Take your projects to new heights with MCT8316A and PIC32MZ1024EFH064

/*!
 * @file main.c
 * @brief Brushless 25 Click example
 *
 * # Description
 * Application example shows the device's capability of controlling 
 * the brushless motor speed and state of the driver.
 *
 * The demo application is composed of two sections :
 *
 * ## Application Init
 * Initializes the driver, sets the device into slow start mode 
 * and sets the speed of the motor to 30%.
 *
 * ## Application Task
 * This example is taking track of the state of the driver and motor, as well as its 
 * voltage and speed which is changing from 30% to 100%, and logging it onto the USB UART terminal.
 *
 * @author Stefan Ilic
 *
 */

#include "board.h"
#include "log.h"
#include "brushless25.h"

static brushless25_t brushless25;
static log_t logger;

uint8_t sw_data = 0;
uint8_t speed_val = 3;

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    brushless25_cfg_t brushless25_cfg;  /**< Click config object. */
    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    brushless25_cfg_setup( &brushless25_cfg );
    BRUSHLESS25_MAP_MIKROBUS( brushless25_cfg, MIKROBUS_1 );
    err_t init_flag = brushless25_init( &brushless25, &brushless25_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    
    if ( BRUSHLESS25_ERROR == brushless25_default_cfg ( &brushless25 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }
    
    brushless25_set_speed_value( &brushless25, ( speed_val * 10 ) );
    
    log_info( &logger, " Application Task " );
}

void application_task ( void )
{
    uint32_t tmp_data = 0;
    uint16_t spd_data = 0;
    uint16_t voltage_data = 0;

    brushless25_register_read( &brushless25, BRUSHLESS25_REG_SYS_STATUS2, &tmp_data );
    tmp_data &= BRUSHLESS25_STATE_MASK; 
    
    switch ( tmp_data )
    {
        case BRUSHLESS25_STATE_SYSTEM_IDLE:
        {
            log_info( &logger, " System is idle " );
            break;
        }
        case BRUSHLESS25_STATE_MOTOR_START:
        {
            log_info( &logger, " Motor is starting " );
            break;
        }
        case BRUSHLESS25_STATE_MOTOR_RUN:
        {
            log_info( &logger, " Motor is running" );
            if ( ( speed_val < 10 ) && ( sw_data == 0 ) )
            {
                speed_val++;
                if ( speed_val == 10 )
                {
                    sw_data = 1;
                }
            }
            else if ( ( speed_val > 3 ) && ( sw_data == 1 ) )
            {
                speed_val--;
                if ( speed_val == 3 )
                {
                    sw_data = 0;
                }
            }
            
            break;
        }
        case BRUSHLESS25_STATE_MOTOR_ALIGN:
        {
            log_info( &logger, " Motor is aligning " );
            break;
        }
        case BRUSHLESS25_STATE_MOTOR_IDLE:
        {
            log_info( &logger, " Motor is in idle mode " );
            break;
        }
        case BRUSHLESS25_STATE_MOTOR_STOP:
        {
            log_info( &logger, " Motor is stoped " );
            brushless25_set_brake_state( &brushless25, BRUSHLESS25_BRAKE_ON );
            break;
        }
        case BRUSHLESS25_STATE_FAULT:
        {
            log_error( &logger, " Fault accured " );
            brushless25_set_brake_state( &brushless25, BRUSHLESS25_BRAKE_ON );
            for ( ; ; );
        }
        case BRUSHLESS25_STATE_MOTOR_BRAKE:
        {
            log_info( &logger, " Motor brake is on " );
            brushless25_set_brake_state( &brushless25, BRUSHLESS25_BRAKE_OFF );
            break;
        }
        default:
        {
            break;
        }
    }

    brushless25_set_speed_value( &brushless25, ( speed_val * 10 ) );
    Delay_ms ( 1000 );
    brushless25_register_read( &brushless25, BRUSHLESS25_REG_SYS_STATUS2, &tmp_data );
    spd_data = ( uint16_t ) tmp_data / 10;
    brushless25_register_read( &brushless25, BRUSHLESS25_REG_SYS_STATUS1, &tmp_data );
    voltage_data = ( ( uint16_t ) ( tmp_data >> 16 ) / 10 );

    log_printf( &logger, " Motor speed: %d Hz \r\n", spd_data );
    log_printf( &logger, " Motor voltage: %d V \r\n", voltage_data );
    log_printf( &logger, " --------------------- \r\n" );
    Delay_ms ( 1000 );
}

int main ( void ) 
{
    /* Do not remove this line or clock might not be set correctly. */
    #ifdef PREINIT_SUPPORTED
    preinit();
    #endif
    
    application_init( );
    
    for ( ; ; ) 
    {
        application_task( );
    }

    return 0;
}

// ------------------------------------------------------------------------ END