multisteppertb62261.h

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/****************************************************************************
** Copyright (C) 2020 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
** Permission is hereby granted, free of charge, to any person obtaining a copy
** of this software and associated documentation files (the "Software"), to deal
** in the Software without restriction, including without limitation the rights
** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
** copies of the Software, and to permit persons to whom the Software is
** furnished to do so, subject to the following conditions:
** The above copyright notice and this permission notice shall be
** included in all copies or substantial portions of the Software.
**
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** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
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#ifndef MULTISTEPPERTB62261_H
#define MULTISTEPPERTB62261_H
 
#ifdef __cplusplus
extern "C"{
#endif
 
#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
 
#ifdef MikroCCoreVersion
    #if MikroCCoreVersion >= 1
        #include "delays.h"
    #endif
#endif
 
#include "drv_digital_out.h"
#include "drv_i2c_master.h"
 
#define MULTISTEPPERTB62261_REG_INPUT                      0x00
#define MULTISTEPPERTB62261_REG_OUTPUT                     0x01
#define MULTISTEPPERTB62261_REG_POLARITY                   0x02
#define MULTISTEPPERTB62261_REG_CONFIG                     0x03
 
 // multisteppertb62261_reg
 
#define MULTISTEPPERTB62261_PHASEA_PIN                     0x02
#define MULTISTEPPERTB62261_PHASEB_PIN                     0x04
 
#define MULTISTEPPERTB62261_DEFAULT_CONFIG                 0xF9
 
#define MULTISTEPPERTB62261_DIR_CW                         0
#define MULTISTEPPERTB62261_DIR_CCW                        1
 
#define MULTISTEPPERTB62261_PIN_LOW_LEVEL                  0
#define MULTISTEPPERTB62261_PIN_HIGH_LEVEL                 1
 
#define MULTISTEPPERTB62261_MODE_FULL_STEP                 0x00
#define MULTISTEPPERTB62261_MODE_HALF_STEP                 0x01
#define MULTISTEPPERTB62261_MODE_QUARTER_STEP              0x02
 
#define MULTISTEPPERTB62261_SPEED_VERY_SLOW                0
#define MULTISTEPPERTB62261_SPEED_SLOW                     1
#define MULTISTEPPERTB62261_SPEED_MEDIUM                   2
#define MULTISTEPPERTB62261_SPEED_FAST                     3
#define MULTISTEPPERTB62261_SPEED_VERY_FAST                4 
 
#define MULTISTEPPERTB62261_DEVICE_ADDRESS_A1A0_00         0x70
#define MULTISTEPPERTB62261_DEVICE_ADDRESS_A1A0_01         0x71
#define MULTISTEPPERTB62261_DEVICE_ADDRESS_A1A0_10         0x72
#define MULTISTEPPERTB62261_DEVICE_ADDRESS_A1A0_11         0x73
 
 // multisteppertb62261_set
 
#define MULTISTEPPERTB62261_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.an = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.clk = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // multisteppertb62261_map
 // multisteppertb62261
 
typedef struct
{
    // Output pins
    digital_out_t an;           
    digital_out_t int_pin;      
    digital_out_t clk;          
    digital_out_t en;           
    digital_out_t rst;          
    // Modules
    i2c_master_t i2c;           
    // I2C slave address
    uint8_t slave_address;      
    uint8_t step_mode;
    uint8_t direction;
 
} multisteppertb62261_t;
 
typedef struct
{
    pin_name_t  scl;            
    pin_name_t  sda;            
    pin_name_t  an;             
    pin_name_t  int_pin;        
    pin_name_t  clk;            
    pin_name_t  en;             
    pin_name_t  rst;            
    uint32_t  i2c_speed;        
    uint8_t   i2c_address;      
} multisteppertb62261_cfg_t;
 
typedef enum
{
    MULTISTEPPERTB62261_OK = 0,
    MULTISTEPPERTB62261_ERROR = -1
 
} multisteppertb62261_return_value_t;
 
void multisteppertb62261_cfg_setup ( multisteppertb62261_cfg_t *cfg );
 
err_t multisteppertb62261_init ( multisteppertb62261_t *ctx, multisteppertb62261_cfg_t *cfg );
 
err_t multisteppertb62261_default_cfg ( multisteppertb62261_t *ctx );
 
err_t multisteppertb62261_write_register ( multisteppertb62261_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t multisteppertb62261_read_register ( multisteppertb62261_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t multisteppertb62261_drive_motor ( multisteppertb62261_t *ctx, uint32_t steps, uint8_t speed );
 
void multisteppertb62261_enable_device ( multisteppertb62261_t *ctx );
 
void multisteppertb62261_disable_device ( multisteppertb62261_t *ctx );
 
void multisteppertb62261_set_ina1_pin ( multisteppertb62261_t *ctx, uint8_t state );
 
void multisteppertb62261_set_ina2_pin ( multisteppertb62261_t *ctx, uint8_t state );
 
void multisteppertb62261_set_inb1_pin ( multisteppertb62261_t *ctx, uint8_t state );
 
void multisteppertb62261_set_inb2_pin ( multisteppertb62261_t *ctx, uint8_t state );
 
void multisteppertb62261_set_step_mode ( multisteppertb62261_t *ctx, uint8_t mode );
 
void multisteppertb62261_set_direction ( multisteppertb62261_t *ctx, uint8_t dir );
 
void multisteppertb62261_switch_direction ( multisteppertb62261_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // MULTISTEPPERTB62261_H
 
 // multisteppertb62261
 
// ------------------------------------------------------------------------ END