brushless13  2.1.0.0
brushless13.h
Go to the documentation of this file.
1 /****************************************************************************
2 ** Copyright (C) 2020 MikroElektronika d.o.o.
3 ** Contact: https://www.mikroe.com/contact
4 **
5 ** Permission is hereby granted, free of charge, to any person obtaining a copy
6 ** of this software and associated documentation files (the "Software"), to deal
7 ** in the Software without restriction, including without limitation the rights
8 ** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9 ** copies of the Software, and to permit persons to whom the Software is
10 ** furnished to do so, subject to the following conditions:
11 ** The above copyright notice and this permission notice shall be
12 ** included in all copies or substantial portions of the Software.
13 **
14 ** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
15 ** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
16 ** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
17 ** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
18 ** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
19 ** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
20 ** USE OR OTHER DEALINGS IN THE SOFTWARE.
21 ****************************************************************************/
22 
28 #ifndef BRUSHLESS13_H
29 #define BRUSHLESS13_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 BRUSHLESS13_REG_INPUT_PORT 0x00
74 #define BRUSHLESS13_REG_OUTPUT_PORT 0x01
75 #define BRUSHLESS13_REG_POLARITY_INV 0x02
76 #define BRUSHLESS13_REG_CONFIG 0x03
77  // brushless13_reg
79 
94 #define BRUSHLESS13_TR_COM_STATE_COAST 0x00
95 #define BRUSHLESS13_TR_COM_STATE_1 0x01
96 #define BRUSHLESS13_TR_COM_STATE_2 0x02
97 #define BRUSHLESS13_TR_COM_STATE_3 0x03
98 #define BRUSHLESS13_TR_COM_STATE_4 0x04
99 #define BRUSHLESS13_TR_COM_STATE_5 0x05
100 #define BRUSHLESS13_TR_COM_STATE_6 0x06
101 #define BRUSHLESS13_TR_COM_STATE_BRAKE 0x07
102 
107 #define BRUSHLESS13_NONE_PIN 0x00
108 #define BRUSHLESS13_ENW_PIN 0x01
109 #define BRUSHLESS13_INW_PIN 0x02
110 #define BRUSHLESS13_ENV_PIN 0x04
111 #define BRUSHLESS13_INV_PIN 0x08
112 #define BRUSHLESS13_ENU_PIN 0x10
113 #define BRUSHLESS13_INU_PIN 0x20
114 #define BRUSHLESS13_FLT_PIN 0x40
115 #define BRUSHLESS13_ALL_OUTPUT_PIN 0x3F
116 #define BRUSHLESS13_ALL_PIN 0x7F
117 
122 #define BRUSHLESS13_MODE_ENX_INX 0x01
123 #define BRUSHLESS13_MODE_INXL_INXH 0x00
124 
129 #define BRUSHLESS13_DIR_CW 0x01
130 #define BRUSHLESS13_DIR_CCW 0x00
131 
136 #define BRUSHLESS13_PIN_STATE_LOW 0x00
137 #define BRUSHLESS13_PIN_STATE_HIGH 0x01
138 
143 #define BRUSHLESS13_FLT_PIN_INACTIVE 0x01
144 #define BRUSHLESS13_FLT_PIN_ACTIVE 0x00
145 
150 #define BRUSHLESS13_SPEED_MIN 0
151 #define BRUSHLESS13_SPEED_MAX 100
152 #define BRUSHLESS13_NUM_PIN_TOGGLE 8
153 #define BRUSHLESS13_ROUND_TO_NEAREAST_INT 0.5
154 
164 #define BRUSHLESS13_COM_SEQ_DURATION_FOR_SPEED_MAX 20.293
165 #define BRUSHLESS13_COM_SEQ_DURATION_SPEED_STEP ( 20.351 - BRUSHLESS13_COM_SEQ_DURATION_FOR_SPEED_MAX )
166 
172 #define BRUSHLESS13_DEVICE_ADDRESS_A1A0_00 0x70
173 #define BRUSHLESS13_DEVICE_ADDRESS_A1A0_01 0x71
174 #define BRUSHLESS13_DEVICE_ADDRESS_A1A0_10 0x72
175 #define BRUSHLESS13_DEVICE_ADDRESS_A1A0_11 0x73
176  // brushless13_set
178 
193 #define BRUSHLESS13_MAP_MIKROBUS( cfg, mikrobus ) \
194  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
195  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
196  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
197  cfg.mod = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
198  cfg.flt = MIKROBUS( mikrobus, MIKROBUS_INT )
199  // brushless13_map // brushless13
202 
207 typedef struct
208 {
209  // Output pins
210  digital_out_t rst;
211  digital_out_t mod;
213  // Input pins
214  digital_in_t flt;
216  // Modules
217  i2c_master_t i2c;
219  // I2C slave address
220  uint8_t slave_address;
222  uint8_t mode;
224 } brushless13_t;
225 
230 typedef struct
231 {
232  pin_name_t scl;
233  pin_name_t sda;
235  pin_name_t rst;
236  pin_name_t mod;
237  pin_name_t flt;
239  uint32_t i2c_speed;
240  uint8_t i2c_address;
243 
248 typedef enum
249 {
251  BRUSHLESS13_ERROR = -1
252 
254 
271 
286 
300 
315 err_t brushless13_generic_write ( brushless13_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
316 
331 err_t brushless13_generic_read ( brushless13_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
332 
342 void brushless13_set_rst_pin ( brushless13_t *ctx, uint8_t pin_state );
343 
355 
365 void brushless13_set_mode ( brushless13_t *ctx, uint8_t mode_sel );
366 
376 
386 
400 err_t brushless13_write_reg ( brushless13_t *ctx, uint8_t reg, uint8_t data_in );
401 
414 err_t brushless13_read_reg ( brushless13_t *ctx, uint8_t reg, uint8_t *data_out );
415 
428 err_t brushless13_set_pins ( brushless13_t *ctx, uint8_t set_mask, uint8_t clr_mask );
429 
441 err_t brushless13_set_trap_com_state ( brushless13_t *ctx, uint8_t state );
442 
456 err_t brushless13_toggle_pin ( brushless13_t *ctx, uint8_t pin_mask, uint8_t speed );
457 
471 err_t brushless13_perform_com_seq ( brushless13_t *ctx, uint8_t dir, uint8_t speed );
472 
487 err_t brushless13_drive_motor ( brushless13_t *ctx, uint8_t dir, uint8_t speed, uint32_t time_ms );
488 
489 #ifdef __cplusplus
490 }
491 #endif
492 #endif // BRUSHLESS13_H
493  // brushless13
495 
496 // ------------------------------------------------------------------------ END
brushless13_cfg_t
Brushless 13 Click configuration object.
