brushless21 2.0.0.0
brushless21.h
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2** Copyright (C) 2020 MikroElektronika d.o.o.
3** Contact: https://www.mikroe.com/contact
4**
5** Permission is hereby granted, free of charge, to any person obtaining a copy
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10** furnished to do so, subject to the following conditions:
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15** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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22
28#ifndef BRUSHLESS21_H
29#define BRUSHLESS21_H
30
31#ifdef __cplusplus
32extern "C"{
33#endif
34
35#include "drv_digital_out.h"
36#include "drv_digital_in.h"
37#include "drv_pwm.h"
38#include "drv_i2c_master.h"
39
60#define BRUSHLESS21_EEPROM_USER_0 0x06
61#define BRUSHLESS21_EEPROM_USER_1 0x07
62#define BRUSHLESS21_EEPROM_RATED_SPEED_DIR 0x08
63#define BRUSHLESS21_EEPROM_ACCELERATION_AND_RES 0x09
64#define BRUSHLESS21_EEPROM_CURRENT 0x0A
65#define BRUSHLESS21_EEPROM_MODE 0x0B
66#define BRUSHLESS21_EEPROM_PID_P_AND_INDUCTANCE 0x0C
67#define BRUSHLESS21_EEPROM_PID_I_AND_DELAY 0x0D
68#define BRUSHLESS21_EEPROM_LOCK_AND_SOFT_CTRL 0x0F
69#define BRUSHLESS21_EEPROM_OCP_FCSPEED_ACDEC_BUF_FLT 0x10
70#define BRUSHLESS21_EEPROM_SPEED_AND_FG 0x11
71#define BRUSHLESS21_EEPROM_IPD_CURRENT_THR 0x12
72#define BRUSHLESS21_EEPROM_RATED_VOLTAGE 0x14
73#define BRUSHLESS21_EEPROM_SLIGHT_MOVE_LOW_DUTY_THR 0x15
74#define BRUSHLESS21_EEPROM_CLOSED_LOOP_TIME 0x16
75#define BRUSHLESS21_EEPROM_CONTROL 0xA1
76#define BRUSHLESS21_EEPROM_ADDRESS 0xA2
77#define BRUSHLESS21_EEPROM_DATA_IN 0xA3
78
83#define BRUSHLESS21_REG_RATED_SPEED_DIR 0x48
84#define BRUSHLESS21_REG_ACCELERATION_AND_RES 0x49
85#define BRUSHLESS21_REG_CURRENT 0x4A
86#define BRUSHLESS21_REG_MODE 0x4B
87#define BRUSHLESS21_REG_PID_P_AND_INDUCTANCE 0x4C
88#define BRUSHLESS21_REG_PID_I_AND_DELAY 0x4D
89#define BRUSHLESS21_REG_LOCK_AND_SOFT_CTRL 0x4F
90#define BRUSHLESS21_REG_OCP_FCSPEED_ACDEC_BUF_FLT 0x50
91#define BRUSHLESS21_REG_SPEED_AND_FG 0x51
92#define BRUSHLESS21_REG_IPD_CURRENT_THR 0x52
93#define BRUSHLESS21_REG_RATED_VOLTAGE 0x54
94#define BRUSHLESS21_REG_SLIGHT_MOVE_LOW_DUTY_THR 0x55
95#define BRUSHLESS21_REG_CLOSED_LOOP_TIME 0x56
96#define BRUSHLESS21_REG_READBACK_MOTOR_SPEED 0x78
97#define BRUSHLESS21_REG_READBACK_BUS_CURRENT 0x79
98#define BRUSHLESS21_REG_READBACK_Q_AXIS_CURRENT 0x7A
99#define BRUSHLESS21_REG_READBACK_VBB 0x7B
100#define BRUSHLESS21_REG_READBACK_TEMPERATURE 0x7C
101#define BRUSHLESS21_REG_READBACK_CONTROL_DEMAND 0x7D
102#define BRUSHLESS21_REG_READBACK_CONTROL_COMMAND 0x7E
103 // brushless21_reg
105
106
121#define BRUSHLESS21_DIR_REVERSE 0
122#define BRUSHLESS21_DIR_FORWARD 1
123
128#define BRUSHLESS21_MOTOR_SPEED_HZ 0.530
129#define BRUSHLESS21_VBB_MAX 20
130#define BRUSHLESS21_VBB_RESOLUTION 0xFF
131#define BRUSHLESS21_TEMPERATURE_OFFSET 73
132#define BRUSHLESS21_I2C_DUTY_RESOLUTION 0x01FF
133#define BRUSHLESS21_DUTY_CONTROLLED_BY_I2C_BIT 0x0200
134
139#define BRUSHLESS21_DEF_FREQ 5000
140
146#define BRUSHLESS21_SET_DEV_ADDR 0x55
147 // brushless21_cfg
149
164#define BRUSHLESS21_MAP_MIKROBUS( cfg, mikrobus ) \
165 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
166 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
167 cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
168 cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
169 cfg.fg = MIKROBUS( mikrobus, MIKROBUS_INT );
170 // brushless21_map // brushless21
173
178typedef enum
179{
184
189typedef struct
190{
191 // Output pins
192 digital_out_t en;
194 // Input pins
195 digital_in_t fg;
197 // Modules
198 pwm_t pwm;
199 i2c_master_t i2c;
201 uint32_t pwm_freq;
207
212typedef struct
213{
214 // Communication gpio pins
215 pin_name_t pwm;
216 pin_name_t scl;
217 pin_name_t sda;
219 // Additional gpio pins
220 pin_name_t en;
221 pin_name_t fg;
223 // Static variable
224 uint32_t dev_pwm_freq;
