stepper10.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 STEPPER10_H
#define STEPPER10_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 STEPPER10_TCA9534A_REG_INPUT                0x00
#define STEPPER10_TCA9534A_REG_OUTPUT               0x01
#define STEPPER10_TCA9534A_REG_POLARITY             0x02
#define STEPPER10_TCA9534A_REG_CONFIG               0x03
 
 // stepper10_reg
 
#define STEPPER10_PIN0_MS0                          0x01
#define STEPPER10_PIN0_MS1                          0x02
#define STEPPER10_PIN0_MS2                          0x04
#define STEPPER10_PIN0_MS_MASK                      0x07
#define STEPPER10_PIN0_SLEEP                        0x08
#define STEPPER10_PIN0_MDT0                         0x10
#define STEPPER10_PIN0_MDT1                         0x20
#define STEPPER10_PIN0_MDT_MASK                     0x30
#define STEPPER10_PIN0_AGC                          0x40
#define STEPPER10_PIN0_IF_SEL                       0x80
#define STEPPER10_PIN1_TORQUE0                      0x01
#define STEPPER10_PIN1_TORQUE1                      0x02
#define STEPPER10_PIN1_TORQUE2                      0x04
#define STEPPER10_PIN1_TORQUE_MASK                  0x07
#define STEPPER10_PIN1_CLIM0                        0x08
#define STEPPER10_PIN1_EDG_SEL                      0x10
#define STEPPER10_PIN1_MO                           0x20
#define STEPPER10_PIN1_LO0                          0x40
#define STEPPER10_PIN1_LO1                          0x80
#define STEPPER10_PIN1_LO_MASK                      0xC0
 
#define STEPPER10_TCA9534A_0_DEFAULT_CONFIG         0x00
#define STEPPER10_TCA9534A_1_DEFAULT_CONFIG         0xE0
 
#define STEPPER10_DIR_CW                            0
#define STEPPER10_DIR_CCW                           1
 
#define STEPPER10_PIN_STATE_LOW                     0
#define STEPPER10_PIN_STATE_HIGH                    1
 
#define STEPPER10_SPEED_VERY_SLOW                   0
#define STEPPER10_SPEED_SLOW                        1
#define STEPPER10_SPEED_MEDIUM                      2
#define STEPPER10_SPEED_FAST                        3
#define STEPPER10_SPEED_VERY_FAST                   4
 
#define STEPPER10_MODE_FULL_STEP                    0
#define STEPPER10_MODE_HALF_STEP                    1
#define STEPPER10_MODE_QUARTER_STEP                 2
#define STEPPER10_MODE_1_OVER_8                     3
#define STEPPER10_MODE_1_OVER_16                    4
#define STEPPER10_MODE_1_OVER_32                    5
#define STEPPER10_MODE_1_OVER_64                    6
#define STEPPER10_MODE_1_OVER_128                   7
 
#define STEPPER10_MIXED_DECAY_FAST_37_5             0
#define STEPPER10_MIXED_DECAY_FAST_50               1
#define STEPPER10_MIXED_DECAY_FAST_ONLY             2
#define STEPPER10_MIXED_DECAY_ADMD                  3
 
#define STEPPER10_TORQUE_100                        0
#define STEPPER10_TORQUE_85                         1
#define STEPPER10_TORQUE_70                         2
#define STEPPER10_TORQUE_60                         3
#define STEPPER10_TORQUE_50                         4
#define STEPPER10_TORQUE_40                         5
#define STEPPER10_TORQUE_25                         6
#define STEPPER10_TORQUE_10                         7
 
#define STEPPER10_LO_THERMAL_SHUTDOWN               0
#define STEPPER10_LO_MOTOR_LOAD_OPEN                1
#define STEPPER10_LO_OVER_CURRENT                   2
#define STEPPER10_LO_NORMAL                         3
 
#define STEPPER10_DEVICE0_ADDRESS_A2A1_00           0x38
#define STEPPER10_DEVICE0_ADDRESS_A2A1_01           0x3A
#define STEPPER10_DEVICE0_ADDRESS_A2A1_10           0x3C
#define STEPPER10_DEVICE0_ADDRESS_A2A1_11           0x3E
#define STEPPER10_DEVICE1_ADDRESS_A2A1_00           0x39
#define STEPPER10_DEVICE1_ADDRESS_A2A1_01           0x3B
#define STEPPER10_DEVICE1_ADDRESS_A2A1_10           0x3D
#define STEPPER10_DEVICE1_ADDRESS_A2A1_11           0x3F
 
