// --------------------------------------
// "Nonagon DRV8830 PCB" Arduino driver
//
// Le 14 Mai 2018 by Mej
     


/////////////////////////////////////////////////////////////////////////////////////////////
//## DRV8830 (H-Bridge Voltage-Controlled Motor Driver)

//Addresses                                                   #IC   Output
const byte DRV8830_1 = B1100000; // 0x60   adress=110+ 0000   1     1+/1-
const byte DRV8830_2 = B1100001; // 0x61   adress=110+ 0001   2     2+/2-
const byte DRV8830_3 = B1100010; // 0x62   adress=110+ 0010   3     3+/3-
const byte DRV8830_4 = B1100011; // 0x62   adress=110+ 0011   4     ...
const byte DRV8830_5 = B1100100; // 0x62   adress=110+ 0100   5
const byte DRV8830_6 = B1100101; // 0x62   adress=110+ 0101   6
const byte DRV8830_7 = B1100110; // 0x62   adress=110+ 0110   7
const byte DRV8830_8 = B1100111; // 0x62   adress=110+ 0111   8
const byte DRV8830_0 = B1101000; // 0x62   adress=110+ 1000   9     9+/9-

const byte DRV8830 = DRV8830_0;
const byte DRV8830s[9] = {DRV8830_0, DRV8830_1, DRV8830_2, DRV8830_3, DRV8830_4, DRV8830_5, DRV8830_6, DRV8830_7, DRV8830_8};
//Registers
const byte DRV8830_CONTROL = 0x00;
const byte DRV8830_FAULT = 0x01;

//CONTROL registry  tools
//const byte DRV8830_VSETmax = B111111; // 0x3F D63 // Output voltage = 5.06V (PWM controled)
//const byte DRV8830_VSETmax = B110010; // 0x32 D50 // Output voltage = 4.02V (PWM controled)
const byte DRV8830_VSETmax = B100110; // 0x26 D38 // Output voltage = 3.05V (PWM controled)
const byte DRV8830_VSETmin = B000110; // 0x06 D6 // Output voltage = 0.48V (PWM controled)
byte DRV8830s_VSET[9] = {DRV8830_VSETmin, DRV8830_VSETmin, DRV8830_VSETmin, DRV8830_VSETmin, DRV8830_VSETmin, DRV8830_VSETmin, DRV8830_VSETmin, DRV8830_VSETmin, DRV8830_VSETmin}; //PWM average voltage
bool DRV8830s_IN1[9] = {0,0,0,0,0,0,0,0,0}; //H-Brigdes logic
bool DRV8830s_IN2[9] = {0,0,0,0,0,0,0,0,0};
byte DRV8830s_control[9]={0,0,0,0,0,0,0,0,0}; //Value to be loaded in register

//FAULT registry tools
const byte DRV8830_fault_clear = B10000000; //0x80   used to clear FAULT
byte DRV8830_fault; //used to store FAULT register


/////////////////////////////////////////////////////////////////////////////////////////////////////////
// Other variables

//timing
unsigned long t_0 = millis(); //Time since startup in ms. Overflow after 50 days.
unsigned long t = millis();
unsigned long loop_cnt = 0; //loop count


////Steping sequence 1: "Wave drive"
//const bool Sequence_L1_P1[4] = {1, 0, 0, 0}; //1st Coil, 1st Phase
//const bool Sequence_L1_P2[4] = {0, 0, 1, 0}; //1st Coil, 2nd Phase
//const bool Sequence_L2_P1[4] = {0, 1, 0, 0}; //2nd Coil, 1st Phase
//const bool Sequence_L2_P2[4] = {0, 0, 0, 1}; //2nd Coil, 2nd Phase
//const byte Under_step = 4; //Number of steps in "one step"

