brushless23  2.0.0.0
brushless23.h
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22 
28 #ifndef BRUSHLESS23_H
29 #define BRUSHLESS23_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
35 #include "drv_digital_out.h"
36 #include "drv_digital_in.h"
37 #include "drv_i2c_master.h"
38 #include "drv_pwm.h"
39 #include "drv_analog_in.h"
40 
61 #define BRUSHLESS23_REG_STATUS 0x00
62 #define BRUSHLESS23_REG_USER_ID 0x01
63 #define BRUSHLESS23_REG_STOP_DUTY 0x02
64 #define BRUSHLESS23_REG_START_DUTY 0x03
65 #define BRUSHLESS23_REG_CHANGE_DUTY 0x04
66 #define BRUSHLESS23_REG_MAX_DUTY 0x05
67 #define BRUSHLESS23_REG_START_RPM_MSB 0x06
68 #define BRUSHLESS23_REG_START_RPM_LSB 0x07
69 #define BRUSHLESS23_REG_8 0x08
70 #define BRUSHLESS23_REG_9 0x09
71 #define BRUSHLESS23_REG_10 0x0A
72 #define BRUSHLESS23_REG_11 0x0B
73 #define BRUSHLESS23_REG_KIX_KI 0x0C
74 #define BRUSHLESS23_REG_KPX_KP 0x0D
75 #define BRUSHLESS23_REG_14 0x0E
76 #define BRUSHLESS23_REG_15 0x0F
77 #define BRUSHLESS23_REG_16 0x10
78 #define BRUSHLESS23_REG_17 0x11
79 #define BRUSHLESS23_REG_18 0x12
80 #define BRUSHLESS23_REG_19 0x13
81 #define BRUSHLESS23_REG_TRE_PRETIP_TIP 0x14
82 #define BRUSHLESS23_REG_LA_FMAX_FST 0x15
83 #define BRUSHLESS23_REG_FPWM_DEADTIME 0x16
84 #define BRUSHLESS23_REG_ISD_OCP_SRC_SINK 0x17
85 #define BRUSHLESS23_REG_COMP_HYS 0x18
86 #define BRUSHLESS23_REG_SLAVE_ADRS 0x19
87 #define BRUSHLESS23_REG_SPD_MSB 0x1B
88 #define BRUSHLESS23_REG_SPD_LSB 0x1C
89 #define BRUSHLESS23_REG_HZ_CNT_MSB 0x1D
90 #define BRUSHLESS23_REG_HZ_CNT_LSB 0x1E
91 #define BRUSHLESS23_REG_NVM_W_R 0x56
92 #define BRUSHLESS23_REG_NVM_ST 0x57
93  // brushless23_reg
95 
110 #define BRUSHLESS23_DUTY_CYCLE_MIN_PCT 0.0
111 #define BRUSHLESS23_DUTY_CYCLE_MAX_PCT 1.0
112 #define BRUSHLESS23_START_DUTY_MIN_PCT 0.0
113 #define BRUSHLESS23_START_DUTY_20_PCT 0.2
114 #define BRUSHLESS23_START_DUTY_MAX_PCT 0.498
115 #define BRUSHLESS23_STOP_DUTY_MIN_PCT 0.0
116 #define BRUSHLESS23_STOP_DUTY_18_PCT 0.18
117 #define BRUSHLESS23_STOP_DUTY_MAX_PCT 0.496
118 #define BRUSHLESS23_MAX_DUTY_MIN_PCT 0.502
119 #define BRUSHLESS23_MAX_DUTY_90_PCT 0.9
120 #define BRUSHLESS23_MAX_DUTY_MAX_PCT 1.0
121 #define BRUSHLESS23_CHANGE_DUTY_MIN_PCT 0.004
122 #define BRUSHLESS23_CHANGE_DUTY_90_PCT 0.9
123 #define BRUSHLESS23_CHANGE_DUTY_MAX_PCT 0.996
124 #define BRUSHLESS23_START_RPM_MIN_PCT 0.0
125 #define BRUSHLESS23_START_RPM_10_PCT 0.1
126 #define BRUSHLESS23_START_RPM_MAX_PCT 0.498
127 #define BRUSHLESS23_SPEED_SLOP_1_MSB 0x0F
128 #define BRUSHLESS23_SPEED_SLOP_1_LSB 0xF8
129 #define BRUSHLESS23_SPEED_SLOP_2_MSB 0x15
130 #define BRUSHLESS23_SPEED_SLOP_2_LSB 0xF0
131 #define BRUSHLESS23_OPEN_LOOP 0x01
132 #define BRUSHLESS23_TSPSEL_PWM_DUTY 0x10
133 #define BRUSHLESS23_ALERTINV_LOW 0x02
134 #define BRUSHLESS23_NO_STOP_BIT_MASK 0x80
135 
140 #define BRUSHLESS23_DIR_CW 0
141 #define BRUSHLESS23_DIR_CCW 1
142 
147 #define BRUSHLESS23_SBY_STANDBY 0
148 #define BRUSHLESS23_SBY_NORMAL_OPERATION 1
149 
154 #define BRUSHLESS23_SPEED_FREQUENCY 250000.0
155 
161 #define BRUSHLESS23_DEVICE_ADDRESS_ID2ID1_00 0x29
162 #define BRUSHLESS23_DEVICE_ADDRESS_ID2ID1_01 0x29
163 #define BRUSHLESS23_DEVICE_ADDRESS_ID2ID1_10 0x2D
164 #define BRUSHLESS23_DEVICE_ADDRESS_ID2ID1_11 0x32
165 
170 #define BRUSHLESS23_DEF_FREQ 5000
