silentstep2.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 SILENTSTEP2_H
#define SILENTSTEP2_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_i2c_master.h"
#include "drv_spi_master.h"
#include "spi_specifics.h"
 
#define SILENTSTEP2_REG_GCONF                      0x00 
#define SILENTSTEP2_REG_GSTAT                      0x01 
#define SILENTSTEP2_REG_IOIN                       0x04 
#define SILENTSTEP2_REG_IHOLD_IRUN                 0x10 
#define SILENTSTEP2_REG_TPOWERDOWN                 0x11 
#define SILENTSTEP2_REG_TSTEP                      0x12 
#define SILENTSTEP2_REG_TPWMTHRS                   0x13 
#define SILENTSTEP2_REG_TCOOLTHRS                  0x14 
#define SILENTSTEP2_REG_THIGH                      0x15 
#define SILENTSTEP2_REG_XDIRECT                    0x2D  
#define SILENTSTEP2_REG_VDCMIN                     0x33 
#define SILENTSTEP2_REG_MSLUT0                     0x60 
#define SILENTSTEP2_REG_MSLUT1                     0x61 
#define SILENTSTEP2_REG_MSLUT2                     0x62 
#define SILENTSTEP2_REG_MSLUT3                     0x63 
#define SILENTSTEP2_REG_MSLUT4                     0x64 
#define SILENTSTEP2_REG_MSLUT5                     0x65 
#define SILENTSTEP2_REG_MSLUT6                     0x66 
#define SILENTSTEP2_REG_MSLUT7                     0x67 
#define SILENTSTEP2_REG_MSLUTSEL                   0x68 
#define SILENTSTEP2_REG_MSLUTSTART                 0x69
#define SILENTSTEP2_REG_MSCNT                      0x6A
#define SILENTSTEP2_REG_MSCURACT                   0x6B
#define SILENTSTEP2_REG_CHOPCONF                   0x6C
#define SILENTSTEP2_REG_COOLCONF                   0x6D
#define SILENTSTEP2_REG_DCCTRL                     0x6E
#define SILENTSTEP2_REG_DRV_STATUS                 0x6F
#define SILENTSTEP2_REG_PWMCONF                    0x70
#define SILENTSTEP2_REG_PWM_SCALE                  0x71
#define SILENTSTEP2_REG_ENCM_CTRL                  0x72
#define SILENTSTEP2_REG_LOST_STEPS                 0x73
#define SILENTSTEP2_REG_EXP_IN_PORT                0x00
#define SILENTSTEP2_REG_EXP_OUT_PORT               0x01
#define SILENTSTEP2_REG_EXP_POL_INV                0x02
#define SILENTSTEP2_REG_EXP_CONFIG                 0x03
 
 // silentstep2_reg
 
#define SILENTSTEP2_GSTAT_RESET                    0x00000001ul
#define SILENTSTEP2_GSTAT_DRV_ERR                  0x00000002ul
#define SILENTSTEP2_GSTAT_UV_CP                    0x00000004ul
 
#define SILENTSTEP2_GCONF_I_SC_AN_OP_NORMAL        0x00
#define SILENTSTEP2_GCONF_I_SC_AN_AIN              0x01
#define SILENTSTEP2_GCONF_INT_RSE_OP_NORMAL        0x00
#define SILENTSTEP2_GCONF_INT_RSE_INT_RSE          0x01
#define SILENTSTEP2_GCONF_DISABLE                  0x00
#define SILENTSTEP2_GCONF_ENABLE                   0x01
 
#define SILENTSTEP2_THIGH_DEFAULT                  0x00000300ul
#define SILENTSTEP2_THIGH_MAX                      0x000FFFFFul
 
#define SILENTSTEP2_TCOOLTHRS_DEFAULT              0x00002700ul
#define SILENTSTEP2_TCOOLTHRS_MAX                  0x000FFFFFul
 
