stepper11.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.
** 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 STEPPER11_H
#define STEPPER11_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"
 
#define STEPPER11_REG_INPUT_PORT        0x00
#define STEPPER11_REG_OUTPUT_PORT       0x01
#define STEPPER11_REG_POLARITY          0x02
#define STEPPER11_REG_CONFIGURATION     0x03
 
 // stepper11_reg
 
#define STEPPER11_SPEED_SLOW            1
#define STEPPER11_SPEED_MEDIUM          2
#define STEPPER11_SPEED_FAST            3 
 
#define STEPPER11_RESOLUTION_FULL       0x4
#define STEPPER11_RESOLUTION_HALF_A     0x2
#define STEPPER11_RESOLUTION_HALF_B     0x1
#define STEPPER11_RESOLUTION_QUARTER    0x6
#define STEPPER11_RESOLUTION_1div8      0x5
#define STEPPER11_RESOLUTION_1div16     0x3
#define STEPPER11_RESOLUTION_1div32     0x7
 
#define STEPPER11_TORQUE_100            0x0
#define STEPPER11_TORQUE_70             0x1
#define STEPPER11_TORQUE_50             0x2
#define STEPPER11_TORQUE_30             0x3
 
#define STEPPER11_SET_DEV_ADDR          0x70
 
 // stepper11_set
 
#define STEPPER11_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.clk = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // stepper11_map
 // stepper11
 
typedef struct
{
    // Output pins
    digital_out_t  en;      
    digital_out_t  dir;     
    digital_out_t  rst;     
    digital_out_t  clk;     
    // Input pins
    digital_in_t  int_pin;  
    // Modules
    i2c_master_t i2c;       
    // I2C slave address
    uint8_t slave_address;  
    // ctx variable
    uint16_t steps;             
    float resolution;           
    uint8_t step_resolution;    
} stepper11_t;
 
typedef struct
{
    pin_name_t  scl;        
    pin_name_t  sda;        
    pin_name_t  en;         
    pin_name_t  dir;         
    pin_name_t  rst;       
    pin_name_t  clk;       
    pin_name_t  int_pin;       
    uint32_t  i2c_speed;                                
    uint8_t   i2c_address;                              
} stepper11_cfg_t;
 
typedef enum
{
   STEPPER11_OK = 0,
   STEPPER11_ERROR = -1
 
} stepper11_return_value_t;
 
void stepper11_cfg_setup ( stepper11_cfg_t *cfg );
 
err_t stepper11_init ( stepper11_t *ctx, stepper11_cfg_t *cfg );
 
err_t stepper11_default_cfg ( stepper11_t *ctx );
 
err_t stepper11_generic_write ( stepper11_t *ctx, uint8_t reg, uint8_t tx_data );
 
err_t stepper11_generic_read ( stepper11_t *ctx, uint8_t reg, uint8_t *rx_data );
 
void stepper11_set_direction ( stepper11_t *ctx, uint8_t state );
 
void stepper11_set_enable ( stepper11_t *ctx, uint8_t state );
 
void stepper11_set_reset ( stepper11_t *ctx, uint8_t state );
 
void stepper11_set_clock ( stepper11_t *ctx, uint8_t state );
 
uint8_t stepper11_get_interrupt ( stepper11_t *ctx );
 
uint8_t stepper11_get_diag ( stepper11_t *ctx );
 
uint8_t stepper11_get_mo ( stepper11_t *ctx );
 
uint8_t stepper11_get_sd ( stepper11_t *ctx );
 
err_t stepper11_set_step_resolution ( stepper11_t *ctx, uint8_t step_res );
 
err_t stepper11_set_torque ( stepper11_t *ctx, uint8_t torque );
 
void stepper11_move_motor_angle ( stepper11_t *ctx, float degree, uint8_t speed );
 
void stepper11_move_motor_step ( stepper11_t *ctx, uint16_t steps, uint8_t speed );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER11_H
 
 // stepper11
 
// ------------------------------------------------------------------------ END