dcmotor12  2.1.0.0
dcmotor12.h
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22 
28 #ifndef DCMOTOR12_H
29 #define DCMOTOR12_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_spi_master.h"
38 #include "spi_specifics.h"
39 #include "drv_i2c_master.h"
40 #include "drv_analog_in.h"
41 
62 #define DCMOTOR12_REG_STATUS1 0x01
63 #define DCMOTOR12_REG_STATUS2 0x02
64 #define DCMOTOR12_REG_STATUS3 0x03
65 #define DCMOTOR12_REG_CONFIG1 0x04
66 #define DCMOTOR12_REG_CONFIG2 0x05
67 #define DCMOTOR12_REG_CONFIG3 0x06
68 #define DCMOTOR12_REG_CONFIG4 0x07
69 #define DCMOTOR12_REG_CONFIG5 0x08
70 #define DCMOTOR12_REG_CONFIG6 0x09
71 #define DCMOTOR12_REG_CONFIG7 0x0A
72 
77 #define DCMOTOR12_REG_INPUT 0x00
78 #define DCMOTOR12_REG_OUTPUT 0x01
79 #define DCMOTOR12_REG_POLARITY 0x02
80 #define DCMOTOR12_REG_CONFIG 0x03
81  // dcmotor12_reg
83 
98 #define DCMOTOR12_CONFIG12_OPEN_LOAD_NOP_100US 0x000000ul
99 #define DCMOTOR12_CONFIG12_OPEN_LOAD_NOP_50US 0x002000ul
100 #define DCMOTOR12_CONFIG12_OPEN_LOAD_NOP_500US 0x004000ul
101 #define DCMOTOR12_CONFIG12_OPEN_LOAD_NOP_MASK 0x006000ul
102 #define DCMOTOR12_CONFIG12_DUTY_OFF_LOW_SIDE 0x000000ul
103 #define DCMOTOR12_CONFIG12_DUTY_OFF_HIGH_SIDE 0x001000ul
104 #define DCMOTOR12_CONFIG12_DUTY_OFF_MASK 0x001000ul
105 #define DCMOTOR12_CONFIG12_VBAT_UVC_0US 0x000000ul
106 #define DCMOTOR12_CONFIG12_VBAT_UVC_100US 0x000800ul
107 #define DCMOTOR12_CONFIG12_VBAT_UVC_MASK 0x000800ul
108 #define DCMOTOR12_CONFIG12_CLIMIT_UP_6p5A 0x000000ul
109 #define DCMOTOR12_CONFIG12_CLIMIT_UP_4p6A 0x000400ul
110 #define DCMOTOR12_CONFIG12_CLIMIT_UP_MASK 0x000400ul
111 #define DCMOTOR12_CONFIG12_CLIMIT_LOW_0p25A 0x000000ul
112 #define DCMOTOR12_CONFIG12_CLIMIT_LOW_0p5A 0x000200ul
113 #define DCMOTOR12_CONFIG12_CLIMIT_LOW_MASK 0x000200ul
114 #define DCMOTOR12_CONFIG12_CLIMIT_LOW_0p25A 0x000000ul
115 #define DCMOTOR12_CONFIG12_CLIMIT_LOW_0p5A 0x000200ul
116 #define DCMOTOR12_CONFIG12_OPEN_LOAD_OP_200mA 0x000000ul
117 #define DCMOTOR12_CONFIG12_OPEN_LOAD_OP_100mA 0x000080ul
118 #define DCMOTOR12_CONFIG12_OPEN_LOAD_OP_300mA 0x000100ul
119 #define DCMOTOR12_CONFIG12_OPEN_LOAD_OP_MASK 0x000180ul
120 #define DCMOTOR12_CONFIG12_SR_MODE_NORMAL 0x000000ul
121 #define DCMOTOR12_CONFIG12_SR_MODE_SLOW1 0x000010ul
122 #define DCMOTOR12_CONFIG12_SR_MODE_SLOW2 0x000020ul
123 #define DCMOTOR12_CONFIG12_SR_MODE_SLOW3 0x000030ul
124 #define DCMOTOR12_CONFIG12_SR_MODE_SLOW4 0x000040ul
125 #define DCMOTOR12_CONFIG12_SR_MODE_FAST2 0x000050ul
126 #define DCMOTOR12_CONFIG12_SR_MODE_FAST1 0x000060ul
127 #define DCMOTOR12_CONFIG12_SR_MODE_MASK 0x000070ul
128 #define DCMOTOR12_CONFIG12_OC_LATCH 0x000000ul
129 #define DCMOTOR12_CONFIG12_OC_AUTO 0x000008ul
130 #define DCMOTOR12_CONFIG12_OC_MASK 0x000008ul
131 #define DCMOTOR12_CONFIG12_OC_LATCH 0x000000ul
132 #define DCMOTOR12_CONFIG12_OC_AUTO 0x000008ul
133 #define DCMOTOR12_CONFIG12_SPI_DISR_10mS 0x000000ul
134 #define DCMOTOR12_CONFIG12_SPI_DISR_100mS 0x000002ul
