brushless21  2.0.0.0
brushless21.h
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22 
28 #ifndef BRUSHLESS21_H
29 #define BRUSHLESS21_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
39 #ifdef PREINIT_SUPPORTED
40 #include "preinit.h"
41 #endif
42 
43 #ifdef MikroCCoreVersion
44  #if MikroCCoreVersion >= 1
45  #include "delays.h"
46  #endif
47 #endif
48 
49 #include "drv_digital_out.h"
50 #include "drv_digital_in.h"
51 #include "drv_pwm.h"
52 #include "drv_i2c_master.h"
53 
74 #define BRUSHLESS21_EEPROM_USER_0 0x06
75 #define BRUSHLESS21_EEPROM_USER_1 0x07
76 #define BRUSHLESS21_EEPROM_RATED_SPEED_DIR 0x08
77 #define BRUSHLESS21_EEPROM_ACCELERATION_AND_RES 0x09
78 #define BRUSHLESS21_EEPROM_CURRENT 0x0A
79 #define BRUSHLESS21_EEPROM_MODE 0x0B
80 #define BRUSHLESS21_EEPROM_PID_P_AND_INDUCTANCE 0x0C
81 #define BRUSHLESS21_EEPROM_PID_I_AND_DELAY 0x0D
82 #define BRUSHLESS21_EEPROM_LOCK_AND_SOFT_CTRL 0x0F
83 #define BRUSHLESS21_EEPROM_OCP_FCSPEED_ACDEC_BUF_FLT 0x10
84 #define BRUSHLESS21_EEPROM_SPEED_AND_FG 0x11
85 #define BRUSHLESS21_EEPROM_IPD_CURRENT_THR 0x12
86 #define BRUSHLESS21_EEPROM_RATED_VOLTAGE 0x14
87 #define BRUSHLESS21_EEPROM_SLIGHT_MOVE_LOW_DUTY_THR 0x15
88 #define BRUSHLESS21_EEPROM_CLOSED_LOOP_TIME 0x16
89 #define BRUSHLESS21_EEPROM_CONTROL 0xA1
90 #define BRUSHLESS21_EEPROM_ADDRESS 0xA2
91 #define BRUSHLESS21_EEPROM_DATA_IN 0xA3
92 
97 #define BRUSHLESS21_REG_RATED_SPEED_DIR 0x48
98 #define BRUSHLESS21_REG_ACCELERATION_AND_RES 0x49
99 #define BRUSHLESS21_REG_CURRENT 0x4A
100 #define BRUSHLESS21_REG_MODE 0x4B
101 #define BRUSHLESS21_REG_PID_P_AND_INDUCTANCE 0x4C
102 #define BRUSHLESS21_REG_PID_I_AND_DELAY 0x4D
103 #define BRUSHLESS21_REG_LOCK_AND_SOFT_CTRL 0x4F
104 #define BRUSHLESS21_REG_OCP_FCSPEED_ACDEC_BUF_FLT 0x50
105 #define BRUSHLESS21_REG_SPEED_AND_FG 0x51
106 #define BRUSHLESS21_REG_IPD_CURRENT_THR 0x52
107 #define BRUSHLESS21_REG_RATED_VOLTAGE 0x54
108 #define BRUSHLESS21_REG_SLIGHT_MOVE_LOW_DUTY_THR 0x55
109 #define BRUSHLESS21_REG_CLOSED_LOOP_TIME 0x56
110 #define BRUSHLESS21_REG_READBACK_MOTOR_SPEED 0x78
111 #define BRUSHLESS21_REG_READBACK_BUS_CURRENT 0x79
112 #define BRUSHLESS21_REG_READBACK_Q_AXIS_CURRENT 0x7A
113 #define BRUSHLESS21_REG_READBACK_VBB 0x7B
114 #define BRUSHLESS21_REG_READBACK_TEMPERATURE 0x7C
115 #define BRUSHLESS21_REG_READBACK_CONTROL_DEMAND 0x7D
116 #define BRUSHLESS21_REG_READBACK_CONTROL_COMMAND 0x7E
117  // brushless21_reg
119 
120 
135 #define BRUSHLESS21_DIR_REVERSE 0
136 #define BRUSHLESS21_DIR_FORWARD 1
137 
142 #define BRUSHLESS21_MOTOR_SPEED_HZ 0.530
143 #define BRUSHLESS21_VBB_MAX 20
