stepper13.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
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#ifndef STEPPER13_H
#define STEPPER13_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 STEPPER13_PCA9538A_REG_INPUT            0x00
#define STEPPER13_PCA9538A_REG_OUTPUT           0x01
#define STEPPER13_PCA9538A_REG_POLARITY         0x02
#define STEPPER13_PCA9538A_REG_CONFIG           0x03
 
 // stepper13_reg
 
#define STEPPER13_PIN_MS1                       0x01
#define STEPPER13_PIN_MS2                       0x02
#define STEPPER13_PIN_MS_MASK                   0x03
#define STEPPER13_PIN_FAULT                     0x04
#define STEPPER13_PIN_DIR                       0x08
#define STEPPER13_PIN_SLEEP                     0x10
#define STEPPER13_PIN_ENABLE                    0x20
 
#define STEPPER13_PCA9538A_DEFAULT_CONFIG       0xC4
 
#define STEPPER13_DIR_CW                        0
#define STEPPER13_DIR_CCW                       1
 
#define STEPPER13_PIN_STATE_LOW                 0
#define STEPPER13_PIN_STATE_HIGH                1
 
#define STEPPER13_SPEED_VERY_SLOW               0
#define STEPPER13_SPEED_SLOW                    1
#define STEPPER13_SPEED_MEDIUM                  2
#define STEPPER13_SPEED_FAST                    3
#define STEPPER13_SPEED_VERY_FAST               4
 
#define STEPPER13_MODE_FULL_STEP                0
#define STEPPER13_MODE_HALF_STEP                1
#define STEPPER13_MODE_QUARTER_STEP             2
#define STEPPER13_MODE_1_OVER_8                 3
 
#define STEPPER13_DEVICE_ADDRESS_A1A0_00        0x70
#define STEPPER13_DEVICE_ADDRESS_A1A0_01        0x71
#define STEPPER13_DEVICE_ADDRESS_A1A0_10        0x72
#define STEPPER13_DEVICE_ADDRESS_A1A0_11        0x73
 
 // stepper13_set
 
#define STEPPER13_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // stepper13_map
 // stepper13
 
typedef struct
{
    // Output pins
    digital_out_t rst;          
    digital_out_t step;         
    // Input pins
    digital_in_t int_pin;       
    // Modules
    i2c_master_t i2c;           
    // I2C slave address
    uint8_t slave_address;      
} stepper13_t;
 
typedef struct
{
    pin_name_t scl;             
    pin_name_t sda;             
    pin_name_t rst;             
    pin_name_t step;            
    pin_name_t int_pin;         
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
} stepper13_cfg_t;
 
typedef enum
{
    STEPPER13_OK = 0,
    STEPPER13_ERROR = -1
 
} stepper13_return_value_t;
 
void stepper13_cfg_setup ( stepper13_cfg_t *cfg );
 
err_t stepper13_init ( stepper13_t *ctx, stepper13_cfg_t *cfg );
 
err_t stepper13_default_cfg ( stepper13_t *ctx );
 
err_t stepper13_pca_write_reg ( stepper13_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t stepper13_pca_read_reg ( stepper13_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t stepper13_get_fault_pin ( stepper13_t *ctx, uint8_t *state );
 
err_t stepper13_enable_device ( stepper13_t *ctx );
 
err_t stepper13_disable_device ( stepper13_t *ctx );
 
err_t stepper13_enable_sleep ( stepper13_t *ctx );
 
err_t stepper13_disable_sleep ( stepper13_t *ctx );
 
err_t stepper13_set_direction ( stepper13_t *ctx, uint8_t dir );
 
err_t stepper13_switch_direction ( stepper13_t *ctx );
 
void stepper13_set_rst_pin ( stepper13_t *ctx, uint8_t state );
 
void stepper13_reset_pca ( stepper13_t *ctx );
 
uint8_t stepper13_get_int_pin ( stepper13_t *ctx );
 
void stepper13_set_step_pin ( stepper13_t *ctx, uint8_t state );
 
err_t stepper13_get_step_mode ( stepper13_t *ctx, uint8_t *mode );
 
err_t stepper13_set_step_mode ( stepper13_t *ctx, uint8_t mode );
 
err_t stepper13_drive_motor ( stepper13_t *ctx, uint32_t steps, uint8_t speed );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER13_H
 
 // stepper13
 
// ------------------------------------------------------------------------ END