silentstep.h

Go to the documentation of this file.

/****************************************************************************
** 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.
**
** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
**  USE OR OTHER DEALINGS IN THE SOFTWARE.
****************************************************************************/
 
#ifndef SILENTSTEP_H
#define SILENTSTEP_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_digital_in.h"
#include "drv_spi_master.h"
#include "spi_specifics.h"
 
#define SILENTSTEP_REG_GCONF                    0x00
#define SILENTSTEP_REG_GSTAT                    0x01
#define SILENTSTEP_REG_IFCNT                    0x02
#define SILENTSTEP_REG_SLAVECONF                0x03
#define SILENTSTEP_REG_IOIN                     0x04
#define SILENTSTEP_REG_X_COMPARE                0x05
#define SILENTSTEP_REG_IHOLD_IRUN               0x10
#define SILENTSTEP_REG_TPOWERDOWN               0x11
#define SILENTSTEP_REG_TSTEP                    0x12
#define SILENTSTEP_REG_TPWMTHRS                 0x13
#define SILENTSTEP_REG_TCOOLTHRS                0x14
#define SILENTSTEP_REG_THIGH                    0x15
#define SILENTSTEP_REG_RAMP_MODE                0x20
#define SILENTSTEP_REG_XACTUAL                  0x21
#define SILENTSTEP_REG_VACTUAL                  0x22
#define SILENTSTEP_REG_VSTART                   0x23
#define SILENTSTEP_REG_A1                       0x24
#define SILENTSTEP_REG_V1                       0x25
#define SILENTSTEP_REG_AMAX                     0x26
#define SILENTSTEP_REG_VMAX                     0x27
#define SILENTSTEP_REG_DMAX                     0x28
#define SILENTSTEP_REG_D1                       0x2A
#define SILENTSTEP_REG_VSTOP                    0x2B
#define SILENTSTEP_REG_TZEROWAIT                0x2C
#define SILENTSTEP_REG_XTARGET                  0x2D
#define SILENTSTEP_REG_VDCMIN                   0x33
#define SILENTSTEP_REG_SW_MODE                  0x34
#define SILENTSTEP_REG_RAMP_STAT                0x35
#define SILENTSTEP_REG_XLATCH                   0x36
#define SILENTSTEP_REG_ENCMODE                  0x38
#define SILENTSTEP_REG_X_ENC                    0x39
#define SILENTSTEP_REG_ENC_CONST                0x3A
#define SILENTSTEP_REG_ENC_STATUS               0x3B
#define SILENTSTEP_REG_ENC_LATCH                0x3C
#define SILENTSTEP_REG_MSLUT_0                  0x60
#define SILENTSTEP_REG_MSLUT_1                  0x61
#define SILENTSTEP_REG_MSLUT_2                  0x62
#define SILENTSTEP_REG_MSLUT_3                  0x63
#define SILENTSTEP_REG_MSLUT_4                  0x64
#define SILENTSTEP_REG_MSLUT_5                  0x65
#define SILENTSTEP_REG_MSLUT_6                  0x66
#define SILENTSTEP_REG_MSLUT_7                  0x67
#define SILENTSTEP_REG_MSLUTSEL                 0x68
#define SILENTSTEP_REG_MSLUTSTART               0x69
#define SILENTSTEP_REG_MSCNT                    0x6A
#define SILENTSTEP_REG_MSCURACT                 0x6B
#define SILENTSTEP_REG_CHOPCONF                 0x6C
#define SILENTSTEP_REG_COOLCONF                 0x6D
#define SILENTSTEP_REG_DCCTRL                   0x6E
#define SILENTSTEP_REG_DRV_STATUS               0x6F
#define SILENTSTEP_REG_PWMCONF                  0x70
#define SILENTSTEP_REG_PWM_SCALE                0x71
#define SILENTSTEP_REG_ENCM_CTRL                0x72
#define SILENTSTEP_REG_LOST_STEPS               0x73
 
 // silentstep_reg
 
#define SILENTSTEP_IOIN_VERSION_MASK            0xFF000000ul
#define SILENTSTEP_IOIN_VERSION_DEFAULT         0x11000000ul
 
#define SILENTSTEP_DIR_CW                       0
#define SILENTSTEP_DIR_CCW                      1
 
#define SILENTSTEP_PIN_STATE_LOW                0
#define SILENTSTEP_PIN_STATE_HIGH               1
 