Definition: brushless13.h:231
BRUSHLESS13_ERROR
@ BRUSHLESS13_ERROR
Definition: brushless13.h:251
brushless13_reset_port_exp
void brushless13_reset_port_exp(brushless13_t *ctx)
Brushless 13 reset port expander function.
brushless13_cfg_t::rst
pin_name_t rst
Definition: brushless13.h:235
brushless13_cfg_setup
void brushless13_cfg_setup(brushless13_cfg_t *cfg)
Brushless 13 configuration object setup function.
brushless13_return_value_t
brushless13_return_value_t
Brushless 13 Click return value data.
Definition: brushless13.h:249
brushless13_t::mod
digital_out_t mod
Definition: brushless13.h:211
brushless13_cfg_t::i2c_address
uint8_t i2c_address
Definition: brushless13.h:240
brushless13_set_mode
void brushless13_set_mode(brushless13_t *ctx, uint8_t mode_sel)
Brushless 13 set mode pin function.
brushless13_get_flt_pin
uint8_t brushless13_get_flt_pin(brushless13_t *ctx)
Brushless 13 get fault pin function.
BRUSHLESS13_OK
@ BRUSHLESS13_OK
Definition: brushless13.h:250
brushless13_cfg_t::sda
pin_name_t sda
Definition: brushless13.h:233
brushless13_get_flt_state
uint8_t brushless13_get_flt_state(brushless13_t *ctx)
Brushless 13 get flt pin function.
brushless13_toggle_pin
err_t brushless13_toggle_pin(brushless13_t *ctx, uint8_t pin_mask, uint8_t speed)
Brushless 13 toggle pin function.
brushless13_t::slave_address
uint8_t slave_address
Definition: brushless13.h:220
brushless13_t::rst
digital_out_t rst
Definition: brushless13.h:210
brushless13_set_pins
err_t brushless13_set_pins(brushless13_t *ctx, uint8_t set_mask, uint8_t clr_mask)
Brushless 13 set pins function.
brushless13_t::mode
uint8_t mode
Definition: brushless13.h:222
brushless13_t::i2c
i2c_master_t i2c
Definition: brushless13.h:217
brushless13_set_rst_pin
void brushless13_set_rst_pin(brushless13_t *ctx, uint8_t pin_state)
Brushless 13 set rst pin function.
brushless13_t
Brushless 13 Click context object.
Definition: brushless13.h:208
brushless13_set_trap_com_state
err_t brushless13_set_trap_com_state(brushless13_t *ctx, uint8_t state)
Brushless 13 set trapezoidal com state function.
brushless13_t::flt
digital_in_t flt
Definition: brushless13.h:214
brushless13_cfg_t::scl
pin_name_t scl
Definition: brushless13.h:232
brushless13_drive_motor
err_t brushless13_drive_motor(brushless13_t *ctx, uint8_t dir, uint8_t speed, uint32_t time_ms)
Brushless 13 drive motor function.
brushless13_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: brushless13.h:239
brushless13_init
err_t brushless13_init(brushless13_t *ctx, brushless13_cfg_t *cfg)
Brushless 13 initialization function.
brushless13_default_cfg
err_t brushless13_default_cfg(brushless13_t *ctx)
Brushless 13 default configuration function.
brushless13_perform_com_seq
err_t brushless13_perform_com_seq(brushless13_t *ctx, uint8_t dir, uint8_t speed)
Brushless 13 perform com sequence function.
brushless13_cfg_t::flt
pin_name_t flt
Definition: brushless13.h:237
brushless13_write_reg
err_t brushless13_write_reg(brushless13_t *ctx, uint8_t reg, uint8_t data_in)
Brushless 13 write register function.
brushless13_read_reg
err_t brushless13_read_reg(brushless13_t *ctx, uint8_t reg, uint8_t *data_out)
Brushless 13 read register function.
brushless13_cfg_t::mod
pin_name_t mod
Definition: brushless13.h:236
brushless13_generic_read
err_t brushless13_generic_read(brushless13_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len)
Brushless 13 I2C reading function.
brushless13_generic_write
err_t brushless13_generic_write(brushless13_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len)
Brushless 13 I2C writing function.