David Giles
This is a complete listing of the RS-EDP software for the mbed module to support the RS-EDP platform.
Diff: SourceFiles/MC2_Motor_Driver_I2C_Master.cpp
- Revision:
- 0:5b7639d1f2c4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SourceFiles/MC2_Motor_Driver_I2C_Master.cpp Fri Nov 19 09:49:16 2010 +0000
@@ -0,0 +1,632 @@
+/* Motor Drive Master Functions */
+/* **************************** */
+
+
+/* This module allows the MCU to act as a Master Controller in the system */
+/* It transmitts data down to the other Slave Modules and can also read parameters from the other dsPIC Slave Modules */
+
+
+
+
+
+/* Includes Here */
+#include "mbed.h" /* mbed header file */
+#include "misra_types.h" /* MISRA Types header file */
+#include "defines.h"
+#include "RSEDP_Slave_Address_Defines.h" /* Slave address of I2C Peripherals */
+
+#include "RSEDP_CNTRL_I2C.h" /* Control I2C Driver */
+#include "RS-EDP_AM_MC2_Globals.h" /* Global variables referenced here for MC2 Motor Drive Module */
+
+
+
+/* Function Prototypes */
+/* Write Functions */
+uint8_t I2C0_dsPIC_Reset(uint8_t slave_address);
+uint8_t I2C0_dsPIC_Emergency_Stop(uint8_t slave_address);
+uint8_t I2C0_dsPIC_Normal_Stop(uint8_t slave_address);
+uint8_t I2C0_dsPIC_Ping(uint8_t slave_address);
+uint8_t I2C0_dsPIC_Set_Motor_Speed_Demand_Forward(uint8_t slave_address, uint16_t motor_speed_Demand);
+uint8_t I2C0_dsPIC_Set_Motor_Speed_Demand_Reverse(uint8_t slave_address, uint16_t motor_speed_Demand);
+uint8_t I2C0_dsPIC_Set_Ramp_Up_Speed(uint8_t slave_address, uint16_t ramp_up_speed);
+uint8_t I2C0_dsPIC_Set_Ramp_Down_Speed(uint8_t slave_address, uint16_t ramp_down_speed);
+uint8_t I2C0_dsPIC_Set_Motor_Direction(uint8_t slave_address, uint8_t direction);
+uint8_t I2C0_dsPIC_Start_Motor_Rotation(uint8_t slave_address);
+
+uint8_t I2C0_dsPIC_Set_Rotation_Counts(uint8_t slave_address, uint32_t motor_rotation_counts);
+static uint8_t I2C0_dsPIC_Set_Rotation_Counts_High_Word(uint8_t slave_address, uint16_t motor_rotation_counts_high);
+static uint8_t I2C0_dsPIC_Set_Rotation_Counts_Low_Word(uint8_t slave_address, uint16_t motor_rotation_counts_low);
+uint8_t I2C0_dsPIC_Goto_Home(uint8_t slave_address, uint8_t home_direction, uint8_t home_speed);
+
+
+/* Read Functions */
+uint8_t I2C0_dsPIC_Read_Tacho_Speed_Instantaneous(uint8_t slave_address, uint8_t *rx_array);
+uint8_t I2C0_dsPIC_Read_Tacho_Speed_Average(uint8_t slave_address, uint8_t *rx_array);
+uint8_t I2C0_dsPIC_Read_Motor_Current_Instantaneous(uint8_t slave_address, uint8_t *rx_array);
+uint8_t I2C0_dsPIC_Read_Motor_Current_Average(uint8_t slave_address, uint8_t *rx_array);
+uint8_t I2C0_dsPIC_Read_Vbus_Instantaneous(uint8_t slave_address, uint8_t *rx_array);
+uint8_t I2C0_dsPIC_Read_Vbus_Average(uint8_t slave_address, uint8_t *rx_array);
+uint8_t I2C0_dsPIC_Read_Demand_Pot_Instantaneous(uint8_t slave_address, uint8_t *rx_array);
+uint8_t I2C0_dsPIC_Read_Demand_Pot_Average(uint8_t slave_address, uint8_t *rx_array);
+uint8_t I2C0_dsPIC_Read_Hall_Sensor_Positions(uint8_t slave_address, uint8_t *rx_array);
+uint8_t I2C0_dsPIC_Read_Motor_Status(uint8_t slave_address, uint8_t *rx_array);
+uint8_t I2C0_dsPIC_Read_Maximum_RPM(uint8_t slave_address, uint8_t *rx_array);
+
+uint8_t I2C0_dsPIC_Read_Quad_Encoder_Counter(uint8_t slave_address, uint8_t *rx_array);