225 uint32_t i2c_speed;
226 uint8_t i2c_address;
231
236typedef enum
237{
240
242
259
275
290
304
316
328
340err_t brushless21_set_duty_cycle ( brushless21_t *ctx, float duty_cycle );
341
354err_t brushless21_write_register ( brushless21_t *ctx, uint8_t reg, uint16_t data_in );
355
368err_t brushless21_read_register ( brushless21_t *ctx, uint8_t reg, uint16_t *data_out );
369
379
389
399
411err_t brushless21_get_temperature ( brushless21_t *ctx, int8_t *temperature );
412
424err_t brushless21_get_motor_speed ( brushless21_t *ctx, float *motor_speed_hz );
425
437err_t brushless21_get_vbb_voltage ( brushless21_t *ctx, float *vbb_voltage );
438
451err_t brushless21_set_direction ( brushless21_t *ctx, uint8_t direction );
452
464
465#ifdef __cplusplus
466}
467#endif
468#endif // BRUSHLESS21_H
469 // brushless21
471
472// ------------------------------------------------------------------------ END
brushless21_drv_t
Brushless 21 Click driver selector.
Definition: brushless21.h:179
@ BRUSHLESS21_DRV_SEL_I2C
Definition: brushless21.h:181
@ BRUSHLESS21_DRV_SEL_GPIO
Definition: brushless21.h:180
brushless21_return_value_t
Brushless 21 Click return value data.
Definition: brushless21.h:237
@ BRUSHLESS21_ERROR
Definition: brushless21.h:239
@ BRUSHLESS21_OK
Definition: brushless21.h:238
err_t brushless21_init(brushless21_t *ctx, brushless21_cfg_t *cfg)
Brushless 21 initialization function.
err_t brushless21_set_direction(brushless21_t *ctx, uint8_t direction)
Brushless 21 set direction function.
err_t brushless21_get_motor_speed(brushless21_t *ctx, float *motor_speed_hz)
Brushless 21 get motor speed function.
err_t brushless21_pwm_stop(brushless21_t *ctx)
Brushless 21 stop PWM module.
err_t brushless21_switch_direction(brushless21_t *ctx)
Brushless 21 switch direction function.
err_t brushless21_get_vbb_voltage(brushless21_t *ctx, float *vbb_voltage)
Brushless 21 get vbb voltage function.
void brushless21_drv_interface_selection(brushless21_cfg_t *cfg, brushless21_drv_t drv_sel)
Brushless 21 driver interface setup function.
err_t brushless21_get_temperature(brushless21_t *ctx, int8_t *temperature)
Brushless 21 get temperature function.
err_t brushless21_pwm_start(brushless21_t *ctx)
Brushless 21 start PWM module.
err_t brushless21_set_duty_cycle(brushless21_t *ctx, float duty_cycle)
Brushless 21 set duty cycle function.
err_t brushless21_default_cfg(brushless21_t *ctx)
Brushless 21 default configuration function.
void brushless21_cfg_setup(brushless21_cfg_t *cfg)
Brushless 21 configuration object setup function.
err_t brushless21_write_register(brushless21_t *ctx, uint8_t reg, uint16_t data_in)
Brushless 21 write register function.
void brushless21_enable_device(brushless21_t *ctx)
Brushless 21 enable device function.
void brushless21_disable_device(brushless21_t *ctx)
Brushless 21 disable device function.
err_t brushless21_read_register(brushless21_t *ctx, uint8_t reg, uint16_t *data_out)
Brushless 21 read register function.
uint8_t brushless21_get_fg_pin(brushless21_t *ctx)
Brushless 21 get fg pin function.
Brushless 21 Click configuration object.
Definition: brushless21.h:213
pin_name_t fg
Definition: brushless21.h:221
brushless21_drv_t drv_sel
Definition: brushless21.h:228
uint32_t i2c_speed
Definition: brushless21.h:225
uint32_t dev_pwm_freq
Definition: brushless21.h:224
pin_name_t scl
Definition: brushless21.h:216
pin_name_t en
Definition: brushless21.h:220
pin_name_t pwm
Definition: brushless21.h:215
pin_name_t sda
Definition: brushless21.h:217
uint8_t i2c_address
Definition: brushless21.h:226
Brushless 21 Click context object.
Definition: brushless21.h:190
brushless21_drv_t drv_sel
Definition: brushless21.h:204
uint32_t pwm_freq
Definition: brushless21.h:201
i2c_master_t i2c
Definition: brushless21.h:199
digital_out_t en
Definition: brushless21.h:192
uint8_t slave_address
Definition: brushless21.h:202
digital_in_t fg
Definition: brushless21.h:195
pwm_t pwm
Definition: brushless21.h:198