//Steping sequence 2: "Full step"
const bool Sequence_L1_P1[4] = {1, 1, 0, 0}; //1st Coil, 1st Phase
const bool Sequence_L1_P2[4] = {0, 0, 1, 1}; //1st Coil, 2nd Phase
const bool Sequence_L2_P1[4] = {0, 1, 1, 0}; //2nd Coil, 1st Phase
const bool Sequence_L2_P2[4] = {1, 0, 0, 1}; //2nd Coil, 2nd Phase
const byte Under_step = 4; //Number of steps in "one step"


//////Steping sequence 2: "Half step"
//const bool Sequence_L1_P1[8] = {1, 1, 0, 0, 0, 0, 0, 1}; //1st Coil, 1st Phase
//const bool Sequence_L1_P2[8] = {0, 0, 0, 1, 1, 1, 0, 0}; //1st Coil, 2nd Phase
//const bool Sequence_L2_P1[8] = {0, 1, 1, 1, 0, 0, 0, 0}; //2nd Coil, 1st Phase
//const bool Sequence_L2_P2[8] = {0, 0, 0, 0, 0, 1, 1, 1}; //2nd Coil, 2nd Phase
//const byte Under_step = 8; //Number of steps in "one step"

void set_Step(char channel, byte STEP) //There à 4 stepper-motor channel: 'A' (DRV1&2) - 'B' (DRV3&4)- 'C' (DRV5&6)and 'D'(DRV7&8).
{
  int c = 10;
  if(channel=='A'){
    c = 1;}
  if(channel=='B'){
    c = 3;}
  if(channel=='C'){
    c = 5;}
  if(channel=='D'){
    c = 7;}
    
  STEP = STEP%Under_step;

  if (c!=10)
  {
    DRV8830s_IN1[c] = Sequence_L1_P1[STEP];
    DRV8830s_IN2[c] = Sequence_L1_P2[STEP];
    DRV8830s_IN1[c+1] = Sequence_L2_P1[STEP];
    DRV8830s_IN2[c+1] = Sequence_L2_P2[STEP];
  }
}





/////////////////////////////////////////////////////////////////////////////////////////////////////////
// Wire and functions

#include <Wire.h>

void set_I2C_register(byte ADDRESS, byte REGISTER, byte VALUE)
{
  Wire.beginTransmission(ADDRESS);
  Wire.write(REGISTER);
  Wire.write(VALUE);
  Wire.endTransmission();
}

byte get_I2C_register(byte ADDRESS, byte REGISTER)
{
  Wire.beginTransmission(ADDRESS);
  Wire.write(REGISTER);
  Wire.endTransmission();
  Wire.requestFrom(ADDRESS, 1); //read 1 byte
  byte x = Wire.read();
  return x;
}



/////////////////////////////////////////////////////////////////////////////////////////////////////////  SETUP
// 
void setup()
{
  Wire.begin();
  Serial.begin(115200);
  delay(100);
  while (!Serial);             // wait for serial monitor
  Serial.println("\n");
  Serial.println("\nI2C is up at 9600 baud");
  Serial.print("\n");
  for (int i=0; i < 9; i++)
  {
    Serial.print("DRV8830_");
    Serial.print(i);
    Serial.print(" address = 0x");
    Serial.print(DRV8830s[i], HEX);
    Serial.print(" = B");
    Serial.println(DRV8830s[i], BIN);
  }


  //Clear all DRV8830 and set them at DRV8830_VSETmin
  Serial.println("\n");
  Serial.print("\nClearing DRVs:  ");
  for (int i=0; i < 9; i++)
  {
    set_I2C_register(DRV8830s[i], DRV8830_CONTROL, 4*DRV8830_VSETmin + 2*0 + 0); // Standby/coast
    //set_I2C_register(DRV8830s[i], DRV8830_CONTROL, 4*DRV8830_VSETmin + 2*1 + 1); // Break
    set_I2C_register(DRV8830s[i], DRV8830_FAULT, DRV8830_fault_clear);           //Clear fault
    Serial.print(i);
    Serial.print("  ");
  }