+static uint8_t I2C0_dsPIC_Read_Quad_Encoder_Counter_High(uint8_t slave_address, uint8_t *rx_array);
+static uint8_t I2C0_dsPIC_Read_Quad_Encoder_Counter_Low(uint8_t slave_address, uint8_t *rx_array);
+
+
+
+/* Reset A Slave Unit */
+uint8_t I2C0_dsPIC_Reset(uint8_t slave_address)
+ {
+ /* 00 - Reset The Processor */
+ /* data bytes to follow will be */
+ /* databyte0 - 0x55 */
+ /* databyte1 - 0xaa */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[3] = {0x00u, 0x55u, 0xaau};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u);
+ return Ack_Error;
+ }
+
+
+
+/* Generate an emergency Stop */
+uint8_t I2C0_dsPIC_Emergency_Stop(uint8_t slave_address)
+ {
+ /* 01 - Emergency Stop */
+ /* data bytes to follow will be */
+ /* databyte0 - 0x00 */
+ /* databyte1 - 0x00 */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[3] = {0x01u, 0x00u, 0x00u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u);
+ return Ack_Error;
+ }
+
+
+
+/* Generate a normal stop condition */
+uint8_t I2C0_dsPIC_Normal_Stop(uint8_t slave_address)
+ {
+ /* 02 - Normal Stop */
+ /* data bytes to follow will be */
+ /* databyte0 - 0x00 */
+ /* databyte1 - 0x00 */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[3] = {0x02u, 0x00u, 0x00u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u);
+ return Ack_Error;
+ }
+
+
+/* Ping the Processor to see if it is attached to the bus */
+uint8_t I2C0_dsPIC_Ping(uint8_t slave_address)
+ {
+ /* 03 - Ping Stop */
+ /* data bytes to follow will be */
+ /* databyte0 - don't care */
+ /* databyte1 - don't care */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[3] = {0x03u, 0x00u, 0x00u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u);
+ return Ack_Error;
+ }
+
+
+
+/* Set the motor speed demand Forward */
+uint8_t I2C0_dsPIC_Set_Motor_Speed_Demand_Forward(uint8_t slave_address, uint16_t motor_speed_demand)
+ {
+ /* 10 - Set motor Speed Demand Forward */
+ /* data bytes to follow will be a 16bit value in the range 0 - 1023 */
+ /* databyte0 - highbyte */
+ /* databyte1 - lowbyte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[3] = {10u, 0x00u, 0x00u};
+ Tx_Array[1] = (uint8_t)(motor_speed_demand / 256u);
+ Tx_Array[2] = (uint8_t)(motor_speed_demand % 256u);
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u);
+ return Ack_Error;
+ }
+
+
+
+/* Set the motor speed demand Reverse */
+uint8_t I2C0_dsPIC_Set_Motor_Speed_Demand_Reverse(uint8_t slave_address, uint16_t motor_speed_demand)
+ {
+ /* 11 - Set motor Speed Demand Forward */
+ /* data bytes to follow will be a 16bit value in the range 0 - 1023 */
+ /* databyte0 - highbyte */
+ /* databyte1 - lowbyte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[3] = {11u, 0x00u, 0x00u};
+ Tx_Array[1] = (uint8_t)(motor_speed_demand / 256u);
+ Tx_Array[2] = (uint8_t)(motor_speed_demand % 256u);
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u);
+ return Ack_Error;
+ }
+
+
+
+/* Set the ramp up speed */
+uint8_t I2C0_dsPIC_Set_Ramp_Up_Speed(uint8_t slave_address, uint16_t ramp_up_speed)
+ {
+ /* 12 - Set Ramp Up Speed */
+ /* data bytes to follow will be a 16bit value in the range 0 - 1023 */
+ /* databyte0 - highbyte */
+ /* databyte1 - lowbyte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[3] = {12u, 0x00u, 0x00u};
