hbridge14 2.1.0.0
hbridge14.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 HBRIDGE14_H
29#define HBRIDGE14_H
30
31#ifdef __cplusplus
32extern "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_spi_master.h"
39#include "spi_specifics.h"
40
61#define HBRIDGE14_REG_FAULT_STATUS 0x00
62#define HBRIDGE14_REG_DIAG_STATUS 0x02
63#define HBRIDGE14_REG_IC1_CTRL 0x04
64#define HBRIDGE14_REG_IC2_CTRL 0x06
65#define HBRIDGE14_REG_IC3_CTRL 0x08
66#define HBRIDGE14_REG_IC4_CTRL 0x0A
67#define HBRIDGE14_REG_INPUT_PORT 0x00
68#define HBRIDGE14_REG_OUTPUT_PORT 0x01
69#define HBRIDGE14_REG_POLARITY_INV 0x02
70#define HBRIDGE14_REG_CONFIG 0x03
71 // hbridge14_reg
73
89#define HBRIDGE14_DIS_ON 0x01
90#define HBRIDGE14_DIS_OFF 0x00
91
97#define HBRIDGE14_SLEEP_ON 0x01
98#define HBRIDGE14_SLEEP_OFF 0x00
99
105#define HBRIDGE14_PIN_STATE_HIGH 0x01
106#define HBRIDGE14_PIN_STATE_LOW 0x00
107
113#define HBRIDGE14_DRIVE_MOTOR_CW 0x00
114#define HBRIDGE14_DRIVE_MOTOR_CCW 0x01
115#define HBRIDGE14_DRIVE_MOTOR_BRAKE 0x02
116#define HBRIDGE14_DRIVE_MOTOR_COASTING 0x03
117
123#define HBRIDGE14_NONE_PIN 0x00
124#define HBRIDGE14_SLP_PIN 0x01
125#define HBRIDGE14_FLT_PIN 0x02
126#define HBRIDGE14_DIS_PIN 0x04
127#define HBRIDGE14_ALL_PIN 0x07
128
134#define HBRIDGE14_TOF_80_US 0xC0
135#define HBRIDGE14_TOF_60_US 0x80
136#define HBRIDGE14_TOF_40_US 0x40
137#define HBRIDGE14_TOF_20_US 0x00
138#define HBRIDGE14_SPI_IN_EN 0x20
139#define HBRIDGE14_SPI_IN_DIS 0x00
140#define HBRIDGE14_S_SR_2_6V_US 0x1C
141#define HBRIDGE14_S_SR_5_3V_US 0x18
142#define HBRIDGE14_S_SR_7_9V_US 0x14
143#define HBRIDGE14_S_SR_10_8V_US 0x10
144#define HBRIDGE14_S_SR_13_V_US 0x0C
145#define HBRIDGE14_S_SR_18_3V_US 0x08
146#define HBRIDGE14_S_SR_34_V_US 0x04
147#define HBRIDGE14_S_SR_53_2V_US 0x00
148#define HBRIDGE14_MODE_DISABLED 0x03
149#define HBRIDGE14_MODE_INDEPENDENT 0x02
150#define HBRIDGE14_MODE_PWM 0x01
151#define HBRIDGE14_MODE_PH_EN 0x00
152
158#define HBRIDGE14_ITRIP_REP 0x80
159#define HBRIDGE14_TSD_MODE_AUTO 0x40
160#define HBRIDGE14_OTW_REP 0x20
161#define HBRIDGE14_DIS_CPUV 0x10
162#define HBRIDGE14_OCP_TRETRY_4_MS 0x0C
163#define HBRIDGE14_OCP_TRETRY_2_MS 0x08
164#define HBRIDGE14_OCP_TRETRY_1_MS 0x04
165#define HBRIDGE14_OCP_TRETRY_500_NS 0x00
166#define HBRIDGE14_OCP_MODE_NOT_REPORT 0x03
167#define HBRIDGE14_OCP_MODE_REPORT 0x02
168#define HBRIDGE14_OCP_MODE_RETRING 0x01
169#define HBRIDGE14_OCP_MODE_LATCHED 0x00
170
176#define HBRIDGE14_CLR_FLT 0x80
177#define HBRIDGE14_LOCK_REG 0x30
178#define HBRIDGE14_UNLOCK_REG 0x40
179#define HBRIDGE14_OUT1_DIS 0x08
180#define HBRIDGE14_OUT2_DIS 0x04
181#define HBRIDGE14_EN_IN1 0x02
182#define HBRIDGE14_PH_IN2 0x01
183
189#define HBRIDGE14_EN_OLP 0x40
190#define HBRIDGE14_OLP_DLY_300_US 0x00
191#define HBRIDGE14_OLP_DLY_1_2_MS 0x20
192#define HBRIDGE14_EN_OLA 0x10
193#define HBRIDGE14_ITRIP_LVL_7_A 0x0C
194#define HBRIDGE14_ITRIP_LVL_6_5_A 0x08
195#define HBRIDGE14_ITRIP_LVL_5_4_A 0x04
196#define HBRIDGE14_ITRIP_LVL_4_A 0x00
197#define HBRIDGE14_DIS_ITRIP_OUT1_OUT2 0x03
198#define HBRIDGE14_DIS_ITRIP_OUT2 0x02
199#define HBRIDGE14_DIS_ITRIP_OUT1 0x01
