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 
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_i2c_master.h"
52 
73 #define BRUSHLESS20_REG_INPUT 0x00
74 #define BRUSHLESS20_REG_OUTPUT 0x01
75 #define BRUSHLESS20_REG_POLARITY 0x02
76 #define BRUSHLESS20_REG_CONFIG 0x03
77  // brushless20_reg
79 
94 #define BRUSHLESS20_NONE_PIN 0x00
95 #define BRUSHLESS20_IN1_PIN 0x01
96 #define BRUSHLESS20_EN1_PIN 0x02
97 #define BRUSHLESS20_IN2_PIN 0x04
98 #define BRUSHLESS20_EN2_PIN 0x08
99 #define BRUSHLESS20_IN3_PIN 0x10
100 #define BRUSHLESS20_EN3_PIN 0x20
101 #define BRUSHLESS20_NRST_PIN 0x40
102 #define BRUSHLESS20_FLT_PIN 0x80
103 #define BRUSHLESS20_ALL_PINS 0xFF
104 
109 #define BRUSHLESS20_DEFAULT_CONFIG 0x80
110 
115 #define BRUSHLESS20_DIR_CW 0
116 #define BRUSHLESS20_DIR_CCW 1
117 
122 #define BRUSHLESS20_PIN_LOW_LEVEL 0
123 #define BRUSHLESS20_PIN_HIGH_LEVEL 1
124 
129 #define BRUSHLESS20_TR_COM_STATE_COAST 0
130 #define BRUSHLESS20_TR_COM_STATE_1 1
131 #define BRUSHLESS20_TR_COM_STATE_2 2
132 #define BRUSHLESS20_TR_COM_STATE_3 3
133 #define BRUSHLESS20_TR_COM_STATE_4 4
134 #define BRUSHLESS20_TR_COM_STATE_5 5
135 #define BRUSHLESS20_TR_COM_STATE_6 6
136 #define BRUSHLESS20_TR_COM_STATE_BRAKE 7
137 
142 #define BRUSHLESS20_SPEED_MIN 0
143 #define BRUSHLESS20_SPEED_MAX 100
144 #define BRUSHLESS20_NUM_PIN_TOGGLE 8
145 #define BRUSHLESS20_ROUND_TO_NEAREAST_INT 0.5
146 
156 #define BRUSHLESS20_COM_SEQ_DURATION_FOR_SPEED_MAX 24.729
157 #define BRUSHLESS20_COM_SEQ_DURATION_SPEED_STEP ( 29.4361 - BRUSHLESS20_COM_SEQ_DURATION_FOR_SPEED_MAX )
158 
164 #define BRUSHLESS20_DEVICE_ADDRESS_A1A0_00 0x70
165 #define BRUSHLESS20_DEVICE_ADDRESS_A1A0_01 0x71
166 #define BRUSHLESS20_DEVICE_ADDRESS_A1A0_10 0x72
167 #define BRUSHLESS20_DEVICE_ADDRESS_A1A0_11 0x73
168  // brushless20_set
170 
185 #define BRUSHLESS20_MAP_MIKROBUS( cfg, mikrobus ) \
186  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
187  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
188  cfg.slp = MIKROBUS( mikrobus, MIKROBUS_CS ); \
189  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
190  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
191  // brushless20_map // brushless20
194 
199 typedef struct
200 {
201  // Output pins
202  digital_out_t slp;
203  digital_out_t rst;
205  // Input pins
206  digital_in_t int_pin;
208  // Modules
209  i2c_master_t i2c;
211  // I2C slave address
212  uint8_t slave_address;
214 } brushless20_t;
215 
220 typedef struct
221 {
222  pin_name_t scl;
223  pin_name_t sda;
225  pin_name_t slp;
226  pin_name_t rst;
227  pin_name_t int_pin;
229  uint32_t i2c_speed;
230  uint8_t i2c_address;
233 
238 typedef enum
239 {
241  BRUSHLESS20_ERROR = -1
242 
244 
261 
276 
290 
304 err_t brushless20_write_register ( brushless20_t *ctx, uint8_t reg, uint8_t data_in );
305 
318 err_t brushless20_read_register ( brushless20_t *ctx, uint8_t reg, uint8_t *data_out );
319 
332 err_t brushless20_set_pins ( brushless20_t *ctx, uint8_t set_mask, uint8_t clr_mask );
333 
346 
356 
367 void brushless20_set_rst_pin ( brushless20_t *ctx, uint8_t state );
368 
378 
388 
398 
411 
425 err_t brushless20_toggle_pin ( brushless20_t *ctx, uint8_t pin_mask, uint8_t speed );
426 
442 err_t brushless20_perform_com_sequence ( brushless20_t *ctx, uint8_t dir, uint8_t speed );
443 
464 err_t brushless20_drive_motor ( brushless20_t *ctx, uint8_t dir, uint8_t speed, uint32_t time_ms );
465 
466 #ifdef __cplusplus
467 }
468 #endif
469 #endif // BRUSHLESS20_H
470  // brushless20
472 
473 // ------------------------------------------------------------------------ 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:229
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:239
brushless20_cfg_t
Brushless 20 Click configuration object.
Definition: brushless20.h:221
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:227
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:230
BRUSHLESS20_OK
@ BRUSHLESS20_OK
Definition: brushless20.h:240
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:200
BRUSHLESS20_ERROR
@ BRUSHLESS20_ERROR
Definition: brushless20.h:241
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:203
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:209
brushless20_t::slave_address
uint8_t slave_address
Definition: brushless20.h:212
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:225
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:222
brushless20_cfg_t::rst
pin_name_t rst
Definition: brushless20.h:226
brushless20_t::slp
digital_out_t slp
Definition: brushless20.h:202
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:223
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:206
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.