+ Tx_Array[1] = (uint8_t)(ramp_up_speed / 256u);
+ Tx_Array[2] = (uint8_t)(ramp_up_speed % 256u);
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u);
+ return Ack_Error;
+ }
+
+
+
+/* Set the ramp down speed */
+uint8_t I2C0_dsPIC_Set_Ramp_Down_Speed(uint8_t slave_address, uint16_t ramp_down_speed)
+ {
+ /* 13 - Set Ramp Up Speed */
+ /* data bytes to follow will be a 16bit value in the range 0 - 1023 */
+ /* databyte0 - highbyte */
+ /* databyte1 - lowbyte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[3] = {13u, 0x00u, 0x00u};
+ Tx_Array[1] = (uint8_t)(ramp_down_speed / 256u);
+ Tx_Array[2] = (uint8_t)(ramp_down_speed % 256u);
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u);
+ return Ack_Error;
+ }
+
+
+
+/* Set the motor Direction */
+uint8_t I2C0_dsPIC_Set_Motor_Direction(uint8_t slave_address, uint8_t direction)
+ {
+ /* 14 - Set Motor Direction */
+ /* data bytes to follow will be */
+ /* databyte0 - don't care */
+ /* databyte1 - direction */
+ /* where direction = 0 - forward */
+ /* where direction = 1 - reverse */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[3] = {14u, 0x00u, 0x00u};
+
+ Tx_Array[2] = direction;
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u);
+ return Ack_Error;
+ }
+
+
+
+/* Motor Start */
+uint8_t I2C0_dsPIC_Start_Motor_Rotation(uint8_t slave_address)
+ {
+ /* 20 - Start Rotation */
+ /* data bytes to follow will be */
+ /* databyte0 - 0 */
+ /* databyte1 - 0 */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[3] = {20u, 0x00u, 0x00u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u);
+ return Ack_Error;
+ }
+
+
+
+
+/* Send a 32byte Counts number to the slave peripheral */
+uint8_t I2C0_dsPIC_Set_Rotation_Counts(uint8_t slave_address, uint32_t motor_rotation_counts)
+ {
+ /* Set Rotation Counts */
+ /* data bytes to follow will be a 32bit value - sent as two packets */
+
+ uint8_t Ack_Error = 0u;
+
+ Ack_Error = I2C0_dsPIC_Set_Rotation_Counts_High_Word(slave_address, (uint16_t)(motor_rotation_counts >> 16u));
+
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = I2C0_dsPIC_Set_Rotation_Counts_Low_Word(slave_address, (uint16_t)(motor_rotation_counts));
+ }
+
+ return Ack_Error;
+ }
+
+/* Send the first 16 bits count data across the I2C bus to the slave device */
+static uint8_t I2C0_dsPIC_Set_Rotation_Counts_High_Word(uint8_t slave_address, uint16_t motor_rotation_counts_high)
+ {
+ /* 21 - Set Rotation Counts High word */
+ /* data bytes to follow will be a 16bit value- High word of the 32bit variables */
+ /* databyte0 - highbyte (msb byte of the 32 bit word) */
+ /* databyte1 - lowbyte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[3] = {21u, 0x00u, 0x00u};
+ Tx_Array[1] = (uint8_t)(motor_rotation_counts_high / 256u);
+ Tx_Array[2] = (uint8_t)(motor_rotation_counts_high % 256u);
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u);
+ return Ack_Error;
+ }
+
+/* Send the lower order 16 bit count data across the I2C network to the slave.*/
+static uint8_t I2C0_dsPIC_Set_Rotation_Counts_Low_Word(uint8_t slave_address, uint16_t motor_rotation_counts_low)
+ {
+ /* 22 - Set Rotation Counts Low word */
+ /* data bytes to follow will be a 16bit value- Low word of the 32bit variables */
+ /* databyte0 - highbyte */
+ /* databyte1 - lowbyte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[3] = {22u, 0x00u, 0x00u};
