stepper3.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,
** 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
**  USE OR OTHER DEALINGS IN THE SOFTWARE.
****************************************************************************/
 
#ifndef STEPPER3_H
#define STEPPER3_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 STEPPER3_DIR_CW                     0
#define STEPPER3_DIR_CCW                    1
 
#define STEPPER3_PIN_LOW_LEVEL              0
#define STEPPER3_PIN_HIGH_LEVEL             1
 
#define STEPPER3_MODE_FULL_STEP             0
#define STEPPER3_MODE_HALF_STEP             1
 
#define STEPPER3_MICROSTEP_NUM_PER_STEP     32
 
#define STEPPER3_SPEED_VERY_SLOW            0
#define STEPPER3_SPEED_SLOW                 1
#define STEPPER3_SPEED_MEDIUM               2
#define STEPPER3_SPEED_FAST                 3
#define STEPPER3_SPEED_VERY_FAST            4 
 
 // stepper3_set
 
#define STEPPER3_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.ina = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.inb = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.inc = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.ind = MIKROBUS( mikrobus, MIKROBUS_PWM );
 
 // stepper3_map
 // stepper3
 
typedef struct
{
    digital_out_t ina;      
    digital_out_t inb;      
    digital_out_t inc;      
    digital_out_t ind;      
    uint8_t step_mode;      
    uint8_t direction;      
} stepper3_t;
 
typedef struct
{
    pin_name_t ina;         
    pin_name_t inb;         
    pin_name_t inc;         
    pin_name_t ind;         
} stepper3_cfg_t;
 
typedef enum
{
    STEPPER3_OK = 0,
    STEPPER3_ERROR = -1
 
} stepper3_return_value_t;
 
void stepper3_cfg_setup ( stepper3_cfg_t *cfg );
 
err_t stepper3_init ( stepper3_t *ctx, stepper3_cfg_t *cfg );
 
void stepper3_set_ina_pin ( stepper3_t *ctx, uint8_t state );
 
void stepper3_set_inb_pin ( stepper3_t *ctx, uint8_t state );
 
void stepper3_set_inc_pin ( stepper3_t *ctx, uint8_t state );
 
void stepper3_set_ind_pin ( stepper3_t *ctx, uint8_t state );
 
void stepper3_set_step_mode ( stepper3_t *ctx, uint8_t mode );
 
void stepper3_set_direction ( stepper3_t *ctx, uint8_t dir );
 
void stepper3_switch_direction ( stepper3_t *ctx );
 
void stepper3_enable_device ( stepper3_t *ctx );
 
void stepper3_disable_device ( stepper3_t *ctx );
 
void stepper3_drive_motor ( stepper3_t *ctx, uint32_t steps, uint8_t speed );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER3_H
 
 // stepper3
 
// ------------------------------------------------------------------------ END