  //Choose configurations of DC motor, drived by DRV8830_0 on connector 9+/9-
  DRV8830s_IN1[0] = 1;
  DRV8830s_IN2[0] = 0;
  DRV8830s_VSET[0] = (DRV8830_VSETmax+DRV8830_VSETmin)/2;
  Serial.println("");
  Serial.print("VSET DC = ");
  Serial.println(DRV8830s_VSET[0]);


  //Choose configurations of Stepper-motor, on connector 1+/1-/2+/2- , 3+/3-/4+/4- , ...
  byte VSET_steppers = DRV8830_VSETmax;
  Serial.print("VSET steppers  = ");
  Serial.println(VSET_steppers);
  set_Step('A', 0);
  DRV8830s_VSET[1] = VSET_steppers;
  DRV8830s_VSET[2] = VSET_steppers;
  set_Step('B', 0);
  DRV8830s_VSET[3] = VSET_steppers;
  DRV8830s_VSET[4] = VSET_steppers;
  set_Step('C', 0);
  DRV8830s_VSET[5] = VSET_steppers;
  DRV8830s_VSET[6] = VSET_steppers;
  set_Step('D', 0);
  DRV8830s_VSET[7] = VSET_steppers;
  DRV8830s_VSET[8] = VSET_steppers;


  //Set Motor
  Serial.print("\n");
  Serial.print("DRV8830s_control=");
  for (int i=0; i < 9; i++)
  {
    DRV8830s_control[i] = 4*DRV8830s_VSET[i] + 2*DRV8830s_IN2[i] + DRV8830s_IN1[i];
    set_I2C_register(DRV8830s[i], DRV8830_CONTROL, DRV8830s_control[i]);
    Serial.print("\t");
    Serial.print(DRV8830s_control[i], HEX);
  }
  delay(1000);


  //Read and print CONTROL registers
  Serial.print("\nDRV8830s_control=");
  for (int i=0; i < 9; i++)
  {
    Serial.print("\t");
    Serial.print(get_I2C_register(DRV8830s[i], DRV8830_CONTROL), HEX);
  }
  Serial.print(" (checked from register)");
  delay(1000);

  
  //Read and print FAULT registers (see Table 8 of datasheet) of all DRV8830s
  Serial.print("\n");
  for (int i=0; i < 9; i++)
  {
    DRV8830_fault = get_I2C_register(DRV8830s[i], DRV8830_FAULT);
    Serial.print("\nDRV8830_");
    Serial.print(i);
    Serial.print(" is");
    Serial.print(DRV8830_fault, BIN);
    if (bitRead(DRV8830_fault,0)==1)               //D0: FAULT
    {
      Serial.print("faulty:");
      if (bitRead(DRV8830_fault,1)==1){             //D1: OCP
        Serial.print("  OCP = Overcurrent event!");}
      else if (bitRead(DRV8830_fault,2)==1){        //D2: UVLO
        Serial.print("  UVLO = Undervoltage lockout!");}
      else if (bitRead(DRV8830_fault,3)==1){        //D3: OTS
        Serial.print("  OTS = Overtemperature condition!");}
      else if (bitRead(DRV8830_fault,4)==1){        //D4: ILIMIT
        Serial.print("  OTS = extended current limit event!");}
    }
    else
    {
      Serial.print(" OK");
    }
  }
  Serial.println("\n");
}
 


/////////////////////////////////////////////////////////////////////////////////////////////////////////  LOOP
// 
void loop()
{
  loop_cnt = loop_cnt+1;
  t = millis();
  Serial.print("\nt= ");
  Serial.print(t/1000.0, 3);
  Serial.print("s");



  //Update DC
  DRV8830s_IN1[0] = !DRV8830s_IN1[0];
  DRV8830s_IN2[0] = !DRV8830s_IN2[0];