+ Tx_Array[1] = (uint8_t)(motor_rotation_counts_low / 256u);
+ Tx_Array[2] = (uint8_t)(motor_rotation_counts_low % 256u);
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u);
+ return Ack_Error;
+ }
+
+
+
+/* Goto home position */
+uint8_t I2C0_dsPIC_Goto_Home(uint8_t slave_address, uint8_t home_direction, uint8_t home_speed)
+ {
+ /* 24 - Goto Home Position */
+ /* data bytes to follow will be */
+ /* databyte0 - direction */
+ /* databyte1 - home_speed (8 bit limited 1-255) */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[3] = {24u, 0u, 0u};
+ Tx_Array[1] = home_direction;
+ Tx_Array[2] = home_speed;
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u);
+ return Ack_Error;
+
+ }
+
+
+
+
+
+
+/* Read Functions Below Here */
+
+/* Read The Instantaneous RPM figure */
+uint8_t I2C0_dsPIC_Read_Tacho_Speed_Instantaneous(uint8_t slave_address, uint8_t *rx_array)
+ {
+ /* 50 - Read tacho speed instantaneous RPM */
+ /* data bytes to follow will be the instantaneous RPM data */
+ /* databyte0 - highbyte */
+ /* databyte1 - lowbyte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[1] = {50u};
+ sint8_t Rx_Temp[2] = {0u, 0u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */
+
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */
+ rx_array[0] = (uint8_t) Rx_Temp[0];
+ rx_array[1] = (uint8_t) Rx_Temp[1];
+
+ }
+ return Ack_Error;
+ }
+
+
+
+/* Read The Average RPM figure */
+uint8_t I2C0_dsPIC_Read_Tacho_Speed_Average(uint8_t slave_address, uint8_t *rx_array)
+ {
+ /* 51 - Read tacho speed average RPM */
+ /* data bytes to follow will be the average RPM data */
+ /* databyte0 - highbyte */
+ /* databyte1 - lowbyte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[1] = {51u};
+ sint8_t Rx_Temp[2] = {0u, 0u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */
+
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */
+ rx_array[0] = (uint8_t) Rx_Temp[0];
+ rx_array[1] = (uint8_t) Rx_Temp[1];
+ }
+ return Ack_Error;
+ }
+
+
+
+
+/* Read The Instantaneous Motor Current */
+uint8_t I2C0_dsPIC_Read_Motor_Current_Instantaneous(uint8_t slave_address, uint8_t *rx_array)
+ {
+ /* 52 - Read Motor Current Instantaneous in mA */
+ /* data bytes to follow will be the instantaneous motor current in mA */
+ /* databyte0 - highbyte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[1] = {52u};
+ sint8_t Rx_Temp[2] = {0u, 0u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */
+
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */
+ }
+ return Ack_Error;
+ }
+
+
+
+/* Read The Average Motor Current */
+uint8_t I2C0_dsPIC_Read_Motor_Current_Average(uint8_t slave_address, uint8_t *rx_array)
+ {
+ /* 53 - Read Motor Current Average */
+ /* data bytes to follow will be the computed average motor current in mA */
+ /* databyte0 - highbyte */
+ /* databyte1 - lowbyte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[1] = {53u};
+ sint8_t Rx_Temp[2] = {0u, 0u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */
+
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */
+ rx_array[0] = (uint8_t) Rx_Temp[0];
+ rx_array[1] = (uint8_t) Rx_Temp[1];
+ }
+ return Ack_Error;
+
+
+ }
+
+
+/* Measure the Vbus Bridge voltage */
+uint8_t I2C0_dsPIC_Read_Vbus_Instantaneous(uint8_t slave_address, uint8_t *rx_array)