#define SILENTSTEP2_CHOPCONF_SEMIN_0               0x00
#define SILENTSTEP2_CHOPCONF_SEMIN_BIT_MASK        0x0F
#define SILENTSTEP2_CHOPCONF_SEUP_1                0x00
#define SILENTSTEP2_CHOPCONF_SEUP_2                0x01
#define SILENTSTEP2_CHOPCONF_SEUP_3                0x02
#define SILENTSTEP2_CHOPCONF_SEUP_8                0x03
#define SILENTSTEP2_CHOPCONF_SEMAX_0               0x00
#define SILENTSTEP2_CHOPCONF_SEMAX_BIT_MASK        0x0F
#define SILENTSTEP2_CHOPCONF_SEDN_32               0x00
#define SILENTSTEP2_CHOPCONF_SEDN_8                0x01
#define SILENTSTEP2_CHOPCONF_SEDN_2                0x02
#define SILENTSTEP2_CHOPCONF_SEDN_1                0x03
#define SILENTSTEP2_CHOPCONF_SEIMIN_1_2            0x00
#define SILENTSTEP2_CHOPCONF_SEIMIN_1_4            0x01
#define SILENTSTEP2_CHOPCONF_SGT_M64               0x00
#define SILENTSTEP2_CHOPCONF_SGT_P64               0x7F
#define SILENTSTEP2_CHOPCONF_SFILT_MODE_STD        0x00
#define SILENTSTEP2_CHOPCONF_SFILT_MODE_FLTR       0x01
 
#define SILENTSTEP2_IHOLD_10_32                    0x0A
#define SILENTSTEP2_IHOLD_BIT_MASK                 0x1F
#define SILENTSTEP2_IRUN_10_32                     0x0A
#define SILENTSTEP2_IRUN_BIT_MASK                  0x1F
#define SILENTSTEP2_IHOLDDELAY_PWR_DOWN            0x00
#define SILENTSTEP2_IHOLDDELAY_32                  0x05
#define SILENTSTEP2_IHOLDDELAY_BIT_MASK            0x0F
 
#define SILENTSTEP2_TOFF_DIS                       0x00
#define SILENTSTEP2_TOFF_NCLK_140                  0x04
#define SILENTSTEP2_TOFF_BIT_MASK                  0x0F
 
#define SILENTSTEP2_STEP_SPEED_MIN                 1
#define SILENTSTEP2_STEP_SPEED_MAX                 100
#define SILENTSTEP2_ANGLE_360_DEGREES              360.0f
 
#define SILENTSTEP2_CHOPCONF_CHM_MODE_STND         0x00
#define SILENTSTEP2_CHOPCONF_CHM_CONST_OFF_TIME    0x01
#define SILENTSTEP2_CHOPCONF_CHM_BIT_MASK          0x00004000ul
#define SILENTSTEP2_CHOPCONF_HE_OS_M3              0x00
#define SILENTSTEP2_CHOPCONF_HE_OS_M2              0x01
#define SILENTSTEP2_CHOPCONF_HE_OS_M1              0x02
#define SILENTSTEP2_CHOPCONF_HE_OS_0               0x03
#define SILENTSTEP2_CHOPCONF_HE_OS_1               0x04
#define SILENTSTEP2_CHOPCONF_HE_OS_2               0x05
#define SILENTSTEP2_CHOPCONF_HE_OS_3               0x06
#define SILENTSTEP2_CHOPCONF_HE_OS_4               0x07
#define SILENTSTEP2_CHOPCONF_HE_OS_5               0x08
#define SILENTSTEP2_CHOPCONF_HE_OS_6               0x09
#define SILENTSTEP2_CHOPCONF_HE_OS_7               0x0A
#define SILENTSTEP2_CHOPCONF_HE_OS_8               0x0B
#define SILENTSTEP2_CHOPCONF_HE_OS_9               0x0C
#define SILENTSTEP2_CHOPCONF_HE_OS_10              0x0D
#define SILENTSTEP2_CHOPCONF_HE_OS_11              0x0E
#define SILENTSTEP2_CHOPCONF_HE_OS_12              0x0F
#define SILENTSTEP2_CHOPCONF_HE_OS_BIT_MASK        0x00000780ul
#define SILENTSTEP2_CHOPCONF_HSTRT_TFD_0           0x00
#define SILENTSTEP2_CHOPCONF_HSTRT_TFD_1           0x01
#define SILENTSTEP2_CHOPCONF_HSTRT_TFD_2           0x02
#define SILENTSTEP2_CHOPCONF_HSTRT_TFD_3           0x03
#define SILENTSTEP2_CHOPCONF_HSTRT_TFD_4           0x04
#define SILENTSTEP2_CHOPCONF_HSTRT_TFD_5           0x05
#define SILENTSTEP2_CHOPCONF_HSTRT_TFD_6           0x06
#define SILENTSTEP2_CHOPCONF_HSTRT_TFD_7           0x07
#define SILENTSTEP2_CHOPCONF_HSTRT_TFD_BIT_MASK    0x00000070ul
 
