stepper19.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.
**
** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
** 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 STEPPER19_H
#define STEPPER19_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 STEPPER19_REG_IN_PORT                0x00
#define STEPPER19_REG_OUT_PORT               0x01
#define STEPPER19_REG_POL_INV                0x02
#define STEPPER19_REG_CONFIG                 0x03
 
 // stepper19_reg
 
#define STEPPER19_PIN_STATE_LOW              0
#define STEPPER19_PIN_STATE_HIGH             1
 
#define STEPPER19_DIR_CLOCKWISE              0
#define STEPPER19_DIR_COUNTERCLOCKWISE       1
 
#define STEPPER19_PIN_NONE                   0x00
#define STEPPER19_PIN_M0                     0x01
#define STEPPER19_PIN_M1                     0x02
#define STEPPER19_PIN_DEC0                   0x04
#define STEPPER19_PIN_DEC1                   0x08
#define STEPPER19_PIN_TOFF                   0x10
#define STEPPER19_PIN_STP                    0x20
#define STEPPER19_PIN_DIR                    0x40
 
#define STEPPER19_CTRL_STEP_DIR_GPIO         0
#define STEPPER19_CTRL_STEP_DIR_PORT_EXP     1
 
#define STEPPER19_PORT_EXP_DEFAULT_CFG       0x03
 
#define STEPPER19_MSTEP_MODE_FULL            1
#define STEPPER19_MSTEP_MODE_HALF            2
#define STEPPER19_MSTEP_MODE_1_4             4
#define STEPPER19_MSTEP_MODE_1_8             8
#define STEPPER19_MSTEP_MODE_1_16            16
#define STEPPER19_MSTEP_MODE_1_32            32
#define STEPPER19_MSTEP_MODE_1_64            64
#define STEPPER19_MSTEP_MODE_1_128           128
#define STEPPER19_MSTEP_MODE_1_256           256
 
#define STEPPER19_DECAY_MODE_DYN             0
#define STEPPER19_DECAY_MODE_XRP             1
#define STEPPER19_DECAY_MODE_F_30            2
#define STEPPER19_DECAY_MODE_SLW             3
 
#define STEPPER19_TOFF_7US                   0
#define STEPPER19_TOFF_16US                  1
 
#define STEPPER19_STEP_DELAY_DEF_100US        2ul
 
#define STEPPER19_FULL_STEP                  1.0f
#define STEPPER19_STEP_SPEED_MIN             1
#define STEPPER19_STEP_SPEED_MAX             100
#define STEPPER19_ANGLE_360_DEGREES          360.0f
 
#define STEPPER19_FULL_CIRCLE                360.0
#define STEPPER19_RESOLUTION                 4096.0
#define STEPPER19_VREF                       3330.0
 
#define STEPPER19_DEVICE_ADDRESS_0           0x70
#define STEPPER19_DEVICE_ADDRESS_1           0x72
#define STEPPER19_DEVICE_ADDRESS_2           0x74
#define STEPPER19_DEVICE_ADDRESS_3           0x76
 
 // stepper19_set
 
#define STEPPER19_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.stp = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.flt = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // stepper19_map
 // stepper19
 
typedef struct
{
    // Output pins
    digital_out_t en;     
    digital_out_t dir;    
    digital_out_t stp;    
    // Input pins
    digital_in_t flt;     
    // Modules
    i2c_master_t i2c;    
    // I2C slave address
    uint8_t slave_address;    
    // Motor stepps
    float step_delay;         
    float microstep_mode;     
    uint8_t step_dir_mode;    
} stepper19_t;
 
typedef struct
{
    pin_name_t scl;    
    pin_name_t sda;    
    pin_name_t en;     
    pin_name_t dir;    
    pin_name_t stp;    
    pin_name_t flt;    
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
} stepper19_cfg_t;
 
typedef enum
{
    STEPPER19_OK = 0,
    STEPPER19_ERROR = -1
 
} stepper19_return_value_t;
 
void stepper19_cfg_setup ( stepper19_cfg_t *cfg );
 
err_t stepper19_init ( stepper19_t *ctx, stepper19_cfg_t *cfg );
 
err_t stepper19_default_cfg ( stepper19_t *ctx );
 
err_t stepper19_generic_write ( stepper19_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t stepper19_generic_read ( stepper19_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
err_t stepper19_port_exp_write ( stepper19_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t stepper19_port_exp_read ( stepper19_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t stepper19_set_pins ( stepper19_t *ctx, uint8_t set_mask, uint8_t clr_mask );
 
err_t stepper19_set_microstep_mode ( stepper19_t *ctx, uint8_t ms_mode );
 
err_t stepper19_set_decay_mode ( stepper19_t *ctx, uint8_t decay_mode );
 
err_t stepper19_set_toff ( stepper19_t *ctx, uint8_t toff );
 
void stepper19_enable_device ( stepper19_t *ctx );
 
void stepper19_disable_device ( stepper19_t *ctx );
 
err_t stepper19_set_direction ( stepper19_t *ctx, uint8_t dir );
 
err_t stepper19_set_step ( stepper19_t *ctx, uint8_t step );
 
err_t stepper19_make_one_step ( stepper19_t *ctx, uint8_t step_speed );
 
err_t stepper19_rotate_by_angle ( stepper19_t *ctx, uint8_t step_speed, float angle, uint16_t res_360 );
 
err_t stepper19_rotate_by_step ( stepper19_t *ctx, uint8_t step_speed, uint16_t steps );
 
uint8_t stepper19_fault_indication ( stepper19_t *ctx );
 
 
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER19_H
 
 // stepper19
 
// ------------------------------------------------------------------------ END