API for configuring and manipulating Stepper 6 Click driver. More...

Topics
	Stepper 6 Registers List
	List of registers of Stepper 6 Click driver.

	Stepper 6 Registers Settings
	Settings for registers of Stepper 6 Click driver.

	Stepper 6 MikroBUS Map
	MikroBUS pin mapping of Stepper 6 Click driver.

Functions
void	stepper6_cfg_setup (stepper6_cfg_t *cfg)
	Stepper 6 configuration object setup function.

err_t	stepper6_init (stepper6_t ctx, stepper6_cfg_t cfg)
	Stepper 6 initialization function.

err_t	stepper6_default_cfg (stepper6_t *ctx)
	Stepper 6 default configuration function.

err_t	stepper6_set_dac (stepper6_t *ctx, uint16_t dac_cmd)
	Stepper 6 set dac function.

err_t	stepper6_pca_write_reg (stepper6_t *ctx, uint8_t reg, uint8_t data_in)
	Stepper 6 pca write reg function.

err_t	stepper6_pca_read_reg (stepper6_t ctx, uint8_t reg, uint8_t data_out)
	Stepper 6 pca read reg function.

err_t	stepper6_get_trq_pin (stepper6_t ctx, uint8_t state)
	Stepper 6 get trq pin function.

err_t	stepper6_set_trq_pin (stepper6_t *ctx, uint8_t state)
	Stepper 6 set trq pin function.

err_t	stepper6_get_m1_pin (stepper6_t ctx, uint8_t state)
	Stepper 6 get M1 pin function.

err_t	stepper6_set_m1_pin (stepper6_t *ctx, uint8_t state)
	Stepper 6 set M1 pin function.

err_t	stepper6_get_m0_pin (stepper6_t ctx, uint8_t state)
	Stepper 6 get M0 pin function.

err_t	stepper6_set_m0_pin (stepper6_t *ctx, uint8_t state)
	Stepper 6 set M0 pin function.

err_t	stepper6_get_sleep_pin (stepper6_t ctx, uint8_t state)
	Stepper 6 get sleep pin function.

err_t	stepper6_set_sleep_pin (stepper6_t *ctx, uint8_t state)
	Stepper 6 set sleep pin function.

err_t	stepper6_get_fault_pin (stepper6_t ctx, uint8_t state)
	Stepper 6 get fault pin function.

void	stepper6_enable_device (stepper6_t *ctx)
	Stepper 6 enable device function.

void	stepper6_disable_device (stepper6_t *ctx)
	Stepper 6 disable device function.

void	stepper6_set_direction (stepper6_t *ctx, uint8_t dir)
	Stepper 6 set direction function.

void	stepper6_switch_direction (stepper6_t *ctx)
	Stepper 6 switch direction function.

void	stepper6_reset_pca (stepper6_t *ctx)
	Stepper 6 reset device function.

void	stepper6_set_rst_pin (stepper6_t *ctx, uint8_t state)
	Stepper 6 set rst pin function.

void	stepper6_set_step_pin (stepper6_t *ctx, uint8_t state)
	Stepper 6 set step pin function.

err_t	stepper6_get_step_mode (stepper6_t ctx, uint8_t mode)
	Stepper 6 get step mode function.

err_t	stepper6_set_step_mode (stepper6_t *ctx, uint8_t mode)
	Stepper 6 set step mode function.

void	stepper6_drive_motor (stepper6_t *ctx, uint32_t steps, uint8_t speed)
	Stepper 6 driver motor function.

Detailed Description

API for configuring and manipulating Stepper 6 Click driver.

Any initialization code needed for MCU to function properly. Do not remove this line or clock might not be set correctly.

Function Documentation

◆ stepper6_cfg_setup()

void stepper6_cfg_setup ( stepper6_cfg_t * cfg )

Stepper 6 configuration object setup function.

This function initializes click configuration structure to initial values.

Parameters

[out] cfg : Click configuration structure. See stepper6_cfg_t object definition for detailed explanation.

Returns: Nothing.

Note: The all used pins will be set to unconnected state.

◆ stepper6_default_cfg()

err_t stepper6_default_cfg ( stepper6_t * ctx )

Stepper 6 default configuration function.

This function executes a default configuration of Stepper 6 click board.

Parameters

[in] ctx : Click context object. See stepper6_t object definition for detailed explanation.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: This function can consist any necessary configuration or setting to put device into operating mode.

◆ stepper6_disable_device()

void stepper6_disable_device ( stepper6_t * ctx )

Stepper 6 disable device function.

This function disables the device by setting the ENABLE pin to low logic state.