#define SILENTSTEP2_MSLUT_SEL_0                    0x00
#define SILENTSTEP2_MSLUT_SEL_1                    0x01
#define SILENTSTEP2_MSLUT_SEL_2                    0x02
#define SILENTSTEP2_MSLUT_SEL_3                    0x03
#define SILENTSTEP2_MSLUT_SEL_4                    0x04
#define SILENTSTEP2_MSLUT_SEL_5                    0x05
#define SILENTSTEP2_MSLUT_SEL_6                    0x06
#define SILENTSTEP2_MSLUT_SEL_7                    0x07
#define SILENTSTEP2_MSLUTSEL_WIDTH_BIT_MASK        0x000000FFul
#define SILENTSTEP2_MSLUTSEL_SEG_BIT_MASK          0x00FFFFFFul
 
#define SILENTSTEP2_MSLUTSTART_SIN_BIT_MASK        0x000000FFul
#define SILENTSTEP2_MSLUTSTART_SIN90_BIT_MASK      0x000000FFul
 
#define SILENTSTEP2_CHOPCONF_MRES_BIT_MASK         0xF0FFFFFFul
#define SILENTSTEP2_CHOPCONF_DEDGE_BIT_MASK        0xDFFFFFFFul
#define SILENTSTEP2_CHOPCONF_INTPOL_BIT_MASK       0xEFFFFFFFul
#define SILENTSTEP2_CHOPCONF_TBL_BIT_MASK          0xFFFE7FFFul
#define SILENTSTEP2_CHOPCONF_TOFF_BIT_MASK         0xFFFFFFF0ul
 
#define SILENTSTEP2_PIN_NONE                       0x00
#define SILENTSTEP2_PIN_EN                         0x01
#define SILENTSTEP2_PIN_FT1                        0x02
#define SILENTSTEP2_PIN_FT2                        0x04
#define SILENTSTEP2_PIN_ALL                        0x07
 
#define SILENTSTEP2_DIRECTION_COUNTERCLOCKWISE     0
#define SILENTSTEP2_DIRECTION_CLOCKWISE            1
 
#define SILENTSTEP2_STEP_DELAY_DEFAULT_100US       100ul
 
#define SILENTSTEP2_DEVICE_ADDRESS_0               0x70
#define SILENTSTEP2_DEVICE_ADDRESS_1               0x72
#define SILENTSTEP2_DEVICE_ADDRESS_2               0x74
#define SILENTSTEP2_DEVICE_ADDRESS_3               0x76
 
#define SILENTSTEP2_SET_DATA_SAMPLE_EDGE           SET_SPI_DATA_SAMPLE_EDGE
#define SILENTSTEP2_SET_DATA_SAMPLE_MIDDLE         SET_SPI_DATA_SAMPLE_MIDDLE
 