+ {
+ /* 54 - Read Vbus Voltage Instantaneous */
+ /* data bytes to follow will be the instantaneous Vbus Power Supply Voltage to the bridge in mV */
+ /* databyte0 - highbyte */
+ /* databyte1 - lowbyte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[1] = {54u};
+ sint8_t Rx_Temp[2] = {0u, 0u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */
+
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */
+ rx_array[0] = (uint8_t) Rx_Temp[0];
+ rx_array[1] = (uint8_t) Rx_Temp[1];
+ }
+ return Ack_Error;
+ }
+
+
+
+/* Measure the Vbus Bridge Voltage Average */
+uint8_t I2C0_dsPIC_Read_Vbus_Average(uint8_t slave_address, uint8_t *rx_array)
+ {
+ /* 55 - Read Vbus Voltage Instantaneous */
+ /* data bytes to follow will be the computed average Vbus Power Supply Voltage to the bridge in mV */
+ /* databyte0 - highbyte */
+ /* databyte1 - lowbyte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[1] = {55u};
+ sint8_t Rx_Temp[2] = {0u, 0u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */
+
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */
+ rx_array[0] = (uint8_t) Rx_Temp[0];
+ rx_array[1] = (uint8_t) Rx_Temp[1];
+ }
+ return Ack_Error;
+ }
+
+
+/* Measure The Demand Pot Instantaneous */
+uint8_t I2C0_dsPIC_Read_Demand_Pot_Instantaneous(uint8_t slave_address, uint8_t *rx_array)
+ {
+ /* 56 - Read Demand Pot instantaneous */
+ /* data bytes to follow will be the instanteneous Pot Demand setting in the range 0 - 1023 */
+ /* databyte0 - highbyte */
+ /* databyte1 - lowbyte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[1] = {56u};
+ sint8_t Rx_Temp[2] = {0u, 0u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */
+
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */
+ rx_array[0] = (uint8_t) Rx_Temp[0];
+ rx_array[1] = (uint8_t) Rx_Temp[1];
+ }
+ return Ack_Error;
+ }
+
+
+uint8_t I2C0_dsPIC_Read_Demand_Pot_Average(uint8_t slave_address, uint8_t *rx_array)
+ {
+ /* 57 - Read Demand Pot average */
+ /* data bytes to follow will be the average Pot Demand setting in the range 0 - 1023 */
+ /* databyte0 - highbyte */
+ /* databyte1 - lowbyte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[1] = {57u};
+ sint8_t Rx_Temp[2] = {0u, 0u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */
+
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */
+ rx_array[0] = (uint8_t) Rx_Temp[0];
+ rx_array[1] = (uint8_t) Rx_Temp[1];
+ }
+ return Ack_Error;
+ }
+
+
+
+/* Read The Hall Effect Sensors */
+uint8_t I2C0_dsPIC_Read_Hall_Sensor_Positions(uint8_t slave_address, uint8_t *rx_array)
+ {
+ /* 58 - Read Hall Sensors Positions */
+ /* data bytes to follow will be the hall sensor reading */
+ /* databyte0 - 0 */
+ /* databyte1 - hall effect sensors */
+ /* where halleffect reading in bit form is 0b 0000 0ABC, where A is the logic level on the Hall Input A ('1' or '0') etc */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[1] = {58u};
+ sint8_t Rx_Temp[2] = {0u, 0u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */
+
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */
+ rx_array[0] = (uint8_t) Rx_Temp[0];
+ rx_array[1] = (uint8_t) Rx_Temp[1];
+ }
+ return Ack_Error;
+ }
+
+
+
+/* Read The Fault Status Register */
+uint8_t I2C0_dsPIC_Read_Motor_Status(uint8_t slave_address, uint8_t *rx_array)
+ {