  
  //Update Stepper motors
  byte state = loop_cnt%256;
  if (state>128)
  {
    set_Step('A', state);
    set_Step('B', state);
    set_Step('C', state);
    set_Step('D', state);
  }
  else
  {
    set_Step('A', 256-state);
    set_Step('B', 256-state);
    set_Step('C', 256-state);
    set_Step('D', 256-state);
  }
 
  

  //Print IN1-IN2 config (Direction, Break, Free)
  Serial.print("\tIN12=  ");
  Serial.print(DRV8830s_IN1[0]);
  Serial.print(DRV8830s_IN2[0]);
  Serial.print("  ");
  Serial.print(DRV8830s_IN1[1]);
  Serial.print(DRV8830s_IN2[1]);
  Serial.print(DRV8830s_IN1[2]);
  Serial.print(DRV8830s_IN2[2]);
  Serial.print("  ");
  Serial.print(DRV8830s_IN1[3]);
  Serial.print(DRV8830s_IN2[3]);
  Serial.print(DRV8830s_IN1[4]);
  Serial.print(DRV8830s_IN2[4]);
  Serial.print("  ");
  Serial.print(DRV8830s_IN1[5]);
  Serial.print(DRV8830s_IN2[5]);
  Serial.print(DRV8830s_IN1[6]);
  Serial.print(DRV8830s_IN2[6]);
  Serial.print("  ");
  Serial.print(DRV8830s_IN1[7]);
  Serial.print(DRV8830s_IN2[7]);
  Serial.print(DRV8830s_IN1[8]);
  Serial.print(DRV8830s_IN2[8]);
  
  
  //Set all DRV8830
  for (int i=0; i < 9; i++)
  {
    DRV8830s_control[i] = 4*DRV8830s_VSET[i] + 2*DRV8830s_IN2[i] + DRV8830s_IN1[i];
    set_I2C_register(DRV8830s[i], DRV8830_CONTROL, DRV8830s_control[i]);
  }


  //Read CONTROL register and check is has expected value
  Serial.print("  CONTROL: ");
  for (int i=0; i < 9; i++)
  {
    byte DRV8830_control_check = get_I2C_register(DRV8830s[i], DRV8830_CONTROL);
    if (DRV8830_control_check == DRV8830s_control[i])
    {
      1+1;
      //Serial.print("ok ");
    }
    else
    {
      Serial.print("\t!!! CONTROL of DRV8830_");
      Serial.print(i);
      Serial.print(" is ");
      Serial.print(DRV8830_control_check,BIN);
      Serial.print(" instead of ");
      Serial.print(DRV8830s_control[i] ,BIN);
    }
  }


  //Check FAULT register
  Serial.print("  FAULT: ");
  for (int i=0; i < 9; i++)
  {
    DRV8830_fault = get_I2C_register(DRV8830s[i], DRV8830_FAULT);
    if (bitRead(DRV8830_fault,0)==1)               //D0: FAULT
    {
      Serial.print("\tDRV8830_");
      Serial.print(i);
      Serial.print(" is faulty:");
      if (bitRead(DRV8830_fault,1)==1){             //D1: OCP
        Serial.print("  OCP = Overcurrent event!");}
      else if (bitRead(DRV8830_fault,2)==1){        //D2: UVLO
        Serial.print("  UVLO = Undervoltage lockout!");}
      else if (bitRead(DRV8830_fault,3)==1){        //D3: OTS
        Serial.print("  OTS = Overtemperature condition!");}
      else if (bitRead(DRV8830_fault,4)==1){        //D4: ILIMIT
        Serial.print("  OTS = extended current limit event!");}
    }
    else
    {
      //Serial.print("ok ");    
      
//      Serial.print("\t");
//      Serial.print(i);
//      Serial.print(":");
//      Serial.print(DRV8830_fault,BIN);
    }
  }
    
  //delay(1);
  
}