 // silentstep2_set
 
#define SILENTSTEP2_MAP_MIKROBUS( cfg, mikrobus )   \
    cfg.scl  = MIKROBUS( mikrobus, MIKROBUS_SCL );  \
    cfg.sda  = MIKROBUS( mikrobus, MIKROBUS_SDA );  \
    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.dir  = MIKROBUS( mikrobus, MIKROBUS_AN );   \
    cfg.stp  = MIKROBUS( mikrobus, MIKROBUS_PWM );  \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // silentstep2_map
 // silentstep2
 
typedef enum
{
    SILENTSTEP2_DRV_SEL_SPI,      
    SILENTSTEP2_DRV_SEL_I2C       
} silentstep2_drv_t;
 
typedef struct
{
    digital_out_t dir;       
    digital_out_t stp;       
    digital_in_t int_pin;    
    i2c_master_t i2c;        
    spi_master_t spi;        
    uint8_t      slave_address;    
    pin_name_t   chip_select;      
    uint32_t  step_delay;          
} silentstep2_t;
 
typedef struct
{
    pin_name_t scl;        
    pin_name_t sda;        
    pin_name_t miso;       
    pin_name_t mosi;       
    pin_name_t sck;        
    pin_name_t cs;         
    pin_name_t dir;        
    pin_name_t stp;        
    pin_name_t int_pin;    
    uint32_t  step_delay;  
    uint32_t   i2c_speed;      
    uint8_t    i2c_address;    
    uint32_t                          spi_speed;    
    spi_master_mode_t                 spi_mode;     
    spi_master_chip_select_polarity_t cs_polarity;  
} silentstep2_cfg_t;
 
typedef struct
{
    uint8_t  i_scale_analog;       
    uint8_t  internal_rsense;      
    uint8_t  en_pwm_mode;          
    uint8_t  enc_commutation;      
    uint8_t  shaft;                
    uint8_t  diag0_error;          
    uint8_t  diag0_otpw;           
    uint8_t  diag0_stall;          
    uint8_t  diag1_stall;          
    uint8_t  diag1_index;          
    uint8_t  diag1_onstate;        
    uint8_t  diag1_steps_skipped;  
    uint8_t  diag0_int_pushpull;   
    uint8_t  diag1_pushpull;       
    uint8_t  small_hysteresis;     
    uint8_t  stop_enable;          
    uint8_t  direct_mode;          
} silentstep2_gconf_t;
 
typedef struct
{
    uint8_t  semin;   
    uint8_t  seup;    
    uint8_t  semax;   
    uint8_t  sedn;    
    uint8_t  seimin;  
    uint8_t  sgt;     
    uint8_t  sfilt;   
} silentstep2_coolconf_t;
 
typedef struct
{
    uint8_t  pwm_ampl;       
    uint8_t  pwm_grad;       
    uint8_t  pwm_freq;       
    uint8_t  pwm_autoscale;  
    uint8_t  pwm_symmetric;  
    uint8_t  freewheel;      
} silentstep2_pwmconf_t;
 
typedef struct
{
    uint16_t sg_result;    
    uint8_t  fsactive;     
    uint8_t  cs_actual;    
    uint8_t  stall_guard;  
    uint8_t  ot;           
    uint8_t  otpw;         
    uint8_t  s2ga;         
    uint8_t  s2gb;         
    uint8_t  ola;          
    uint8_t  olb;          
    uint8_t  stst;         
} silentstep2_drv_status_t;
 
typedef enum
{
    SILENTSTEP2_OK = 0,
    SILENTSTEP2_ERROR = -1
 
} silentstep2_return_value_t;
 
typedef enum
{
    SILENTSTEP2_MRES_256 = 0,
    SILENTSTEP2_MRES_128,
    SILENTSTEP2_MRES_64,
    SILENTSTEP2_MRES_32,
    SILENTSTEP2_MRES_16,
    SILENTSTEP2_MRES_8,
    SILENTSTEP2_MRES_4,
    SILENTSTEP2_MRES_2,
    SILENTSTEP2_MRES_NATIVE
    
} silentstep2_mres_t;
 
typedef enum
{
    SILENTSTEP2_TBL_CLOCKS_16 = 0,
    SILENTSTEP2_TBL_CLOCKS_24,
    SILENTSTEP2_TBL_CLOCKS_36,
    SILENTSTEP2_TBL_CLOCKS_54
    
