brushless20  2.1.0.0
brushless20.h
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22 
28 #ifndef BRUSHLESS20_H
29 #define BRUSHLESS20_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
35 #include "mikrosdk_version.h"
36 
37 #ifdef __GNUC__
38 #if mikroSDK_GET_VERSION < 20800ul
39 #include "rcu_delays.h"
40 #else
41 #include "delays.h"
42 #endif
43 #endif
44 
45 #include "drv_digital_out.h"
46 #include "drv_digital_in.h"
47 #include "drv_i2c_master.h"
48 
69 #define BRUSHLESS20_REG_INPUT 0x00
70 #define BRUSHLESS20_REG_OUTPUT 0x01
71 #define BRUSHLESS20_REG_POLARITY 0x02
72 #define BRUSHLESS20_REG_CONFIG 0x03
73  // brushless20_reg
75 
90 #define BRUSHLESS20_NONE_PIN 0x00
91 #define BRUSHLESS20_IN1_PIN 0x01
92 #define BRUSHLESS20_EN1_PIN 0x02
93 #define BRUSHLESS20_IN2_PIN 0x04
94 #define BRUSHLESS20_EN2_PIN 0x08
95 #define BRUSHLESS20_IN3_PIN 0x10
96 #define BRUSHLESS20_EN3_PIN 0x20
97 #define BRUSHLESS20_NRST_PIN 0x40
98 #define BRUSHLESS20_FLT_PIN 0x80
99 #define BRUSHLESS20_ALL_PINS 0xFF
100 
105 #define BRUSHLESS20_DEFAULT_CONFIG 0x80
106 
111 #define BRUSHLESS20_DIR_CW 0
112 #define BRUSHLESS20_DIR_CCW 1
113 
118 #define BRUSHLESS20_PIN_LOW_LEVEL 0
119 #define BRUSHLESS20_PIN_HIGH_LEVEL 1
120 
125 #define BRUSHLESS20_TR_COM_STATE_COAST 0
126 #define BRUSHLESS20_TR_COM_STATE_1 1
127 #define BRUSHLESS20_TR_COM_STATE_2 2
128 #define BRUSHLESS20_TR_COM_STATE_3 3
129 #define BRUSHLESS20_TR_COM_STATE_4 4
130 #define BRUSHLESS20_TR_COM_STATE_5 5
131 #define BRUSHLESS20_TR_COM_STATE_6 6
132 #define BRUSHLESS20_TR_COM_STATE_BRAKE 7
133 
138 #define BRUSHLESS20_SPEED_MIN 0
139 #define BRUSHLESS20_SPEED_MAX 100
140 #define BRUSHLESS20_NUM_PIN_TOGGLE 8
141 #define BRUSHLESS20_ROUND_TO_NEAREAST_INT 0.5
142 
152 #define BRUSHLESS20_COM_SEQ_DURATION_FOR_SPEED_MAX 24.729
153 #define BRUSHLESS20_COM_SEQ_DURATION_SPEED_STEP ( 29.4361 - BRUSHLESS20_COM_SEQ_DURATION_FOR_SPEED_MAX )
154 
160 #define BRUSHLESS20_DEVICE_ADDRESS_A1A0_00 0x70
161 #define BRUSHLESS20_DEVICE_ADDRESS_A1A0_01 0x71
162 #define BRUSHLESS20_DEVICE_ADDRESS_A1A0_10 0x72
163 #define BRUSHLESS20_DEVICE_ADDRESS_A1A0_11 0x73
164  // brushless20_set
166 
181 #define BRUSHLESS20_MAP_MIKROBUS( cfg, mikrobus ) \
182  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
183  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
184  cfg.slp = MIKROBUS( mikrobus, MIKROBUS_CS ); \
185  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
186  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
187  // brushless20_map // brushless20
190 
195 typedef struct
196 {
197  // Output pins
198  digital_out_t slp;
199  digital_out_t rst;
201  // Input pins
202  digital_in_t int_pin;
204  // Modules
205  i2c_master_t i2c;
207  // I2C slave address
208  uint8_t slave_address;
210 } brushless20_t;
211 
216 typedef struct
217 {
218  pin_name_t scl;
219  pin_name_t sda;
221  pin_name_t slp;
222  pin_name_t rst;
223  pin_name_t int_pin;
225  uint32_t i2c_speed;
226  uint8_t i2c_address;
229 
234 typedef enum
235 {
237  BRUSHLESS20_ERROR = -1
238 
240 
257 
272 
286 
300 err_t brushless20_write_register ( brushless20_t *ctx, uint8_t reg, uint8_t data_in );
301 
314 err_t brushless20_read_register ( brushless20_t *ctx, uint8_t reg, uint8_t *data_out );
315 
328 err_t brushless20_set_pins ( brushless20_t *ctx, uint8_t set_mask, uint8_t clr_mask );
329 
342 
352 
363 void brushless20_set_rst_pin ( brushless20_t *ctx, uint8_t state );
364 
374 
384 
394 
407 
421 err_t brushless20_toggle_pin ( brushless20_t *ctx, uint8_t pin_mask, uint8_t speed );
422 
438 err_t brushless20_perform_com_sequence ( brushless20_t *ctx, uint8_t dir, uint8_t speed );
439 
460 err_t brushless20_drive_motor ( brushless20_t *ctx, uint8_t dir, uint8_t speed, uint32_t time_ms );
461 
462 #ifdef __cplusplus
463 }
464 #endif
465 #endif // BRUSHLESS20_H
466  // brushless20
468 
469 // ------------------------------------------------------------------------ END
brushless20_drive_motor
err_t brushless20_drive_motor(brushless20_t *ctx, uint8_t dir, uint8_t speed, uint32_t time_ms)
Brushless 20 drive motor function.