200#define HBRIDGE14_DIS_ITRIP 0x00
201
207#define HBRIDGE14_DEVICE_ADDRESS_A1A0_00 0x70
208#define HBRIDGE14_DEVICE_ADDRESS_A1A0_01 0x71
209#define HBRIDGE14_DEVICE_ADDRESS_A1A0_10 0x72
210#define HBRIDGE14_DEVICE_ADDRESS_A1A0_11 0x73
211
220#define HBRIDGE14_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
221#define HBRIDGE14_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
222 // hbridge14_set
224
239#define HBRIDGE14_MAP_MIKROBUS( cfg, mikrobus ) \
240 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
241 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
242 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
243 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
244 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
245 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
246 cfg.in2 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
247 cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
248 cfg.in1 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
249 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
250 // hbridge14_map // hbridge14
253
258typedef struct hbridge14_s
259{
260 digital_out_t in2;
261 digital_out_t rst;
262 digital_out_t in1;
264 digital_in_t int_pin;
266 i2c_master_t i2c;
267 spi_master_t spi;
270 pin_name_t chip_select;
273
278typedef struct
279{
280 pin_name_t scl;
281 pin_name_t sda;
282 pin_name_t miso;
283 pin_name_t mosi;
284 pin_name_t sck;
285 pin_name_t cs;
286 pin_name_t in2;
287 pin_name_t rst;
288 pin_name_t in1;
289 pin_name_t int_pin;
291 uint32_t i2c_speed;
292 uint8_t i2c_address;
294 uint32_t spi_speed;
295 spi_master_mode_t spi_mode;
296 spi_master_chip_select_polarity_t cs_polarity;
299
304typedef enum
305{
307 HBRIDGE14_ERROR = -1
308
310
327
342
356
371err_t hbridge14_generic_write ( hbridge14_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
372
387err_t hbridge14_generic_read ( hbridge14_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
388
398void hbridge14_set_in1_pin ( hbridge14_t *ctx, uint8_t pin_state );
399
409void hbridge14_set_rst_pin ( hbridge14_t *ctx, uint8_t pin_state );
410
420
430
445err_t hbridge14_register_write ( hbridge14_t *ctx, uint8_t reg, uint8_t data_in );
446
460err_t hbridge14_register_read ( hbridge14_t *ctx, uint8_t reg, uint8_t *data_out );
461
476err_t hbridge14_port_expander_write ( hbridge14_t *ctx, uint8_t reg, uint8_t data_in );
477
491err_t hbridge14_port_expander_read ( hbridge14_t *ctx, uint8_t reg, uint8_t *data_out );
492
505err_t hbridge14_set_pins ( hbridge14_t *ctx, uint8_t set_mask, uint8_t clr_mask );
506
518err_t hbridge14_disable_state ( hbridge14_t *ctx, uint8_t dis_state );
519
531err_t hbridge14_sleep_state ( hbridge14_t *ctx, uint8_t sleep_state );
532
544err_t hbridge14_drive_motor ( hbridge14_t *ctx, uint8_t state );
545
546#ifdef __cplusplus
547}
548#endif
549#endif // HBRIDGE14_H
550 // hbridge14
552
553// ------------------------------------------------------------------------ END
err_t hbridge14_port_expander_read(hbridge14_t *ctx, uint8_t reg, uint8_t *data_out)
H-Bridge 14 port ecpander read register function.