144 #define BRUSHLESS21_VBB_RESOLUTION 0xFF
145 #define BRUSHLESS21_TEMPERATURE_OFFSET 73
146 #define BRUSHLESS21_I2C_DUTY_RESOLUTION 0x01FF
147 #define BRUSHLESS21_DUTY_CONTROLLED_BY_I2C_BIT 0x0200
148 
153 #define BRUSHLESS21_DEF_FREQ 5000
154 
160 #define BRUSHLESS21_SET_DEV_ADDR 0x55
161  // brushless21_cfg
163 
178 #define BRUSHLESS21_MAP_MIKROBUS( cfg, mikrobus ) \
179  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
180  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
181  cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
182  cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
183  cfg.fg = MIKROBUS( mikrobus, MIKROBUS_INT );
184  // brushless21_map // brushless21
187 
192 typedef enum
193 {
198 
203 typedef struct
204 {
205  // Output pins
206  digital_out_t en;
208  // Input pins
209  digital_in_t fg;
211  // Modules
212  pwm_t pwm;
213  i2c_master_t i2c;
215  uint32_t pwm_freq;
216  uint8_t slave_address;
220 } brushless21_t;
221 
226 typedef struct
227 {
228  // Communication gpio pins
229  pin_name_t pwm;
230  pin_name_t scl;
231  pin_name_t sda;
233  // Additional gpio pins
234  pin_name_t en;
235  pin_name_t fg;
237  // Static variable
238  uint32_t dev_pwm_freq;
239  uint32_t i2c_speed;
240  uint8_t i2c_address;
245 
250 typedef enum
251 {
253  BRUSHLESS21_ERROR = -1
254 
256 
273 
289 
304 
318 
330 
342 
354 err_t brushless21_set_duty_cycle ( brushless21_t *ctx, float duty_cycle );
355 
368 err_t brushless21_write_register ( brushless21_t *ctx, uint8_t reg, uint16_t data_in );
369 
382 err_t brushless21_read_register ( brushless21_t *ctx, uint8_t reg, uint16_t *data_out );
383 
393 
403 
413 
425 err_t brushless21_get_temperature ( brushless21_t *ctx, int8_t *temperature );
426 
438 err_t brushless21_get_motor_speed ( brushless21_t *ctx, float *motor_speed_hz );
439 
451 err_t brushless21_get_vbb_voltage ( brushless21_t *ctx, float *vbb_voltage );
452 
465 err_t brushless21_set_direction ( brushless21_t *ctx, uint8_t direction );
466 
478 
479 #ifdef __cplusplus
480 }
481 #endif
482 #endif // BRUSHLESS21_H
483  // brushless21
485 
486 // ------------------------------------------------------------------------ END
brushless21_enable_device
void brushless21_enable_device(brushless21_t *ctx)
Brushless 21 enable device function.
brushless21_t::pwm
pwm_t pwm
Definition: brushless21.h:212
brushless21_t::i2c
i2c_master_t i2c
Definition: brushless21.h:213
brushless21_t::slave_address
uint8_t slave_address
Definition: brushless21.h:216
brushless21_cfg_t::pwm
pin_name_t pwm
Definition: brushless21.h:229
brushless21_cfg_t
Brushless 21 Click configuration object.
