silentstep4.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.
**
** 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
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****************************************************************************/
 
#ifndef SILENTSTEP4_H
#define SILENTSTEP4_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 SILENTSTEP4_REG_GCONF                   0x00
#define SILENTSTEP4_REG_GSTAT                   0x01
#define SILENTSTEP4_REG_IFCNT                   0x02
#define SILENTSTEP4_REG_NODECONF                0x03
#define SILENTSTEP4_REG_IOIN                    0x04
#define SILENTSTEP4_REG_DRV_CONF                0x0A
#define SILENTSTEP4_REG_GLOBAL_SCALER           0x0B
#define SILENTSTEP4_REG_IHOLD_IRUN              0x10
#define SILENTSTEP4_REG_TPOWERDOWN              0x11
#define SILENTSTEP4_REG_TSTEP                   0x12
#define SILENTSTEP4_REG_TPWMTHRS                0x13
#define SILENTSTEP4_REG_TCOOLTHRS               0x14
#define SILENTSTEP4_REG_THIGH                   0x15
#define SILENTSTEP4_REG_DIRECT_MODE             0x2D
#define SILENTSTEP4_REG_ENCMODE                 0x38
#define SILENTSTEP4_REG_X_ENC                   0x39
#define SILENTSTEP4_REG_ENC_CONST               0x3A
#define SILENTSTEP4_REG_ENC_STATUS              0x3B
#define SILENTSTEP4_REG_ENC_LATCH               0x3C
#define SILENTSTEP4_REG_ADC_VSUPPLY_AIN         0x50
#define SILENTSTEP4_REG_ADC_TEMP                0x51
#define SILENTSTEP4_REG_OTW_OV_VTH              0x52
#define SILENTSTEP4_REG_MSLUT_0                 0x60
#define SILENTSTEP4_REG_MSLUT_1                 0x61
#define SILENTSTEP4_REG_MSLUT_2                 0x62
#define SILENTSTEP4_REG_MSLUT_3                 0x63
#define SILENTSTEP4_REG_MSLUT_4                 0x64
#define SILENTSTEP4_REG_MSLUT_5                 0x65
#define SILENTSTEP4_REG_MSLUT_6                 0x66
#define SILENTSTEP4_REG_MSLUT_7                 0x67
#define SILENTSTEP4_REG_MSLUTSEL                0x68
#define SILENTSTEP4_REG_MSLUTSTART              0x69
#define SILENTSTEP4_REG_MSCNT                   0x6A
#define SILENTSTEP4_REG_MSCURACT                0x6B
#define SILENTSTEP4_REG_CHOPCONF                0x6C
#define SILENTSTEP4_REG_COOLCONF                0x6D
#define SILENTSTEP4_REG_DRV_STATUS              0x6F
#define SILENTSTEP4_REG_PWMCONF                 0x70
#define SILENTSTEP4_REG_PWM_SCALE               0x71
#define SILENTSTEP4_REG_PWM_AUTO                0x72
#define SILENTSTEP4_REG_SG4_THRS                0x74
#define SILENTSTEP4_REG_SG4_RESULT              0x75
#define SILENTSTEP4_REG_SG4_IND                 0x76
 
#define SILENTSTEP4_PCA9538A_REG_INPUT          0x00
#define SILENTSTEP4_PCA9538A_REG_OUTPUT         0x01
#define SILENTSTEP4_PCA9538A_REG_POLARITY       0x02
#define SILENTSTEP4_PCA9538A_REG_CONFIG         0x03
 
#define SILENTSTEP4_IOIN_VERSION_MASK           0xFF000000ul
#define SILENTSTEP4_IOIN_VERSION_DEFAULT        0x40000000ul
 
#define SILENTSTEP4_PIN_EN                      0x01
#define SILENTSTEP4_PIN_SLEEP                   0x02
#define SILENTSTEP4_PIN_DIAG0                   0x04
#define SILENTSTEP4_PIN_DIAG1                   0x08
#define SILENTSTEP4_PIN_OV                      0x10
 
#define SILENTSTEP4_PCA9538A_DEFAULT_CONFIG     0xFC
 
#define SILENTSTEP4_DIR_CW                      0
#define SILENTSTEP4_DIR_CCW                     1
 
#define SILENTSTEP4_PIN_STATE_LOW               0
#define SILENTSTEP4_PIN_STATE_HIGH              1
 
#define SILENTSTEP4_SPEED_VERY_SLOW             0
#define SILENTSTEP4_SPEED_SLOW                  1
#define SILENTSTEP4_SPEED_MEDIUM                2
#define SILENTSTEP4_SPEED_FAST                  3
#define SILENTSTEP4_SPEED_VERY_FAST             4
 
#define SILENTSTEP4_TOFF_MASK                   0x0000000Ful
#define SILENTSTEP4_TOFF_SHIFT                  0
#define SILENTSTEP4_TOFF_DRIVER_DISABLE         0
#define SILENTSTEP4_TOFF_MIN                    1
#define SILENTSTEP4_TOFF_DEFAULT                4
#define SILENTSTEP4_TOFF_MAX                    15
 
