stepper14.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,
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#ifndef STEPPER14_H
#define STEPPER14_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 STEPPER14_PCA9538A_REG_INPUT            0x00
#define STEPPER14_PCA9538A_REG_OUTPUT           0x01
#define STEPPER14_PCA9538A_REG_POLARITY         0x02
#define STEPPER14_PCA9538A_REG_CONFIG           0x03
 
 // stepper14_reg
 
#define STEPPER14_PIN_IN1                       0x01
#define STEPPER14_PIN_IN2                       0x02
#define STEPPER14_PIN_MODE                      0x04
#define STEPPER14_PIN_IN3                       0x08
#define STEPPER14_PIN_IN4                       0x10
#define STEPPER14_PIN_TRQ                       0x20
 
#define STEPPER14_PCA9538A_DEFAULT_CONFIG       0xC0
 
#define STEPPER14_DIR_CW                        0
#define STEPPER14_DIR_CCW                       1
 
#define STEPPER14_PIN_STATE_LOW                 0
#define STEPPER14_PIN_STATE_HIGH                1
 
#define STEPPER14_INTERFACE_4_PIN               0
#define STEPPER14_INTERFACE_2_PIN               1
 
#define STEPPER14_SPEED_VERY_SLOW               0
#define STEPPER14_SPEED_SLOW                    1
#define STEPPER14_SPEED_MEDIUM                  2
#define STEPPER14_SPEED_FAST                    3
#define STEPPER14_SPEED_VERY_FAST               4
 
#define STEPPER14_MODE_FULL_STEP                0
#define STEPPER14_MODE_HALF_STEP                1
 
#define STEPPER14_DEVICE_ADDRESS_A1A0_00        0x70
#define STEPPER14_DEVICE_ADDRESS_A1A0_01        0x71
#define STEPPER14_DEVICE_ADDRESS_A1A0_10        0x72
#define STEPPER14_DEVICE_ADDRESS_A1A0_11        0x73
 
 // stepper14_set
 
#define STEPPER14_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.flt = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // stepper14_map
 // stepper14
 
typedef struct
{
    // Output pins
    digital_out_t en;           
    digital_out_t rst;          
    // Input pins
    digital_in_t flt;           
    // Modules
    i2c_master_t i2c;           
    // I2C slave address
    uint8_t slave_address;      
    uint8_t pin_mode;           
    uint8_t step_mode;          
    uint8_t direction;          
} stepper14_t;
 
typedef struct
{
    pin_name_t scl;             
    pin_name_t sda;             
    pin_name_t en;              
    pin_name_t rst;             
    pin_name_t flt;             
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
} stepper14_cfg_t;
 
typedef enum
{
    STEPPER14_OK = 0,
    STEPPER14_ERROR = -1
 
} stepper14_return_value_t;
 
void stepper14_cfg_setup ( stepper14_cfg_t *cfg );
 
err_t stepper14_init ( stepper14_t *ctx, stepper14_cfg_t *cfg );
 
err_t stepper14_default_cfg ( stepper14_t *ctx );
 
err_t stepper14_pca_write_reg ( stepper14_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t stepper14_pca_read_reg ( stepper14_t *ctx, uint8_t reg, uint8_t *data_out );
 
void stepper14_set_rst_pin ( stepper14_t *ctx, uint8_t state );
 
void stepper14_reset_pca ( stepper14_t *ctx );
 
uint8_t stepper14_get_fault_pin ( stepper14_t *ctx );
 
void stepper14_enable_device ( stepper14_t *ctx );
 
void stepper14_disable_device ( stepper14_t *ctx );
 
err_t stepper14_set_in1_pin ( stepper14_t *ctx, uint8_t state );
 
err_t stepper14_set_in2_pin ( stepper14_t *ctx, uint8_t state );
 
err_t stepper14_set_in3_pin ( stepper14_t *ctx, uint8_t state );
 
err_t stepper14_set_in4_pin ( stepper14_t *ctx, uint8_t state );
 
err_t stepper14_set_mode_pin ( stepper14_t *ctx, uint8_t state );
 
err_t stepper14_set_trq_pin ( stepper14_t *ctx, uint8_t state );
 
err_t stepper14_set_interface_mode ( stepper14_t *ctx, uint8_t mode );
 
void stepper14_set_step_mode ( stepper14_t *ctx, uint8_t mode );
 
void stepper14_set_direction ( stepper14_t *ctx, uint8_t dir );
 
void stepper14_switch_direction ( stepper14_t *ctx );
 
err_t stepper14_drive_motor ( stepper14_t *ctx, uint32_t steps, uint8_t speed );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER14_H
 
 // stepper14
 
// ------------------------------------------------------------------------ END