stepper.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 STEPPER_H
#define STEPPER_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"
 
#define STEPPER_PIN_STATE_LOW                   0
#define STEPPER_PIN_STATE_HIGH                  1
 
#define STEPPER_DIR_CW                          0
#define STEPPER_DIR_CCW                         1
 
#define STEPPER_MODE_FULL_STEP                  0
#define STEPPER_MODE_HALF_STEP                  1
#define STEPPER_MODE_QUARTER_STEP               2
#define STEPPER_MODE_1_OVER_8_STEP              3
 
#define STEPPER_MICROSTEP_NUM_PER_STEP          32
 
#define STEPPER_SPEED_VERY_SLOW                 0
#define STEPPER_SPEED_SLOW                      1
#define STEPPER_SPEED_MEDIUM                    2
#define STEPPER_SPEED_FAST                      3
#define STEPPER_SPEED_VERY_FAST                 4 
 
 // stepper_set
 
#define STEPPER_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.ms1 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.ms2 = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.dir = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.en = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // stepper_map
 // stepper
 
typedef struct
{
    digital_out_t ms1;          
    digital_out_t ms2;          
    digital_out_t dir;          
    digital_out_t step;         
    digital_out_t en;           
} stepper_t;
 
typedef struct
{
    pin_name_t ms1;             
    pin_name_t ms2;             
    pin_name_t dir;             
    pin_name_t step;            
    pin_name_t en;              
} stepper_cfg_t;
 
typedef enum
{
    STEPPER_OK = 0,
    STEPPER_ERROR = -1
 
} stepper_return_value_t;
 
void stepper_cfg_setup ( stepper_cfg_t *cfg );
 
err_t stepper_init ( stepper_t *ctx, stepper_cfg_t *cfg );
 
void stepper_default_cfg ( stepper_t *ctx ) ;
 
void stepper_set_step_mode ( stepper_t *ctx, uint8_t mode );
 
void stepper_drive_motor ( stepper_t *ctx, uint32_t steps, uint8_t speed );
 
void stepper_enable_device ( stepper_t *ctx );
 
void stepper_disable_device ( stepper_t *ctx );
 
void stepper_set_direction ( stepper_t *ctx, uint8_t dir );
 
void stepper_switch_direction ( stepper_t *ctx );
 
void stepper_set_step_pin ( stepper_t *ctx, uint8_t state );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER_H
 
 // stepper
 
// ------------------------------------------------------------------------ END