uint8_t hbridge14_get_int_pin(hbridge14_t *ctx)
H-Bridge 14 get INT pin function.
err_t hbridge14_drive_motor(hbridge14_t *ctx, uint8_t state)
H-Bridge 14 drive motor function.
void hbridge14_set_in1_pin(hbridge14_t *ctx, uint8_t pin_state)
H-Bridge 14 set IN1 pin function.
err_t hbridge14_disable_state(hbridge14_t *ctx, uint8_t dis_state)
H-Bridge 14 control disable function.
err_t hbridge14_register_write(hbridge14_t *ctx, uint8_t reg, uint8_t data_in)
H-Bridge 14 data register writing function.
err_t hbridge14_sleep_state(hbridge14_t *ctx, uint8_t sleep_state)
H-Bridge 14 control sleep function.
err_t hbridge14_register_read(hbridge14_t *ctx, uint8_t reg, uint8_t *data_out)
H-Bridge 14 data register reading function.
void hbridge14_cfg_setup(hbridge14_cfg_t *cfg)
H-Bridge 14 configuration object setup function.
err_t hbridge14_generic_write(hbridge14_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len)
H-Bridge 14 data writing function.
err_t hbridge14_set_pins(hbridge14_t *ctx, uint8_t set_mask, uint8_t clr_mask)
H-Bridge 14 set pins function.
err_t hbridge14_init(hbridge14_t *ctx, hbridge14_cfg_t *cfg)
H-Bridge 14 initialization function.
uint8_t hbridge14_get_ip_pin(hbridge14_t *ctx)
H-Bridge 14 get IP pin function.
err_t hbridge14_generic_read(hbridge14_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len)
H-Bridge 14 data reading function.
void hbridge14_set_rst_pin(hbridge14_t *ctx, uint8_t pin_state)
H-Bridge 14 set RST pin function.
err_t hbridge14_port_expander_write(hbridge14_t *ctx, uint8_t reg, uint8_t data_in)
H-Bridge 14 port ecpander write register function.
err_t hbridge14_default_cfg(hbridge14_t *ctx)
H-Bridge 14 default configuration function.
hbridge14_return_value_t
H-Bridge 14 Click return value data.
Definition: hbridge14.h:305
@ HBRIDGE14_ERROR
Definition: hbridge14.h:307
@ HBRIDGE14_OK
Definition: hbridge14.h:306
struct hbridge14_s hbridge14_t
H-Bridge 14 Click context object.
This file contains SPI specific macros, functions, etc.
H-Bridge 14 Click configuration object.
Definition: hbridge14.h:279
uint32_t i2c_speed
Definition: hbridge14.h:291
spi_master_chip_select_polarity_t cs_polarity
Definition: hbridge14.h:296
pin_name_t in2
Definition: hbridge14.h:286
pin_name_t sck
Definition: hbridge14.h:284
spi_master_mode_t spi_mode
Definition: hbridge14.h:295
pin_name_t mosi
Definition: hbridge14.h:283
uint32_t spi_speed
Definition: hbridge14.h:294
pin_name_t scl
Definition: hbridge14.h:280
pin_name_t in1
Definition: hbridge14.h:288
pin_name_t int_pin
Definition: hbridge14.h:289
pin_name_t miso
Definition: hbridge14.h:282
pin_name_t sda
Definition: hbridge14.h:281
pin_name_t rst
Definition: hbridge14.h:287
pin_name_t cs
Definition: hbridge14.h:285
uint8_t i2c_address
Definition: hbridge14.h:292
H-Bridge 14 Click context object.
Definition: hbridge14.h:259
digital_out_t in2
Definition: hbridge14.h:260
spi_master_t spi
Definition: hbridge14.h:267
digital_in_t int_pin
Definition: hbridge14.h:264
i2c_master_t i2c
Definition: hbridge14.h:266
digital_out_t rst
Definition: hbridge14.h:261
uint8_t slave_address
Definition: hbridge14.h:269
pin_name_t chip_select
Definition: hbridge14.h:270
digital_out_t in1
Definition: hbridge14.h:262