#define SILENTSTEP_SPEED_VERY_SLOW              0
#define SILENTSTEP_SPEED_SLOW                   1
#define SILENTSTEP_SPEED_MEDIUM                 2
#define SILENTSTEP_SPEED_FAST                   3
#define SILENTSTEP_SPEED_VERY_FAST              4
 
#define SILENTSTEP_TOFF_MASK                    0x0000000Ful
#define SILENTSTEP_TOFF_SHIFT                   0
#define SILENTSTEP_TOFF_DRIVER_DISABLE          0
#define SILENTSTEP_TOFF_MIN                     1
#define SILENTSTEP_TOFF_DEFAULT                 4
#define SILENTSTEP_TOFF_MAX                     15
 
#define SILENTSTEP_MRES_MASK                    0x0F000000ul
#define SILENTSTEP_MRES_SHIFT                   24
#define SILENTSTEP_MRES_256                     0
#define SILENTSTEP_MRES_128                     1
#define SILENTSTEP_MRES_64                      2
#define SILENTSTEP_MRES_32                      3
#define SILENTSTEP_MRES_16                      4
#define SILENTSTEP_MRES_8                       5
#define SILENTSTEP_MRES_4                       6
#define SILENTSTEP_MRES_2                       7
#define SILENTSTEP_MRES_FULLSTEP                8
 
#define SILENTSTEP_IRUN_MASK                    0x00000F00ul
#define SILENTSTEP_IRUN_SHIFT                   8
#define SILENTSTEP_IRUN_MIN                     0
#define SILENTSTEP_IRUN_DEFAULT                 2
#define SILENTSTEP_IRUN_MAX                     31
 
#define SILENTSTEP_SET_DATA_SAMPLE_EDGE         SET_SPI_DATA_SAMPLE_EDGE
#define SILENTSTEP_SET_DATA_SAMPLE_MIDDLE       SET_SPI_DATA_SAMPLE_MIDDLE
 
 // silentstep_set
 
#define SILENTSTEP_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
    cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
    cfg.sck  = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
    cfg.cs   = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.spm  = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.sdm  = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.dir  = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // silentstep_map
 // silentstep
 
typedef struct
{
    // Output pins
    digital_out_t spm;          
    digital_out_t sdm;          
    digital_out_t step;         
    digital_out_t dir;          
    // Modules
    spi_master_t spi;           
    pin_name_t   chip_select;   
} silentstep_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t miso;            
    pin_name_t mosi;            
    pin_name_t sck;             
    pin_name_t cs;              
    // Additional gpio pins
    pin_name_t spm;             
    pin_name_t sdm;             
    pin_name_t step;            
    pin_name_t dir;             
    // static variable
    uint32_t                          spi_speed;    
    spi_master_mode_t                 spi_mode;     
    spi_master_chip_select_polarity_t cs_polarity;  
} silentstep_cfg_t;
 
typedef enum
{
    SILENTSTEP_OK = 0,
    SILENTSTEP_ERROR = -1
 
} silentstep_return_value_t;
 
void silentstep_cfg_setup ( silentstep_cfg_t *cfg );
 
err_t silentstep_init ( silentstep_t *ctx, silentstep_cfg_t *cfg );
 
err_t silentstep_default_cfg ( silentstep_t *ctx );
 
err_t silentstep_write_reg ( silentstep_t *ctx, uint8_t reg, uint32_t data_in );
 
err_t silentstep_read_reg ( silentstep_t *ctx, uint8_t reg, uint32_t *data_out );
 
err_t silentstep_check_com ( silentstep_t *ctx );
 
void silentstep_set_direction ( silentstep_t *ctx, uint8_t dir );
 
void silentstep_switch_direction ( silentstep_t *ctx );
 
void silentstep_set_spm_pin ( silentstep_t *ctx, uint8_t state );
 
void silentstep_set_sdm_pin ( silentstep_t *ctx, uint8_t state );
 
void silentstep_set_step_pin ( silentstep_t *ctx, uint8_t state );
 
err_t silentstep_set_toff ( silentstep_t *ctx, uint8_t toff );
 
err_t silentstep_set_step_res ( silentstep_t *ctx, uint8_t mres );
 
err_t silentstep_set_run_current ( silentstep_t *ctx, uint8_t irun );
 
void silentstep_drive_motor ( silentstep_t *ctx, uint32_t steps, uint8_t speed );
 
#ifdef __cplusplus
}
#endif
#endif // SILENTSTEP_H
 
 // silentstep
 
// ------------------------------------------------------------------------ END