mode );
431 
446 err_t brushless3_check_motor_lock ( brushless3_t *ctx, uint8_t *motor_lock );
447 
462 err_t brushless3_get_supply_voltage ( brushless3_t *ctx, float *voltage );
463 
478 err_t brushless3_get_speed_cmd ( brushless3_t *ctx, float *speed_cmd );
479 
503 err_t brushless3_check_fault_code ( brushless3_t *ctx, uint8_t *fault_code );
504 
519 err_t brushless3_get_speed ( brushless3_t *ctx, float *speed );
520 
534 err_t brushless3_set_speed ( brushless3_t *ctx, uint16_t motor_speed_hz );
535 
549 err_t brushless3_set_speed_pwm ( brushless3_t *ctx, uint16_t motor_speed_hz );
550 
565 err_t brushless3_get_period ( brushless3_t *ctx, float *period );
566 
580 
595 err_t brushless3_get_vel_const ( brushless3_t *ctx, float *velocity );
596 
606 
616 
627 
640 err_t brushless3_set_duty_cycle ( brushless3_t *ctx, float duty_cycle );
641 
653 
665 
666 #ifdef __cplusplus
667 }
668 #endif
669 #endif // _BRUSHLESS3_H_
670  // End public_function group
673 
674 // ------------------------------------------------------------------------- END
brushless3_set_an_mode
err_t brushless3_set_an_mode(brushless3_t *ctx)
Set Analog mode function.
brushless3_t::slave_address
uint8_t slave_address
Definition: brushless3.h:178
brushless3_pwm_start
err_t brushless3_pwm_start(brushless3_t *ctx)
Start PWM module.
brushless3_t::pwm
pwm_t pwm
Definition: brushless3.h:174
brushless3_cfg_t::i2c_address
uint8_t i2c_address
Definition: brushless3.h:199
brushless3_check_fault_code
err_t brushless3_check_fault_code(brushless3_t *ctx, uint8_t *fault_code)
Check fault code function.
brushless3_default_cfg
err_t brushless3_default_cfg(brushless3_t *ctx)
Click Default Configuration function.
brushless3_t::dir
digital_out_t dir
Definition: brushless3.h:167
brushless3_t::i2c
i2c_master_t i2c
Definition: brushless3.h:173
brushless3_get_speed
err_t brushless3_get_speed(brushless3_t *ctx, float *speed)
Get speed function.
brushless3_get_vel_const
err_t brushless3_get_vel_const(brushless3_t *ctx, float *velocity)
Get measured velocity constant function.
brushless3_forward_direction
void brushless3_forward_direction(brushless3_t *ctx)
Set the direction of rotation in the forward direction function.
brushless3_cfg_t::pwm
pin_name_t pwm
Definition: brushless3.h:190
brushless3_init
err_t brushless3_init(brushless3_t *ctx, brushless3_cfg_t *cfg)
Initialization function.
brushless3_get_supply_voltage
err_t brushless3_get_supply_voltage(brushless3_t *ctx, float *voltage)
Get the supply voltage function.
brushless3_set_speed_pwm
err_t brushless3_set_speed_pwm(brushless3_t *ctx, uint16_t motor_speed_hz)
Set speed PWM function.
brushless3_reverse_direction
void brushless3_reverse_direction(brushless3_t *ctx)
Set the direction of rotation in the reverse direction function.
brushless3_write_data
err_t brushless3_write_data(brushless3_t *ctx, uint8_t reg_addr, uint8_t write_data)
Write function.
brushless3_dis_config
err_t brushless3_dis_config(brushless3_t *ctx)
Disable the writing to the configuration registers function.
brushless3_pwm_stop
err_t brushless3_pwm_stop(brushless3_t *ctx)
Stop PWM module.
brushless3_set_default_param
err_t brushless3_set_default_param(brushless3_t *ctx)
Set default parameter function.
brushless3_copy_eeprom
err_t brushless3_copy_eeprom(brushless3_t *ctx)
Copy EEPROM data to register function.
brushless3_get_period
err_t brushless3_get_period(brushless3_t *ctx, float *period)
Get motor period function.
brushless3_cfg_t::scl
pin_name_t scl
Definition: brushless3.h:188
brushless3_read_data
err_t brushless3_read_data(brushless3_t *ctx, uint8_t reg_addr, uint8_t *read_data)
Read function.
brushless3_check_motor_lock
err_t brushless3_check_motor_lock(brushless3_t *ctx, uint8_t *motor_lock)
Check indicate that the motor is locked function.
brushless3_dis_sleep_mode
err_t brushless3_dis_sleep_mode(brushless3_t *ctx)
Disable entering into sleep or standby mode function.
brushless3_dis_write_eeprom
err_t brushless3_dis_write_eeprom(brushless3_t *ctx)
Disable the writing to the EEPROM registers function.
brushless3_t::int_pin
digital_in_t int_pin
Definition: brushless3.h:170
brushless3_set_speed
err_t brushless3_set_speed(brushless3_t *ctx, uint16_t motor_speed_hz)
Set speed function.
brushless3_get_speed_cmd
err_t brushless3_get_speed_cmd(brushless3_t *ctx, float *speed_cmd)
Get the speed command ( % ) based on analog or PWM or I2C function.
brushless3_check_sleep_mode
err_t brushless3_check_sleep_mode(brushless3_t *ctx, uint8_t *sleep_mode)
Check indicate that device went into sleep or standby mode function.
brushless3_cfg_t::dev_pwm_freq
uint32_t dev_pwm_freq
Definition: brushless3.h:197
brushless3_cfg_setup
void brushless3_cfg_setup(brushless3_cfg_t *cfg)
Config Object Initialization function.
brushless3_set_duty_cycle
err_t brushless3_set_duty_cycle(brushless3_t *ctx, float duty_cycle)
Generic sets PWM duty cycle.
brushless3_cfg_t::sda
pin_name_t sda
Definition: brushless3.h:189
brushless3_en_write_eeprom
err_t brushless3_en_write_eeprom(brushless3_t *ctx)
Enable the writing to the EEPROM registers function.
brushless3_cfg_t::int_pin
pin_name_t int_pin
Definition: brushless3.h:194
brushless3_set_pwm_mode
err_t brushless3_set_pwm_mode(brushless3_t *ctx)
Set PWM mode function.
brushless3_en_prog_eeprom
err_t brushless3_en_prog_eeprom(brushless3_t *ctx)
Set prog key function.
brushless3_get_int_pin
uint8_t brushless3_get_int_pin(brushless3_t *ctx)
Get Interrupt pin state function.
brushless3_check_over_temp
err_t brushless3_check_over_temp(brushless3_t *ctx, uint8_t *over_temp)
Check indicate device temperature is over its limits function.
brushless3_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: brushless3.h:198
brushless3_t
Click ctx object definition.
Definition: brushless3.h:165
brushless3_t::pwm_freq
uint32_t pwm_freq
Definition: brushless3.h:177
brushless3_en_config
err_t brushless3_en_config(brushless3_t *ctx)
Enable the writing to the configuration registers function.
brushless3_cfg_t
Click configuration structure definition.
Definition: brushless3.h:186
brushless3_cfg_t::dir
pin_name_t dir
Definition: brushless3.h:193