#define STEPPER10_SET_DATA_SAMPLE_EDGE              SET_SPI_DATA_SAMPLE_EDGE
#define STEPPER10_SET_DATA_SAMPLE_MIDDLE            SET_SPI_DATA_SAMPLE_MIDDLE
 
 // stepper10_set
 
#define STEPPER10_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.en   = 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 )
 
 // stepper10_map
 // stepper10
 
typedef struct stepper10_s
{
    digital_out_t dir;              
    digital_out_t rst;              
    digital_out_t step;             
    digital_out_t en;               
    digital_in_t int_pin;           
    i2c_master_t i2c;               
    spi_master_t spi;               
    uint8_t      slave_address;     
    pin_name_t   chip_select;       
} stepper10_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 en;                  
    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;     
} stepper10_cfg_t;
 
typedef enum
{
    STEPPER10_OK = 0,
    STEPPER10_ERROR = -1
 
} stepper10_return_value_t;
 
void stepper10_cfg_setup ( stepper10_cfg_t *cfg );
 
err_t stepper10_init ( stepper10_t *ctx, stepper10_cfg_t *cfg );
 
err_t stepper10_default_cfg ( stepper10_t *ctx );
 
err_t stepper10_write_spi_bank0 ( stepper10_t *ctx, uint32_t data_in );
 
err_t stepper10_write_spi_bank1 ( stepper10_t *ctx, uint32_t data_in );
 
err_t stepper10_tca_write_reg ( stepper10_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t stepper10_tca_read_reg ( stepper10_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t stepper10_get_step_mode ( stepper10_t *ctx, uint8_t *mode );
 
err_t stepper10_set_step_mode ( stepper10_t *ctx, uint8_t mode );
 
err_t stepper10_get_sleep_pin ( stepper10_t *ctx, uint8_t *state );
 
err_t stepper10_set_sleep_pin ( stepper10_t *ctx, uint8_t state );
 
err_t stepper10_get_mixed_decay ( stepper10_t *ctx, uint8_t *mode );
 
err_t stepper10_set_mixed_decay ( stepper10_t *ctx, uint8_t mode );
 
err_t stepper10_get_agc_pin ( stepper10_t *ctx, uint8_t *state );
 
err_t stepper10_set_agc_pin ( stepper10_t *ctx, uint8_t state );
 
err_t stepper10_select_gpio ( stepper10_t *ctx );
 
err_t stepper10_select_spi ( stepper10_t *ctx );
 
err_t stepper10_get_torque ( stepper10_t *ctx, uint8_t *mode );
 
err_t stepper10_set_torque ( stepper10_t *ctx, uint8_t mode );
 
err_t stepper10_get_clim0_pin ( stepper10_t *ctx, uint8_t *state );
 
err_t stepper10_set_clim0_pin ( stepper10_t *ctx, uint8_t state );
 
err_t stepper10_get_edg_sel_pin ( stepper10_t *ctx, uint8_t *state );
 
err_t stepper10_set_edg_sel_pin ( stepper10_t *ctx, uint8_t state );
 
err_t stepper10_get_mo_pin ( stepper10_t *ctx, uint8_t *state );
 
err_t stepper10_get_lo_state ( stepper10_t *ctx, uint8_t *state );
 
void stepper10_enable_device ( stepper10_t *ctx );
 
void stepper10_disable_device ( stepper10_t *ctx );
 
uint8_t stepper10_get_int_pin ( stepper10_t *ctx );
 
void stepper10_set_direction ( stepper10_t *ctx, uint8_t dir );
 
void stepper10_set_rst_pin ( stepper10_t *ctx, uint8_t state );
 
void stepper10_reset_device ( stepper10_t *ctx );
 
void stepper10_set_step_pin ( stepper10_t *ctx, uint8_t state );
 
err_t stepper10_drive_motor ( stepper10_t *ctx, uint32_t steps, uint8_t speed );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER10_H
 
 // stepper10
 
// ------------------------------------------------------------------------ END