+ /* 59 - Read Motor Status - run/stop/direction/Faults etc */
+ /* data bytes to follow will be the Fault Status Register */
+ /* databyte0 - Flags Status Register - high */
+ /* databyte1 - Flags Status Register - low */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[1] = {59u};
+ sint8_t Rx_Temp[2] = {0u, 0u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */
+
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */
+ rx_array[0] = (uint8_t) Rx_Temp[0];
+ rx_array[1] = (uint8_t) Rx_Temp[1];
+ }
+ return Ack_Error;
+ }
+
+
+
+/* Read the Maximum RPM Information */
+uint8_t I2C0_dsPIC_Read_Maximum_RPM(uint8_t slave_address, uint8_t *rx_array)
+ {
+ /* 60 - Read The Maxium RPM information */
+ /* data bytes to follow will be the Maximum RPM of the motor */
+ /* databyte0 - Max RPM - high byte */
+ /* databyte1 - Max RPM - low byte */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[1] = {60u};
+ sint8_t Rx_Temp[2] = {0u, 0u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */
+
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */
+ rx_array[0] = (uint8_t) Rx_Temp[0];
+ rx_array[1] = (uint8_t) Rx_Temp[1];
+ }
+ return Ack_Error;
+ }
+
+
+/* Read The 32bit Quadrature Encoder Counter */
+uint8_t I2C0_dsPIC_Read_Quad_Encoder_Counter(uint8_t slave_address, uint8_t *rx_array)
+ {
+ uint8_t Ack_Error = 0u;
+
+ Ack_Error = I2C0_dsPIC_Read_Quad_Encoder_Counter_High(slave_address, rx_array);
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = I2C0_dsPIC_Read_Quad_Encoder_Counter_Low(slave_address, (rx_array + 2u));
+ }
+ return Ack_Error;
+ }
+
+
+/* Read The High Word of the 32ibt Quadrature Encoder */
+static uint8_t I2C0_dsPIC_Read_Quad_Encoder_Counter_High(uint8_t slave_address, uint8_t *rx_array)
+ {
+ /* 61 - Read Quadrature Counter (high byte) */
+ /* data bytes to follow will be the Quadrature Encoder high bytes */
+ /* databyte0 - Quadrature Encoder Counter - High Byte (byte3 MSB) */
+ /* databyte1 - Quadrature Encoder Counterr - Low byte (byte2) */
+ /* Reading this byte will freeze the low byte, allwoing glitchless reading of the 32 bit counter */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[1u] = {61u};
+ sint8_t Rx_Temp[2] = {0u, 0u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */
+
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */
+ rx_array[0] = (uint8_t) Rx_Temp[0];
+ rx_array[1] = (uint8_t) Rx_Temp[1];
+ }
+ return Ack_Error;
+ }
+
+
+/* Read The Low Word of the 32bit Quadrature Encoder */
+static uint8_t I2C0_dsPIC_Read_Quad_Encoder_Counter_Low(uint8_t slave_address, uint8_t *rx_array)
+ {
+ /* 62 - Read Quadrature Counter (low bytes) */
+ /* data bytes to follow will be the Quadrature Encoder low bytes */
+ /* databyte0 - Quadrature Encoder Counter - High Byte (byte3 MSB) */
+ /* databyte1 - Quadrature Encoder Counterr - Low byte (byte2) */
+ /* Reading this byte will unlock the 32 bit counter. Read the high byte first. */
+ /* Note: It is important to read the high byte first */
+ uint8_t Ack_Error = 0u;
+ sint8_t Tx_Array[1u] = {62u};
+ sint8_t Rx_Temp[2] = {0u, 0u};
+
+ Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */
+
+ if (Ack_Error == 0u)
+ {
+ Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */
+ rx_array[0] = (uint8_t) Rx_Temp[0];
+ rx_array[1] = (uint8_t) Rx_Temp[1];
+ }
+ return Ack_Error;
+ }
+
+
+