135 #define DCMOTOR12_CONFIG12_SPI_DISR_1S 0x000004ul
136 #define DCMOTOR12_CONFIG12_SPI_DISR_DISABLE 0x000006ul
137 #define DCMOTOR12_CONFIG12_SPI_DISR_MASK 0x000006ul
138 #define DCMOTOR12_CONFIG12_OPMODE_DISR_OFF 0x000000ul
139 #define DCMOTOR12_CONFIG12_OPMODE_DISR_CONTINUE 0x000001ul
140 #define DCMOTOR12_CONFIG12_OPMODE_DISR_MASK 0x000001ul
141 
146 #define DCMOTOR12_CONFIG56_MOTOR_OPMODE_MAX 3u
147 #define DCMOTOR12_CONFIG56_MOTOR_OPMODE_SHIFT 22ul
148 #define DCMOTOR12_CONFIG56_MOTOR_OPMODE_MASK 0xC00000ul
149 #define DCMOTOR12_CONFIG56_DRV_FREQ_MAX 2047u
150 #define DCMOTOR12_CONFIG56_DRV_FREQ_SHIFT 11ul
151 #define DCMOTOR12_CONFIG56_DRV_FREQ_MASK 0x3FF800ul
152 #define DCMOTOR12_CONFIG56_DUTY_PERIOD_MAX 2047u
153 #define DCMOTOR12_CONFIG56_DUTY_PERIOD_SHIFT 0ul
154 #define DCMOTOR12_CONFIG56_DUTY_PERIOD_MASK 0x0007FFul
155 
160 #define DCMOTOR12_DIAG1_PIN 0x01
161 #define DCMOTOR12_DIAG2_PIN 0x02
162 #define DCMOTOR12_EN1_PIN 0x04
163 #define DCMOTOR12_EN2_PIN 0x08
164 #define DCMOTOR12_CM_SEL_PIN 0x10
165 #define DCMOTOR12_SLP_PIN 0x20
166 
171 #define DCMOTOR12_DEFAULT_CONFIG 0xE3
172 
177 #define DCMOTOR12_MODE_OUTPUT_OFF 0x00
178 #define DCMOTOR12_MODE_FORWARD 0x01
179 #define DCMOTOR12_MODE_REVERSE 0x02
180 #define DCMOTOR12_MODE_BRAKE 0x03
181 
186 #define DCMOTOR12_PIN_LOW_LEVEL 0
187 #define DCMOTOR12_PIN_HIGH_LEVEL 1
188 
193 #define DCMOTOR12_VREF_3V3 3.3
194 #define DCMOTOR12_VREF_5V 5.0
195 
200 #define DCMOTOR12_NUM_CONVERSIONS 5000
201 #define DCMOTOR12_RSENSE 220.0f
202 #define DCMOTOR12_VOLTAGE_TO_CURRENT 0.00238167f
203 
209 #define DCMOTOR12_DEVICE_ADDRESS_A1A0_00 0x70
210 #define DCMOTOR12_DEVICE_ADDRESS_A1A0_01 0x71
211 #define DCMOTOR12_DEVICE_ADDRESS_A1A0_10 0x72
212 #define DCMOTOR12_DEVICE_ADDRESS_A1A0_11 0x73
213 
222 #define DCMOTOR12_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
223 #define DCMOTOR12_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
224  // dcmotor12_set
226 
241 #define DCMOTOR12_MAP_MIKROBUS( cfg, mikrobus ) \
242  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
243  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
244  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
245  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
246  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
247  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
248  cfg.cm = MIKROBUS( mikrobus, MIKROBUS_AN ); \
249  cfg.slp = MIKROBUS( mikrobus, MIKROBUS_RST ); \
250  cfg.clk = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
251  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
252  // dcmotor12_map // dcmotor12
255 
260 typedef struct
261 {
262  // Output pins
263  digital_out_t clk;
264  digital_out_t slp;
266  // Input pins
267  digital_in_t int_pin;
269  // Modules
270  spi_master_t spi;
271  i2c_master_t i2c;
272  analog_in_t adc;
274  uint8_t slave_address;
275  pin_name_t chip_select;
