stepper2.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 STEPPER2_H
#define STEPPER2_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"
 
#define STEPPER2_PIN_STATE_LOW                  0
#define STEPPER2_PIN_STATE_HIGH                 1
 
#define STEPPER2_DIR_CCW                        0
#define STEPPER2_DIR_CW                         1
 
#define STEPPER2_MODE_FULL_STEP                 0
#define STEPPER2_MODE_HALF_STEP                 1
#define STEPPER2_MODE_QUARTER_STEP              2
#define STEPPER2_MODE_1_OVER_8_STEP             3
 
#define STEPPER2_MICROSTEP_NUM_PER_STEP         32
 
#define STEPPER2_SPEED_VERY_SLOW                0
#define STEPPER2_SPEED_SLOW                     1
#define STEPPER2_SPEED_MEDIUM                   2
#define STEPPER2_SPEED_FAST                     3
#define STEPPER2_SPEED_VERY_FAST                4 
 
 // stepper2_set
 
#define STEPPER2_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.en = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.slp = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.dir = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // stepper2_map
 // stepper2
 
typedef struct
{
    digital_out_t en;           
    digital_out_t rst;          
    digital_out_t slp;          
    digital_out_t step;         
    digital_out_t dir;          
} stepper2_t;
 
typedef struct
{
    pin_name_t en;              
    pin_name_t rst;             
    pin_name_t slp;             
    pin_name_t step;            
    pin_name_t dir;             
} stepper2_cfg_t;
 
typedef enum
{
    STEPPER2_OK = 0,
    STEPPER2_ERROR = -1
 
} stepper2_return_value_t;
 
void stepper2_cfg_setup ( stepper2_cfg_t *cfg );
 
err_t stepper2_init ( stepper2_t *ctx, stepper2_cfg_t *cfg );
 
void stepper2_default_cfg ( stepper2_t *ctx ) ;
 
void stepper2_drive_motor ( stepper2_t *ctx, uint32_t steps, uint8_t speed );
 
void stepper2_enable_reset ( stepper2_t *ctx );
 
void stepper2_disable_reset ( stepper2_t *ctx );
 
void stepper2_enable_sleep ( stepper2_t *ctx );
 
void stepper2_disable_sleep ( stepper2_t *ctx );
 
void stepper2_enable_device ( stepper2_t *ctx );
 
void stepper2_disable_device ( stepper2_t *ctx );
 
void stepper2_set_direction ( stepper2_t *ctx, uint8_t dir );
 
void stepper2_switch_direction ( stepper2_t *ctx );
 
void stepper2_set_step_pin ( stepper2_t *ctx, uint8_t state );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER2_H
 
 // stepper2
 
// ------------------------------------------------------------------------ END