171  // brushless23_set
173 
188 #define BRUSHLESS23_MAP_MIKROBUS( cfg, mikrobus ) \
189  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
190  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
191  cfg.sby = MIKROBUS( mikrobus, MIKROBUS_CS ); \
192  cfg.cmo = MIKROBUS( mikrobus, MIKROBUS_AN ); \
193  cfg.dir = MIKROBUS( mikrobus, MIKROBUS_RST ); \
194  cfg.spd = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
195  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
196  // brushless23_map // brushless23
199 
204 typedef struct
205 {
206  // Output pins
207  digital_out_t sby;
208  digital_out_t dir;
210  // Input pins
211  digital_in_t int_pin;
213  // Modules
214  i2c_master_t i2c;
215  pwm_t pwm;
216  analog_in_t adc;
218  // ctx variable
219  uint32_t pwm_freq;
221  // I2C slave address
222  uint8_t slave_address;
224 } brushless23_t;
225 
230 typedef struct
231 {
232  pin_name_t scl;
233  pin_name_t sda;
235  pin_name_t sby;
236  pin_name_t cmo;
237  pin_name_t dir;
238  pin_name_t spd;
239  pin_name_t int_pin;
241  uint32_t i2c_speed;
242  uint8_t i2c_address;
243  uint32_t dev_pwm_freq;
244  analog_in_resolution_t resolution;
245  float vref;
248 
253 typedef enum
254 {
256  BRUSHLESS23_ERROR = -1
257 
259 
276 
291 
305 
319 err_t brushless23_write_register ( brushless23_t *ctx, uint8_t reg, uint8_t data_in );
320 
333 err_t brushless23_read_register ( brushless23_t *ctx, uint8_t reg, uint8_t *data_out );
334 
346 err_t brushless23_pwm_set_duty_cycle ( brushless23_t *ctx, float duty_cycle );
347 
359 
371 
383 err_t brushless23_read_an_pin_value ( brushless23_t *ctx, uint16_t *data_out );
384 
398 err_t brushless23_read_an_pin_voltage ( brushless23_t *ctx, float *data_out );
399 
410 void brushless23_set_sby_pin ( brushless23_t *ctx, uint8_t state );
411 
422 void brushless23_set_direction ( brushless23_t *ctx, uint8_t dir );
423 
433 
443 
455 err_t brushless23_get_motor_speed ( brushless23_t *ctx, float *motor_speed_hz );
456 
468 err_t brushless23_set_start_duty ( brushless23_t *ctx, float duty_cycle );
469 
481 err_t brushless23_set_stop_duty ( brushless23_t *ctx, float duty_cycle );
482 
494 err_t brushless23_set_max_duty ( brushless23_t *ctx, float duty_cycle );
495 
507 err_t brushless23_set_change_duty ( brushless23_t *ctx, float duty_cycle );
508 
520 err_t brushless23_set_start_rpm ( brushless23_t *ctx, float duty_cycle );
521 
533 err_t brushless23_set_duty_cycle ( brushless23_t *ctx, float duty_cycle );
534 
535 #ifdef __cplusplus
536 }
537 #endif
538 #endif // BRUSHLESS23_H
539  // brushless23
541 
542 // ------------------------------------------------------------------------ END
brushless23_cfg_t::vref
float vref
Definition: brushless23.h:245
brushless23_cfg_t::i2c_address
uint8_t i2c_address
Definition: brushless23.h:242
brushless23_read_register
err_t brushless23_read_register(brushless23_t *ctx, uint8_t reg, uint8_t *data_out)
Brushless 23 read register function.
brushless23_t::int_pin
digital_in_t int_pin
Definition: brushless23.h:211
brushless23_set_sby_pin
void brushless23_set_sby_pin(brushless23_t *ctx, uint8_t state)
Brushless 23 set sby pin function.
brushless23_set_start_duty
err_t brushless23_set_start_duty(brushless23_t *ctx, float duty_cycle)
Brushless 23 set start duty function.