277 } dcmotor12_t;
278 
283 typedef struct
284 {
285  // Communication gpio pins
286  pin_name_t scl;
287  pin_name_t sda;
288  pin_name_t miso;
289  pin_name_t mosi;
290  pin_name_t sck;
291  pin_name_t cs;
292  pin_name_t cm;
294  // Additional gpio pins
295  pin_name_t clk;
296  pin_name_t slp;
297  pin_name_t int_pin;
299  // static variable
300  uint32_t spi_speed;
301  spi_master_mode_t spi_mode;
302  spi_master_chip_select_polarity_t cs_polarity;
304  uint32_t i2c_speed;
305  uint8_t i2c_address;
307  analog_in_resolution_t resolution;
308  float vref;
311 
316 typedef enum
317 {
319  DCMOTOR12_ERROR = -1
320 
322 
339 
354 
368 
382 err_t dcmotor12_write_register ( dcmotor12_t *ctx, uint8_t reg, uint32_t data_in );
383 
396 err_t dcmotor12_read_register ( dcmotor12_t *ctx, uint8_t reg, uint32_t *data_out );
397 
411 err_t dcmotor12_pca9538a_write_register ( dcmotor12_t *ctx, uint8_t reg, uint8_t data_in );
412 
425 err_t dcmotor12_pca9538a_read_register ( dcmotor12_t *ctx, uint8_t reg, uint8_t *data_out );
426 
436 
446 
456 
466 void dcmotor12_set_clk_pin ( dcmotor12_t *ctx, uint8_t state );
467 
480 err_t dcmotor12_set_en1_pin ( dcmotor12_t *ctx, uint8_t state );
481 
494 err_t dcmotor12_get_en1_pin ( dcmotor12_t *ctx, uint8_t *state );
495 
508 err_t dcmotor12_set_en2_pin ( dcmotor12_t *ctx, uint8_t state );
509 
522 err_t dcmotor12_get_en2_pin ( dcmotor12_t *ctx, uint8_t *state );
523 
536 err_t dcmotor12_set_cm_sel_pin ( dcmotor12_t *ctx, uint8_t state );
537 
550 err_t dcmotor12_get_cm_sel_pin ( dcmotor12_t *ctx, uint8_t *state );
551 
564 err_t dcmotor12_get_diag1_pin ( dcmotor12_t *ctx, uint8_t *state );
565 
578 err_t dcmotor12_get_diag2_pin ( dcmotor12_t *ctx, uint8_t *state );
579 
592 err_t dcmotor12_get_sleep_pin ( dcmotor12_t *ctx, uint8_t *state );
593 
605 err_t dcmotor12_read_an_pin_value ( dcmotor12_t *ctx, uint16_t *data_out );
606 
620 err_t dcmotor12_read_an_pin_voltage ( dcmotor12_t *ctx, float *data_out );
621 
633 err_t dcmotor12_get_motor_current ( dcmotor12_t *ctx, float *current );
634 
649 err_t dcmotor12_set_ch1_operation_mode ( dcmotor12_t *ctx, uint8_t mode );
650 
665 err_t dcmotor12_set_ch2_operation_mode ( dcmotor12_t *ctx, uint8_t mode );
666 
678 err_t dcmotor12_set_ch1_drive_frequency ( dcmotor12_t *ctx, uint16_t drv_freq );
679 
691 err_t dcmotor12_set_ch2_drive_frequency ( dcmotor12_t *ctx, uint16_t drv_freq );
692 
704 err_t dcmotor12_set_ch1_duty_period ( dcmotor12_t *ctx, uint16_t duty_period );
705 
717 err_t dcmotor12_set_ch2_duty_period ( dcmotor12_t *ctx, uint16_t duty_period );
718 
719 #ifdef __cplusplus
720 }
721 #endif
722 #endif // DCMOTOR12_H
723  // dcmotor12
725 
726 // ------------------------------------------------------------------------ END
dcmotor12_get_en1_pin
err_t dcmotor12_get_en1_pin(dcmotor12_t *ctx, uint8_t *state)
DC Motor 12 get en1 pin function.
dcmotor12_t
DC Motor 12 Click context object.