Parameters

[in] ctx : Click context object. See stepper6_t object definition for detailed explanation.

Returns: None.

Note: None.

◆ stepper6_drive_motor()

void stepper6_drive_motor	(	stepper6_t *	ctx,
		uint32_t	steps,
		uint8_t	speed )

Stepper 6 driver motor function.

This function drives the motor for the specific number of steps at the selected speed.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[in]	steps	: Number of steps to rotate motor.
[in]	speed	: Motor rotation speed: `0` - Very slow, `1` - Slow, `2` - Medium, `3` - Fast, `4` - Very fast.

Returns: None.

Note: None.

◆ stepper6_enable_device()

void stepper6_enable_device ( stepper6_t * ctx )

Stepper 6 enable device function.

This function enables the device by setting the ENABLE pin to high logic state.

Parameters

[in] ctx : Click context object. See stepper6_t object definition for detailed explanation.

Returns: None.

Note: None.

◆ stepper6_get_fault_pin()

err_t stepper6_get_fault_pin	(	stepper6_t *	ctx,
		uint8_t *	state )

Stepper 6 get fault pin function.

This function reads the FAULT pin logic state.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[out]	state	: `0` - Low logic state, `1` - High logic state.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: None.

◆ stepper6_get_m0_pin()

err_t stepper6_get_m0_pin	(	stepper6_t *	ctx,
		uint8_t *	state )

Stepper 6 get M0 pin function.

This function reads the M0 pin logic state.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[out]	state	: `0` - Low logic state, `1` - High logic state, `2` - Open state.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: None.

◆ stepper6_get_m1_pin()

err_t stepper6_get_m1_pin	(	stepper6_t *	ctx,
		uint8_t *	state )

Stepper 6 get M1 pin function.

This function reads the M1 pin logic state.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[out]	state	: `0` - Low logic state, `1` - High logic state.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: None.

◆ stepper6_get_sleep_pin()

err_t stepper6_get_sleep_pin	(	stepper6_t *	ctx,
		uint8_t *	state )

Stepper 6 get sleep pin function.

This function reads the SLEEP pin logic state.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[out]	state	: `0` - Low logic state, `1` - High logic state.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: None.

◆ stepper6_get_step_mode()

err_t stepper6_get_step_mode	(	stepper6_t *	ctx,
		uint8_t *	mode )

Stepper 6 get step mode function.

This function reads the step mode resolution settings.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[out]	mode	: Step mode resolution: `0` - Full step (2-phase excitation) with 71% current, `1` - 1/16 step, `2` - 1/2 step, `3` - 1/4 step, `4` - 1/8 step, `5` - Non-circular 1/2 step.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: None.

◆ stepper6_get_trq_pin()

err_t stepper6_get_trq_pin	(	stepper6_t *	ctx,
		uint8_t *	state )

Stepper 6 get trq pin function.

This function reads the TRQ pin logic state.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[out]	state	: `0` - Low logic state, `1` - High logic state, `2` - Open state.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: None.

◆ stepper6_init()

err_t stepper6_init	(	stepper6_t *	ctx,
		stepper6_cfg_t *	cfg )

Stepper 6 initialization function.

This function initializes all necessary pins and peripherals used for this click board.

Parameters

[out]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[in]	cfg	: Click configuration structure. See stepper6_cfg_t object definition for detailed explanation.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: None.

◆ stepper6_pca_read_reg()

err_t stepper6_pca_read_reg	(	stepper6_t *	ctx,
		uint8_t	reg,
		uint8_t *	data_out )

Stepper 6 pca read reg function.

This function reads data from the selected PCA9538A register by using I2C serial interface.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[in]	reg	: Register address.
[out]	data_out	: Output read data.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: None.

◆ stepper6_pca_write_reg()

err_t stepper6_pca_write_reg	(	stepper6_t *	ctx,
		uint8_t	reg,
		uint8_t	data_in )

Stepper 6 pca write reg function.

This function writes a desired data byte to the selected PCA9538A register by using I2C serial interface.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[in]	reg	: Register address.
[in]	data_in	: Data to be written.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: None.

◆ stepper6_reset_pca()

void stepper6_reset_pca ( stepper6_t * ctx )

Stepper 6 reset device function.

This function resets the PCA9538A device by toggling the RST pin.

Parameters

[in] ctx : Click context object. See stepper6_t object definition for detailed explanation.

Returns: None.

Note: None.

◆ stepper6_set_dac()

err_t stepper6_set_dac	(	stepper6_t *	ctx,
		uint16_t	dac_cmd )

Stepper 6 set dac function.