#define SILENTSTEP4_MRES_MASK                   0x0F000000ul
#define SILENTSTEP4_MRES_SHIFT                  24
#define SILENTSTEP4_MRES_256                    0
#define SILENTSTEP4_MRES_128                    1
#define SILENTSTEP4_MRES_64                     2
#define SILENTSTEP4_MRES_32                     3
#define SILENTSTEP4_MRES_16                     4
#define SILENTSTEP4_MRES_8                      5
#define SILENTSTEP4_MRES_4                      6
#define SILENTSTEP4_MRES_2                      7
#define SILENTSTEP4_MRES_FULLSTEP               8
 
#define SILENTSTEP4_IRUN_MASK                   0x00000F00ul
#define SILENTSTEP4_IRUN_SHIFT                  8
#define SILENTSTEP4_IRUN_MIN                    0
#define SILENTSTEP4_IRUN_DEFAULT                16
#define SILENTSTEP4_IRUN_MAX                    31
 
#define SILENTSTEP4_DEVICE_ADDRESS_A1A0_00      0x70
#define SILENTSTEP4_DEVICE_ADDRESS_A1A0_01      0x71
#define SILENTSTEP4_DEVICE_ADDRESS_A1A0_10      0x72
#define SILENTSTEP4_DEVICE_ADDRESS_A1A0_11      0x73
 
#define SILENTSTEP4_SET_DATA_SAMPLE_EDGE        SET_SPI_DATA_SAMPLE_EDGE
#define SILENTSTEP4_SET_DATA_SAMPLE_MIDDLE      SET_SPI_DATA_SAMPLE_MIDDLE
 
 // silentstep4_set
 
#define SILENTSTEP4_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.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // silentstep4_map
 // silentstep4
 
typedef struct silentstep4_s
{
    digital_out_t dir;                  
    digital_out_t rst;                  
    digital_out_t step;                 
    digital_in_t int_pin;               
    i2c_master_t i2c;                   
    spi_master_t spi;                   
    uint8_t      slave_address;         
    pin_name_t   chip_select;           
} silentstep4_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 rst;                     
    pin_name_t step;                    
    pin_name_t int_pin;                 
    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;  
} silentstep4_cfg_t;
 
typedef enum
{
    SILENTSTEP4_OK = 0,
    SILENTSTEP4_ERROR = -1
 
} silentstep4_return_value_t;
 
void silentstep4_cfg_setup ( silentstep4_cfg_t *cfg );
 
err_t silentstep4_init ( silentstep4_t *ctx, silentstep4_cfg_t *cfg );
 
err_t silentstep4_default_cfg ( silentstep4_t *ctx );
 
err_t silentstep4_write_reg ( silentstep4_t *ctx, uint8_t reg, uint32_t data_in );
 
err_t silentstep4_read_reg ( silentstep4_t *ctx, uint8_t reg, uint32_t *data_out );
 
err_t silentstep4_pca_write_reg ( silentstep4_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t silentstep4_pca_read_reg ( silentstep4_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t silentstep4_check_com ( silentstep4_t *ctx );
 
err_t silentstep4_get_en_pin ( silentstep4_t *ctx, uint8_t *state );
 
err_t silentstep4_set_en_pin ( silentstep4_t *ctx, uint8_t state );
 
err_t silentstep4_get_sleep_pin ( silentstep4_t *ctx, uint8_t *state );
 
err_t silentstep4_set_sleep_pin ( silentstep4_t *ctx, uint8_t state );
 
err_t silentstep4_get_diag0_pin ( silentstep4_t *ctx, uint8_t *state );
 
err_t silentstep4_get_diag1_pin ( silentstep4_t *ctx, uint8_t *state );
 
err_t silentstep4_get_ov_pin ( silentstep4_t *ctx, uint8_t *state );
 
err_t silentstep4_enable_device ( silentstep4_t *ctx );
 
err_t silentstep4_disable_device ( silentstep4_t *ctx );
 
void silentstep4_set_direction ( silentstep4_t *ctx, uint8_t dir );
 
void silentstep4_switch_direction ( silentstep4_t *ctx );
 
void silentstep4_reset_pca ( silentstep4_t *ctx );
 
void silentstep4_set_rst_pin ( silentstep4_t *ctx, uint8_t state );
 
uint8_t silentstep4_get_int_pin ( silentstep4_t *ctx );
 
void silentstep4_set_step_pin ( silentstep4_t *ctx, uint8_t state );
 
err_t silentstep4_set_toff ( silentstep4_t *ctx, uint8_t toff );
 
err_t silentstep4_set_step_res ( silentstep4_t *ctx, uint8_t mres );
 
err_t silentstep4_set_run_current ( silentstep4_t *ctx, uint8_t irun );
 
void silentstep4_drive_motor ( silentstep4_t *ctx, uint32_t steps, uint8_t speed );
 
#ifdef __cplusplus
}
#endif
#endif // SILENTSTEP4_H
 
 // silentstep4
 
// ------------------------------------------------------------------------ END