Definition: brushless21.h:227
brushless21_cfg_t::scl
pin_name_t scl
Definition: brushless21.h:230
brushless21_set_duty_cycle
err_t brushless21_set_duty_cycle(brushless21_t *ctx, float duty_cycle)
Brushless 21 set duty cycle function.
brushless21_cfg_t::dev_pwm_freq
uint32_t dev_pwm_freq
Definition: brushless21.h:238
brushless21_disable_device
void brushless21_disable_device(brushless21_t *ctx)
Brushless 21 disable device function.
brushless21_cfg_t::i2c_address
uint8_t i2c_address
Definition: brushless21.h:240
brushless21_read_register
err_t brushless21_read_register(brushless21_t *ctx, uint8_t reg, uint16_t *data_out)
Brushless 21 read register function.
brushless21_pwm_start
err_t brushless21_pwm_start(brushless21_t *ctx)
Brushless 21 start PWM module.
brushless21_cfg_t::drv_sel
brushless21_drv_t drv_sel
Definition: brushless21.h:242
brushless21_t::en
digital_out_t en
Definition: brushless21.h:206
brushless21_default_cfg
err_t brushless21_default_cfg(brushless21_t *ctx)
Brushless 21 default configuration function.
brushless21_get_temperature
err_t brushless21_get_temperature(brushless21_t *ctx, int8_t *temperature)
Brushless 21 get temperature function.
brushless21_write_register
err_t brushless21_write_register(brushless21_t *ctx, uint8_t reg, uint16_t data_in)
Brushless 21 write register function.
brushless21_t
Brushless 21 Click context object.
Definition: brushless21.h:204
brushless21_cfg_setup
void brushless21_cfg_setup(brushless21_cfg_t *cfg)
Brushless 21 configuration object setup function.
brushless21_set_direction
err_t brushless21_set_direction(brushless21_t *ctx, uint8_t direction)
Brushless 21 set direction function.
brushless21_drv_interface_selection
void brushless21_drv_interface_selection(brushless21_cfg_t *cfg, brushless21_drv_t drv_sel)
Brushless 21 driver interface setup function.
brushless21_get_motor_speed
err_t brushless21_get_motor_speed(brushless21_t *ctx, float *motor_speed_hz)
Brushless 21 get motor speed function.
brushless21_switch_direction
err_t brushless21_switch_direction(brushless21_t *ctx)
Brushless 21 switch direction function.
brushless21_cfg_t::fg
pin_name_t fg
Definition: brushless21.h:235
brushless21_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: brushless21.h:239
BRUSHLESS21_ERROR
@ BRUSHLESS21_ERROR
Definition: brushless21.h:253
brushless21_init
err_t brushless21_init(brushless21_t *ctx, brushless21_cfg_t *cfg)
Brushless 21 initialization function.
brushless21_cfg_t::sda
pin_name_t sda
Definition: brushless21.h:231
BRUSHLESS21_DRV_SEL_I2C
@ BRUSHLESS21_DRV_SEL_I2C
Definition: brushless21.h:195
brushless21_return_value_t
brushless21_return_value_t
Brushless 21 Click return value data.
Definition: brushless21.h:251
brushless21_t::pwm_freq
uint32_t pwm_freq
Definition: brushless21.h:215
brushless21_cfg_t::en
pin_name_t en
Definition: brushless21.h:234
brushless21_t::drv_sel
brushless21_drv_t drv_sel
Definition: brushless21.h:218
brushless21_get_vbb_voltage
err_t brushless21_get_vbb_voltage(brushless21_t *ctx, float *vbb_voltage)
Brushless 21 get vbb voltage function.
brushless21_pwm_stop
err_t brushless21_pwm_stop(brushless21_t *ctx)
Brushless 21 stop PWM module.
BRUSHLESS21_OK
@ BRUSHLESS21_OK
Definition: brushless21.h:252
brushless21_get_fg_pin
uint8_t brushless21_get_fg_pin(brushless21_t *ctx)
Brushless 21 get fg pin function.
BRUSHLESS21_DRV_SEL_GPIO
@ BRUSHLESS21_DRV_SEL_GPIO
Definition: brushless21.h:194
brushless21_t::fg
digital_in_t fg
Definition: brushless21.h:209
brushless21_drv_t
brushless21_drv_t
Brushless 21 Click driver selector.
Definition: brushless21.h:193