} silentstep2_tbl_t;
 
void silentstep2_cfg_setup ( silentstep2_cfg_t *cfg );
 
err_t silentstep2_init ( silentstep2_t *ctx, silentstep2_cfg_t *cfg );
 
err_t silentstep2_default_cfg ( silentstep2_t *ctx );
 
err_t silentstep2_reg_write ( silentstep2_t *ctx, uint8_t reg, uint32_t data_in );
 
err_t silentstep2_reg_read ( silentstep2_t *ctx, uint8_t reg, uint32_t *data_in );
 
err_t silentstep2_set_gconf ( silentstep2_t *ctx, silentstep2_gconf_t gconf );
 
err_t silentstep2_get_gstat ( silentstep2_t *ctx, uint32_t *gstat );
 
err_t silentstep2_set_ihold_irun ( silentstep2_t *ctx, uint8_t ihold, uint8_t irun, uint8_t ihold_delay );
 
err_t silentstep2_set_tcoolthrs ( silentstep2_t *ctx, uint32_t tcoolthrs );
 
err_t silentstep2_set_thigh ( silentstep2_t *ctx, uint32_t thigh );
 
err_t silentstep2_set_mslut ( silentstep2_t *ctx, uint8_t mslut_sel, uint32_t mslut );
 
err_t silentstep2_set_mslutsel ( silentstep2_t *ctx, uint32_t lut_seg_str, uint32_t lut_width_sel );
 
err_t silentstep2_set_mslutstart ( silentstep2_t *ctx, uint32_t start_sin, uint32_t start_sin90 );
 
err_t silentstep2_set_mstep_res ( silentstep2_t *ctx, silentstep2_mres_t step_width );
 
err_t silentstep2_set_dedge ( silentstep2_t *ctx, uint8_t dedge_en );
 
err_t silentstep2_set_intpol ( silentstep2_t *ctx, uint8_t intpol_en );
 
err_t silentstep2_set_tbl_blank_time ( silentstep2_t *ctx, silentstep2_tbl_t tbl );
 
err_t silentstep2_set_h_end_strt ( silentstep2_t *ctx, uint8_t chm, uint8_t h_end_offset, uint8_t hstrt_tfd );
 
err_t silentstep2_set_toff ( silentstep2_t *ctx, uint8_t off_time );
 
err_t silentstep2_set_coolconf ( silentstep2_t *ctx, silentstep2_coolconf_t coolconf );
 
err_t silentstep2_set_pwmconf ( silentstep2_t *ctx, silentstep2_pwmconf_t pwmconf );
 
err_t silentstep2_get_drv_status ( silentstep2_t *ctx, silentstep2_drv_status_t *drv_status );
 
err_t silentstep2_port_exp_write ( silentstep2_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t silentstep2_port_exp_read ( silentstep2_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t silentstep2_set_pins ( silentstep2_t *ctx, uint8_t set_mask, uint8_t clr_mask );
 
err_t silentstep2_get_diag0 ( silentstep2_t *ctx, uint8_t *diag0 );
 
err_t silentstep2_get_diag1 ( silentstep2_t *ctx, uint8_t *diag1 );
 
err_t silentstep2_switch_off ( silentstep2_t *ctx );
 
err_t silentstep2_input_enable ( silentstep2_t *ctx );
 
void silentstep2_set_direction ( silentstep2_t *ctx, uint8_t dir );
 
void silentstep2_set_step ( silentstep2_t *ctx, uint8_t step );
 
err_t silentstep2_make_one_step ( silentstep2_t *ctx, uint8_t step_speed );
 
err_t silentstep2_rotate_by_angle ( silentstep2_t *ctx, uint8_t step_speed, float angle, uint16_t res_360 );
 
uint8_t silentstep2_get_interrupt ( silentstep2_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // SILENTSTEP2_H
 
 // silentstep2
 
// ------------------------------------------------------------------------ END