stepper18.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.
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#ifndef STEPPER18_H
#define STEPPER18_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 STEPPER18_STEP_RES_FULL     1
#define STEPPER18_STEP_RES_HALF     2
#define STEPPER18_STEP_RES_QUARTER  4
#define STEPPER18_STEP_RES_1div8    8
#define STEPPER18_STEP_RES_1div16   16
#define STEPPER18_STEP_RES_1div32   32
#define STEPPER18_STEP_RES_1div64   64
#define STEPPER18_STEP_RES_1div128  128
#define STEPPER18_STEP_RES_1div256  256
 
#define STEPPER18_SPEED_VERY_SLOW   1
#define STEPPER18_SPEED_SLOW        2
#define STEPPER18_SPEED_MEDIUM      3
#define STEPPER18_SPEED_FAST        4 
#define STEPPER18_SPEED_VERY_FAST   5
 
#define STEPPER18_SET_DEV_ADDR      0x60
 
 // stepper18_set
 
#define STEPPER18_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.slp = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.stp = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.flt = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // stepper18_map
 // stepper18
 
typedef struct
{
    // Output pins
    digital_out_t  en;      
    digital_out_t  dir;     
    digital_out_t  slp;     
    digital_out_t  stp;     
    // Input pins
    digital_in_t  flt;      
    // Modules
    i2c_master_t i2c;       
    // I2C slave address
    uint8_t slave_address;  
    // Motor stepps
    uint16_t steps;
    float resolution;
    
    
} stepper18_t;
 
typedef struct
{
    pin_name_t  scl;        
    pin_name_t  sda;        
    pin_name_t  en;         
    pin_name_t  dir;        
    pin_name_t  slp;        
    pin_name_t  stp;        
    pin_name_t  flt;        
    uint32_t  i2c_speed;    
    uint8_t   i2c_address;  
} stepper18_cfg_t;
 
typedef enum
{
   STEPPER18_OK = 0,
   STEPPER18_ERROR = -1
 
} stepper18_return_value_t;
 
void stepper18_cfg_setup ( stepper18_cfg_t *cfg );
 
err_t stepper18_init ( stepper18_t *ctx, stepper18_cfg_t *cfg );
 
err_t stepper18_default_cfg ( stepper18_t *ctx );
 
err_t stepper18_generic_write ( stepper18_t *ctx, uint8_t *tx_buf, uint8_t tx_len );
 
err_t stepper18_set_out_voltage ( stepper18_t *ctx, uint16_t voltage );
 
void stepper18_set_dir ( stepper18_t *ctx, uint8_t value );
 
void stepper18_set_slp ( stepper18_t *ctx, uint8_t value );
 
void stepper18_set_en ( stepper18_t *ctx, uint8_t value );
 
void stepper18_set_stp ( stepper18_t *ctx, uint8_t value );
 
uint8_t stepper18_get_flt ( stepper18_t *ctx );
 
void stepper18_move_motor_angle ( stepper18_t *ctx, float degree, uint8_t step_res, uint8_t speed );
 
void stepper18_move_motor_step ( stepper18_t *ctx, uint16_t steps, uint8_t step_res, uint8_t speed );
 
void stepper18_calculate_resolution ( stepper18_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER18_H
 
 // stepper18
 
// ------------------------------------------------------------------------ END