brushless23_pwm_set_duty_cycle
err_t brushless23_pwm_set_duty_cycle(brushless23_t *ctx, float duty_cycle)
Brushless 23 sets PWM duty cycle.
brushless23_cfg_t::resolution
analog_in_resolution_t resolution
Definition: brushless23.h:244
brushless23_cfg_t::dir
pin_name_t dir
Definition: brushless23.h:237
brushless23_pwm_stop
err_t brushless23_pwm_stop(brushless23_t *ctx)
Brushless 23 stop PWM module.
brushless23_read_an_pin_voltage
err_t brushless23_read_an_pin_voltage(brushless23_t *ctx, float *data_out)
Brushless 23 read AN pin voltage level function.
brushless23_cfg_t
Brushless 23 Click configuration object.
Definition: brushless23.h:231
brushless23_set_change_duty
err_t brushless23_set_change_duty(brushless23_t *ctx, float duty_cycle)
Brushless 23 set change duty function.
brushless23_cfg_t::sby
pin_name_t sby
Definition: brushless23.h:235
brushless23_t
Brushless 23 Click context object.
Definition: brushless23.h:205
brushless23_cfg_t::cmo
pin_name_t cmo
Definition: brushless23.h:236
brushless23_cfg_setup
void brushless23_cfg_setup(brushless23_cfg_t *cfg)
Brushless 23 configuration object setup function.
brushless23_set_duty_cycle
err_t brushless23_set_duty_cycle(brushless23_t *ctx, float duty_cycle)
Brushless 23 set duty cycle function.
BRUSHLESS23_OK
@ BRUSHLESS23_OK
Definition: brushless23.h:255
brushless23_t::adc
analog_in_t adc
Definition: brushless23.h:216
brushless23_set_start_rpm
err_t brushless23_set_start_rpm(brushless23_t *ctx, float duty_cycle)
Brushless 23 set start rpm function.
brushless23_cfg_t::dev_pwm_freq
uint32_t dev_pwm_freq
Definition: brushless23.h:243
brushless23_read_an_pin_value
err_t brushless23_read_an_pin_value(brushless23_t *ctx, uint16_t *data_out)
Brushless 23 read AN pin value function.
brushless23_switch_direction
void brushless23_switch_direction(brushless23_t *ctx)
Brushless 23 switch direction function.
brushless23_t::slave_address
uint8_t slave_address
Definition: brushless23.h:222
brushless23_default_cfg
err_t brushless23_default_cfg(brushless23_t *ctx)
Brushless 23 default configuration function.
brushless23_cfg_t::int_pin
pin_name_t int_pin
Definition: brushless23.h:239
brushless23_cfg_t::scl
pin_name_t scl
Definition: brushless23.h:232
BRUSHLESS23_ERROR
@ BRUSHLESS23_ERROR
Definition: brushless23.h:256
brushless23_get_int_pin
uint8_t brushless23_get_int_pin(brushless23_t *ctx)
Brushless 22 get int pin function.
brushless23_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: brushless23.h:241
brushless23_set_max_duty
err_t brushless23_set_max_duty(brushless23_t *ctx, float duty_cycle)
Brushless 23 set max duty function.
brushless23_t::pwm_freq
uint32_t pwm_freq
Definition: brushless23.h:219
brushless23_write_register
err_t brushless23_write_register(brushless23_t *ctx, uint8_t reg, uint8_t data_in)
Brushless 23 write register function.
brushless23_t::i2c
i2c_master_t i2c
Definition: brushless23.h:214
brushless23_return_value_t
brushless23_return_value_t
Brushless 23 Click return value data.
Definition: brushless23.h:254
brushless23_cfg_t::spd
pin_name_t spd
Definition: brushless23.h:238
brushless23_t::pwm
pwm_t pwm
Definition: brushless23.h:215
brushless23_set_direction
void brushless23_set_direction(brushless23_t *ctx, uint8_t dir)
Brushless 23 set direction function.
brushless23_t::sby
digital_out_t sby
Definition: brushless23.h:207
brushless23_get_motor_speed
err_t brushless23_get_motor_speed(brushless23_t *ctx, float *motor_speed_hz)
Brushless 23 get motor speed function.
brushless23_init
err_t brushless23_init(brushless23_t *ctx, brushless23_cfg_t *cfg)
Brushless 23 initialization function.
brushless23_set_stop_duty
err_t brushless23_set_stop_duty(brushless23_t *ctx, float duty_cycle)
Brushless 23 set stop duty function.
brushless23_pwm_start
err_t brushless23_pwm_start(brushless23_t *ctx)
Brushless 23 start PWM module.
brushless23_t::dir
digital_out_t dir
Definition: brushless23.h:208
brushless23_cfg_t::sda
pin_name_t sda
Definition: brushless23.h:233