Definition: dcmotor12.h:261
dcmotor12_cfg_t
DC Motor 12 Click configuration object.
Definition: dcmotor12.h:284
dcmotor12_cfg_t::int_pin
pin_name_t int_pin
Definition: dcmotor12.h:297
dcmotor12_set_ch2_drive_frequency
err_t dcmotor12_set_ch2_drive_frequency(dcmotor12_t *ctx, uint16_t drv_freq)
DC Motor 12 set ch2 drive frequency function.
dcmotor12_set_en2_pin
err_t dcmotor12_set_en2_pin(dcmotor12_t *ctx, uint8_t state)
DC Motor 12 set en2 pin function.
dcmotor12_set_clk_pin
void dcmotor12_set_clk_pin(dcmotor12_t *ctx, uint8_t state)
DC Motor 12 set clk pin function.
dcmotor12_enter_sleep_mode
void dcmotor12_enter_sleep_mode(dcmotor12_t *ctx)
DC Motor 12 enter sleep mode function.
dcmotor12_read_register
err_t dcmotor12_read_register(dcmotor12_t *ctx, uint8_t reg, uint32_t *data_out)
DC Motor 12 read register function.
dcmotor12_t::slave_address
uint8_t slave_address
Definition: dcmotor12.h:274
dcmotor12_get_en2_pin
err_t dcmotor12_get_en2_pin(dcmotor12_t *ctx, uint8_t *state)
DC Motor 12 get en2 pin function.
dcmotor12_read_an_pin_value
err_t dcmotor12_read_an_pin_value(dcmotor12_t *ctx, uint16_t *data_out)
DC Motor 12 read AN pin value function.
dcmotor12_t::slp
digital_out_t slp
Definition: dcmotor12.h:264
spi_specifics.h
This file contains SPI specific macros, functions, etc.
dcmotor12_t::clk
digital_out_t clk
Definition: dcmotor12.h:263
dcmotor12_get_diag1_pin
err_t dcmotor12_get_diag1_pin(dcmotor12_t *ctx, uint8_t *state)
DC Motor 12 get diag1 pin function.
DCMOTOR12_ERROR
@ DCMOTOR12_ERROR
Definition: dcmotor12.h:319
dcmotor12_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: dcmotor12.h:302
dcmotor12_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: dcmotor12.h:304
dcmotor12_cfg_t::cs
pin_name_t cs
Definition: dcmotor12.h:291
dcmotor12_t::int_pin
digital_in_t int_pin
Definition: dcmotor12.h:267
dcmotor12_cfg_t::mosi
pin_name_t mosi
Definition: dcmotor12.h:289
dcmotor12_t::i2c
i2c_master_t i2c
Definition: dcmotor12.h:271
dcmotor12_write_register
err_t dcmotor12_write_register(dcmotor12_t *ctx, uint8_t reg, uint32_t data_in)
DC Motor 12 write register function.
dcmotor12_set_en1_pin
err_t dcmotor12_set_en1_pin(dcmotor12_t *ctx, uint8_t state)
DC Motor 12 set en1 pin function.
dcmotor12_t::adc
analog_in_t adc
Definition: dcmotor12.h:272
dcmotor12_cfg_t::miso
pin_name_t miso
Definition: dcmotor12.h:288
DCMOTOR12_OK
@ DCMOTOR12_OK
Definition: dcmotor12.h:318
dcmotor12_init
err_t dcmotor12_init(dcmotor12_t *ctx, dcmotor12_cfg_t *cfg)
DC Motor 12 initialization function.
dcmotor12_pca9538a_read_register
err_t dcmotor12_pca9538a_read_register(dcmotor12_t *ctx, uint8_t reg, uint8_t *data_out)
DC Motor 12 pca9538a read register function.
dcmotor12_wake_up_device
void dcmotor12_wake_up_device(dcmotor12_t *ctx)
DC Motor 12 wake up device function.