brushless20_default_cfg
err_t brushless20_default_cfg(brushless20_t *ctx)
Brushless 20 default configuration function.
brushless20_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: brushless20.h:225
brushless20_get_fault_pin
err_t brushless20_get_fault_pin(brushless20_t *ctx)
Brushless 20 get fault pin function.
brushless20_return_value_t
brushless20_return_value_t
Brushless 20 Click return value data.
Definition: brushless20.h:235
brushless20_cfg_t
Brushless 20 Click configuration object.
Definition: brushless20.h:217
brushless20_perform_com_sequence
err_t brushless20_perform_com_sequence(brushless20_t *ctx, uint8_t dir, uint8_t speed)
Brushless 20 perform com sequence function.
brushless20_set_pins
err_t brushless20_set_pins(brushless20_t *ctx, uint8_t set_mask, uint8_t clr_mask)
Brushless 20 set pins function.
brushless20_cfg_t::int_pin
pin_name_t int_pin
Definition: brushless20.h:223
brushless20_cfg_setup
void brushless20_cfg_setup(brushless20_cfg_t *cfg)
Brushless 20 configuration object setup function.
brushless20_cfg_t::i2c_address
uint8_t i2c_address
Definition: brushless20.h:226
BRUSHLESS20_OK
@ BRUSHLESS20_OK
Definition: brushless20.h:236
brushless20_toggle_pin
err_t brushless20_toggle_pin(brushless20_t *ctx, uint8_t pin_mask, uint8_t speed)
Brushless 20 toggle pin function.
brushless20_t
Brushless 20 Click context object.
Definition: brushless20.h:196
BRUSHLESS20_ERROR
@ BRUSHLESS20_ERROR
Definition: brushless20.h:237
brushless20_write_register
err_t brushless20_write_register(brushless20_t *ctx, uint8_t reg, uint8_t data_in)
Brushless 20 write register function.
brushless20_t::rst
digital_out_t rst
Definition: brushless20.h:199
brushless20_get_int_pin
uint8_t brushless20_get_int_pin(brushless20_t *ctx)
Brushless 20 get int pin function.
brushless20_exit_sleep_mode
void brushless20_exit_sleep_mode(brushless20_t *ctx)
Brushless 20 exit sleep mode function.
brushless20_t::i2c
i2c_master_t i2c
Definition: brushless20.h:205
brushless20_t::slave_address
uint8_t slave_address
Definition: brushless20.h:208
brushless20_init
err_t brushless20_init(brushless20_t *ctx, brushless20_cfg_t *cfg)
Brushless 20 initialization function.
brushless20_cfg_t::slp
pin_name_t slp
Definition: brushless20.h:221
brushless20_set_rst_pin
void brushless20_set_rst_pin(brushless20_t *ctx, uint8_t state)
Brushless 20 set rst pin function.
brushless20_cfg_t::scl
pin_name_t scl
Definition: brushless20.h:218
brushless20_cfg_t::rst
pin_name_t rst
Definition: brushless20.h:222
brushless20_t::slp
digital_out_t slp
Definition: brushless20.h:198
brushless20_read_register
err_t brushless20_read_register(brushless20_t *ctx, uint8_t reg, uint8_t *data_out)
Brushless 20 read register function.
brushless20_cfg_t::sda
pin_name_t sda
Definition: brushless20.h:219
brushless20_enter_sleep_mode
void brushless20_enter_sleep_mode(brushless20_t *ctx)
Brushless 20 enter sleep mode function.
brushless20_reset_port_expander
void brushless20_reset_port_expander(brushless20_t *ctx)
Brushless 20 reset port expander function.
brushless20_t::int_pin
digital_in_t int_pin
Definition: brushless20.h:202
brushless20_set_trapezoidal_com_state
err_t brushless20_set_trapezoidal_com_state(brushless20_t *ctx, uint8_t state)
Brushless 20 set trapezoidal com state function.