stepper16.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
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** 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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#ifndef STEPPER16_H
#define STEPPER16_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_spi_master.h"
 
#define STEPPER16_REG_CR1           0x01
#define STEPPER16_REG_CR2           0x02
#define STEPPER16_REG_CR3           0x03
#define STEPPER16_REG_CR4           0x04
#define STEPPER16_REG_CR5           0x0B
#define STEPPER16_REG_CR6           0x0C
#define STEPPER16_REG_SR1           0x05
#define STEPPER16_REG_SR2           0x06
#define STEPPER16_REG_SR3           0x07
#define STEPPER16_REG_SR4           0x08
#define STEPPER16_REG_SR5           0x09
#define STEPPER16_REG_SR6           0x0A
 
 // stepper16_reg
 
#define STEPPER16_STEP_RES_FULL     0x7
#define STEPPER16_STEP_RES_HALF     0x3
#define STEPPER16_STEP_RES_QUARTER  0x2
#define STEPPER16_STEP_RES_1div8    0x1
#define STEPPER16_STEP_RES_1div16   0x0
 
#define STEPPER16_SPEED_VERY_SLOW   1
#define STEPPER16_SPEED_SLOW        2
#define STEPPER16_SPEED_MEDIUM      3
#define STEPPER16_SPEED_FAST        4 
#define STEPPER16_SPEED_VERY_FAST   5
 
 // stepper16_set
 
#define STEPPER16_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
    cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
    cfg.sck  = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
    cfg.cs   = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.dir = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.nxt = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.err = MIKROBUS( mikrobus, MIKROBUS_INT )
#define STEPPER16_MAP_MIKROBUS( cfg, mikrobus ) \ …
 
 // stepper16_map
 // stepper16
 
typedef struct
{
    // Output pins
    digital_out_t  dir;         
    digital_out_t  nxt;         
    digital_out_t  cs;         
    // Input pins
    digital_in_t  err;          
    // Modules
    spi_master_t  spi;          
    pin_name_t  chip_select;    
    //status bits
    uint8_t spierr;             
    uint8_t uv;                 
    uint8_t eldef;              
    uint8_t tsd;                
    uint8_t tw;                 
    uint16_t steps;             
    float resolution;           
    uint8_t step_resolution;    
} stepper16_t;
typedef struct {…};
 
typedef struct
{
    // Communication gpio pins
    pin_name_t  miso;                               
    pin_name_t  mosi;                               
    pin_name_t  sck;                                
    pin_name_t  cs;                                 
    // Additional gpio pins
    pin_name_t  dir;                                
    pin_name_t  nxt;                                
    pin_name_t  err;                                
    // static variable
    uint32_t                           spi_speed;   
    spi_master_mode_t                  spi_mode;    
    spi_master_chip_select_polarity_t  cs_polarity; 
} stepper16_cfg_t;
typedef struct {…};
 
typedef enum
{
   STEPPER16_OK = 0,
   STEPPER16_ERROR = -1
 
} stepper16_return_value_t;
typedef enum {…};
 
void stepper16_cfg_setup ( stepper16_cfg_t *cfg );
 
err_t stepper16_init ( stepper16_t *ctx, stepper16_cfg_t *cfg );
 
err_t stepper16_default_cfg ( stepper16_t *ctx );
 
err_t stepper16_generic_write ( stepper16_t *ctx, uint8_t reg, uint16_t data_in );
 
err_t stepper16_generic_read ( stepper16_t *ctx, uint8_t reg, uint16_t *data_out );
 
void stepper16_set_next ( stepper16_t *ctx, uint8_t value );
 
void stepper16_set_dir ( stepper16_t *ctx, uint8_t value );
 
uint8_t stepper16_get_error_flag ( stepper16_t *ctx );
 
void stepper16_hard_reset ( stepper16_t *ctx );
 
void stepper16_wake_up ( stepper16_t *ctx );
 
void stepper16_set_step_resolution ( stepper16_t *ctx, uint8_t step_res );
 
void stepper16_move_motor_angle ( stepper16_t *ctx, float degree, uint8_t speed );
 
void stepper16_move_motor_step ( stepper16_t *ctx, uint16_t steps, uint8_t speed );
 
void stepper16_calculate_resolution ( stepper16_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER16_H
 
 // stepper16
 
// ------------------------------------------------------------------------ END