This function writes a 16-bit command to DAC register by using SPI serial interface.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[in]	dac_cmd	: 16-bit DAC command.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: DAC command is in format: B15 (!A/B -> default !A, i.e. 0), B14 (BUF -> VREF buffered - 1, not buffered - 0), B13 (GA -> Output gain 1x - 1, 2x - 0), B12 (SHDN -> 1 enable, 0 disable), B11-B0 (DAC data).

◆ stepper6_set_direction()

void stepper6_set_direction	(	stepper6_t *	ctx,
		uint8_t	dir )

Stepper 6 set direction function.

This function sets the motor direction by setting the DIR pin logic state.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[in]	dir	: `0` - Clockwise, `1` - Counter-Clockwise.

Returns: None.

Note: None.

◆ stepper6_set_m0_pin()

err_t stepper6_set_m0_pin	(	stepper6_t *	ctx,
		uint8_t	state )

Stepper 6 set M0 pin function.

This function sets the M0 pin logic state.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[in]	state	: `0` - Low logic state, `1` - High logic state, `2` - Open state.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: None.

◆ stepper6_set_m1_pin()

err_t stepper6_set_m1_pin	(	stepper6_t *	ctx,
		uint8_t	state )

Stepper 6 set M1 pin function.

This function sets the M1 pin logic state.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[in]	state	: `0` - Low logic state, `1` - High logic state.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: None.

◆ stepper6_set_rst_pin()

void stepper6_set_rst_pin	(	stepper6_t *	ctx,
		uint8_t	state )

Stepper 6 set rst pin function.

This function sets the RST pin logic state.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[in]	state	: `0` - Low logic state, `1` - High logic state.

Returns: None.

Note: None.

◆ stepper6_set_sleep_pin()

err_t stepper6_set_sleep_pin	(	stepper6_t *	ctx,
		uint8_t	state )

Stepper 6 set sleep pin function.

This function sets the SLEEP pin logic state.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[in]	state	: `0` - Low logic state, `1` - High logic state.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: None.

◆ stepper6_set_step_mode()

err_t stepper6_set_step_mode	(	stepper6_t *	ctx,
		uint8_t	mode )

Stepper 6 set step mode function.

This function sets the step mode resolution settings.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[in]	mode	: Step mode resolution: `0` - Full step (2-phase excitation) with 71% current, `1` - 1/16 step, `2` - 1/2 step, `3` - 1/4 step, `4` - 1/8 step, `5` - Non-circular 1/2 step.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: None.

◆ stepper6_set_step_pin()

void stepper6_set_step_pin	(	stepper6_t *	ctx,
		uint8_t	state )

Stepper 6 set step pin function.

This function sets the STEP pin logic state.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[in]	state	: `0` - Low logic state, `1` - High logic state.

Returns: None.

Note: None.

◆ stepper6_set_trq_pin()

err_t stepper6_set_trq_pin	(	stepper6_t *	ctx,
		uint8_t	state )

Stepper 6 set trq pin function.

This function sets the TRQ pin logic state.

Parameters

[in]	ctx	: Click context object. See stepper6_t object definition for detailed explanation.
[in]	state	: `0` - Low logic state, `1` - High logic state, `2` - Open state.

Returns

0 - Success,
-1 - Error. See #err_t definition for detailed explanation.

Note: None.

◆ stepper6_switch_direction()

void stepper6_switch_direction ( stepper6_t * ctx )

Stepper 6 switch direction function.

This function switches the motor direction by toggling the DIR pin.

Parameters

[in] ctx : Click context object. See stepper6_t object definition for detailed explanation.

Returns: None.

Note: None.

Topics

Functions

Detailed Description

Function Documentation

◆ stepper6_cfg_setup()

◆ stepper6_default_cfg()

◆ stepper6_disable_device()

◆ stepper6_drive_motor()

◆ stepper6_enable_device()

◆ stepper6_get_fault_pin()

◆ stepper6_get_m0_pin()

◆ stepper6_get_m1_pin()

◆ stepper6_get_sleep_pin()

◆ stepper6_get_step_mode()

◆ stepper6_get_trq_pin()

◆ stepper6_init()

◆ stepper6_pca_read_reg()

◆ stepper6_pca_write_reg()

◆ stepper6_reset_pca()

◆ stepper6_set_dac()

◆ stepper6_set_direction()

◆ stepper6_set_m0_pin()

◆ stepper6_set_m1_pin()

◆ stepper6_set_rst_pin()

◆ stepper6_set_sleep_pin()

◆ stepper6_set_step_mode()

◆ stepper6_set_step_pin()

◆ stepper6_set_trq_pin()

◆ stepper6_switch_direction()