stepper21.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 STEPPER21_H
#define STEPPER21_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 STEPPER21_REG_INPUT                     0x00
#define STEPPER21_REG_OUTPUT                    0x01
#define STEPPER21_REG_POLARITY                  0x02
#define STEPPER21_REG_CONFIG                    0x03
 
 // stepper21_reg
 
#define STEPPER21_PIN_SLEEP                     0x01
#define STEPPER21_PIN_FAULT                     0x02
#define STEPPER21_PIN_DECAY                     0x04
#define STEPPER21_PIN_ENABLE                    0x08
#define STEPPER21_PIN_HOME                      0x10
#define STEPPER21_PIN_MODE0                     0x20
#define STEPPER21_PIN_MODE1                     0x40
#define STEPPER21_PIN_MODE2                     0x80
 
#define STEPPER21_DEFAULT_CONFIG                0x16
 
#define STEPPER21_DIR_CCW                       0
#define STEPPER21_DIR_CW                        1
 
#define STEPPER21_PIN_STATE_LOW                 0
#define STEPPER21_PIN_STATE_HIGH                1
#define STEPPER21_PIN_STATE_OPEN                2
 
#define STEPPER21_MODE_FULL_STEP                0x00
#define STEPPER21_MODE_HALF_STEP                0x01
#define STEPPER21_MODE_QUARTER_STEP             0x02
#define STEPPER21_MODE_1_OVER_8                 0x03
#define STEPPER21_MODE_1_OVER_16                0x04
#define STEPPER21_MODE_1_OVER_32                0x05
#define STEPPER21_MODE_MASK                     0x07
 
#define STEPPER21_SPEED_VERY_SLOW               0
#define STEPPER21_SPEED_SLOW                    1
#define STEPPER21_SPEED_MEDIUM                  2
#define STEPPER21_SPEED_FAST                    3
#define STEPPER21_SPEED_VERY_FAST               4 
 
#define STEPPER21_DEVICE_ADDRESS_A1A0_00        0x70
#define STEPPER21_DEVICE_ADDRESS_A1A0_01        0x71
#define STEPPER21_DEVICE_ADDRESS_A1A0_10        0x72
#define STEPPER21_DEVICE_ADDRESS_A1A0_11        0x73
 
 // stepper21_set
 
#define STEPPER21_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // stepper21_map
 // stepper21
 
typedef struct
{
    // Output pins
    digital_out_t dir;              
    digital_out_t rst;              
    digital_out_t step;             
    // Input pins
    digital_in_t int_pin;           
    // Modules
    i2c_master_t i2c;               
    // I2C slave address
    uint8_t slave_address;          
} stepper21_t;
 
typedef struct
{
    pin_name_t scl;                 
    pin_name_t sda;                 
    pin_name_t dir;                 
    pin_name_t rst;                 
    pin_name_t step;                
    pin_name_t int_pin;             
    uint32_t   i2c_speed;           
    uint8_t    i2c_address;         
} stepper21_cfg_t;
 
typedef enum
{
    STEPPER21_OK = 0,
    STEPPER21_ERROR = -1
 
} stepper21_return_value_t;
 
void stepper21_cfg_setup ( stepper21_cfg_t *cfg );
 
err_t stepper21_init ( stepper21_t *ctx, stepper21_cfg_t *cfg );
 
err_t stepper21_default_cfg ( stepper21_t *ctx );
 
err_t stepper21_write_register ( stepper21_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t stepper21_read_register ( stepper21_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t stepper21_get_step_mode ( stepper21_t *ctx, uint8_t *mode );
 
err_t stepper21_set_step_mode ( stepper21_t *ctx, uint8_t mode );
 
err_t stepper21_get_sleep_pin ( stepper21_t *ctx, uint8_t *state );
 
err_t stepper21_set_sleep_pin ( stepper21_t *ctx, uint8_t state );
 
err_t stepper21_get_fault_pin ( stepper21_t *ctx, uint8_t *state );
 
err_t stepper21_get_decay_pin ( stepper21_t *ctx, uint8_t *state );
 
err_t stepper21_set_decay_pin ( stepper21_t *ctx, uint8_t state );
 
err_t stepper21_get_enable_pin ( stepper21_t *ctx, uint8_t *state );
 
err_t stepper21_set_enable_pin ( stepper21_t *ctx, uint8_t state );
 
err_t stepper21_get_home_pin ( stepper21_t *ctx, uint8_t *state );
 
void stepper21_drive_motor ( stepper21_t *ctx, uint32_t steps, uint8_t speed );
 
err_t stepper21_enable_device ( stepper21_t *ctx );
 
err_t stepper21_disable_device ( stepper21_t *ctx );
 
void stepper21_set_direction ( stepper21_t *ctx, uint8_t dir );
 
void stepper21_switch_direction ( stepper21_t *ctx );
 
void stepper21_set_rst_pin ( stepper21_t *ctx, uint8_t state );
 
void stepper21_reset_device ( stepper21_t *ctx );
 
uint8_t stepper21_get_int_pin ( stepper21_t *ctx );
 
void stepper21_set_step_pin ( stepper21_t *ctx, uint8_t state );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER21_H
 
 // stepper21
 
// ------------------------------------------------------------------------ END