dcmotor12_get_motor_current
err_t dcmotor12_get_motor_current(dcmotor12_t *ctx, float *current)
DC Motor 12 get motor current function.
dcmotor12_set_ch2_duty_period
err_t dcmotor12_set_ch2_duty_period(dcmotor12_t *ctx, uint16_t duty_period)
DC Motor 12 set ch1 duty period function.
dcmotor12_cfg_t::clk
pin_name_t clk
Definition: dcmotor12.h:295
dcmotor12_cfg_setup
void dcmotor12_cfg_setup(dcmotor12_cfg_t *cfg)
DC Motor 12 configuration object setup function.
dcmotor12_get_cm_sel_pin
err_t dcmotor12_get_cm_sel_pin(dcmotor12_t *ctx, uint8_t *state)
DC Motor 12 get cm sel pin function.
dcmotor12_cfg_t::spi_speed
uint32_t spi_speed
Definition: dcmotor12.h:300
dcmotor12_t::chip_select
pin_name_t chip_select
Definition: dcmotor12.h:275
dcmotor12_cfg_t::sck
pin_name_t sck
Definition: dcmotor12.h:290
dcmotor12_cfg_t::i2c_address
uint8_t i2c_address
Definition: dcmotor12.h:305
dcmotor12_default_cfg
err_t dcmotor12_default_cfg(dcmotor12_t *ctx)
DC Motor 12 default configuration function.
dcmotor12_cfg_t::resolution
analog_in_resolution_t resolution
Definition: dcmotor12.h:307
dcmotor12_cfg_t::scl
pin_name_t scl
Definition: dcmotor12.h:286
dcmotor12_cfg_t::slp
pin_name_t slp
Definition: dcmotor12.h:296
dcmotor12_set_ch1_operation_mode
err_t dcmotor12_set_ch1_operation_mode(dcmotor12_t *ctx, uint8_t mode)
DC Motor 12 set ch1 operation mode function.
dcmotor12_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: dcmotor12.h:301
dcmotor12_set_ch2_operation_mode
err_t dcmotor12_set_ch2_operation_mode(dcmotor12_t *ctx, uint8_t mode)
DC Motor 12 set ch2 operation mode function.
dcmotor12_set_ch1_duty_period
err_t dcmotor12_set_ch1_duty_period(dcmotor12_t *ctx, uint16_t duty_period)
DC Motor 12 set ch1 duty period function.
dcmotor12_read_an_pin_voltage
err_t dcmotor12_read_an_pin_voltage(dcmotor12_t *ctx, float *data_out)
DC Motor 12 read AN pin voltage level function.
dcmotor12_get_int_pin
uint8_t dcmotor12_get_int_pin(dcmotor12_t *ctx)
DC Motor 12 get int pin function.
dcmotor12_return_value_t
dcmotor12_return_value_t
DC Motor 12 Click return value data.
Definition: dcmotor12.h:317
dcmotor12_set_ch1_drive_frequency
err_t dcmotor12_set_ch1_drive_frequency(dcmotor12_t *ctx, uint16_t drv_freq)
DC Motor 12 set ch1 drive frequency function.
dcmotor12_cfg_t::vref
float vref
Definition: dcmotor12.h:308
dcmotor12_pca9538a_write_register
err_t dcmotor12_pca9538a_write_register(dcmotor12_t *ctx, uint8_t reg, uint8_t data_in)
DC Motor 12 pca9538a write register function.
dcmotor12_set_cm_sel_pin
err_t dcmotor12_set_cm_sel_pin(dcmotor12_t *ctx, uint8_t state)
DC Motor 12 set cm sel pin function.
dcmotor12_cfg_t::cm
pin_name_t cm
Definition: dcmotor12.h:292
dcmotor12_t::spi
spi_master_t spi
Definition: dcmotor12.h:270
dcmotor12_cfg_t::sda
pin_name_t sda
Definition: dcmotor12.h:287
dcmotor12_get_sleep_pin
err_t dcmotor12_get_sleep_pin(dcmotor12_t *ctx, uint8_t *state)
DC Motor 12 get sleep pin function.
dcmotor12_get_diag2_pin
err_t dcmotor12_get_diag2_pin(dcmotor12_t *ctx, uint8_t *state)
DC Motor 12 get diag2 pin function.