stepper6.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 STEPPER6_H
#define STEPPER6_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"
#include "drv_spi_master.h"
#include "spi_specifics.h"
 
#define STEPPER6_PCA9538A_REG_INPUT             0x00
#define STEPPER6_PCA9538A_REG_OUTPUT            0x01
#define STEPPER6_PCA9538A_REG_POLARITY          0x02
#define STEPPER6_PCA9538A_REG_CONFIG            0x03
 
 // stepper6_reg
 
#define STEPPER6_PIN_TRQ                        0x01
#define STEPPER6_PIN_M1                         0x02
#define STEPPER6_PIN_M0                         0x04
#define STEPPER6_PIN_SLEEP                      0x08
#define STEPPER6_PIN_FAULT                      0x10
 
#define STEPPER6_PCA9538A_DEFAULT_CONFIG        0xF0
 
#define STEPPER6_DIR_CW                         0
#define STEPPER6_DIR_CCW                        1
 
#define STEPPER6_PIN_STATE_LOW                  0
#define STEPPER6_PIN_STATE_HIGH                 1
#define STEPPER6_PIN_STATE_OPEN                 2
 
#define STEPPER6_SPEED_VERY_SLOW                0
#define STEPPER6_SPEED_SLOW                     1
#define STEPPER6_SPEED_MEDIUM                   2
#define STEPPER6_SPEED_FAST                     3
#define STEPPER6_SPEED_VERY_FAST                4
 
#define STEPPER6_MODE_FULL_STEP                 0
#define STEPPER6_MODE_1_OVER_16                 1
#define STEPPER6_MODE_HALF_STEP                 2
#define STEPPER6_MODE_QUARTER_STEP              3
#define STEPPER6_MODE_1_OVER_8                  4
#define STEPPER6_MODE_HALF_NON_CIRC_STEP        5
 
#define STEPPER6_DAC_DEFAULT_CONFIG             0x7FFFu
 
#define STEPPER6_DEVICE_ADDRESS_A1A0_00         0x70
#define STEPPER6_DEVICE_ADDRESS_A1A0_01         0x71
#define STEPPER6_DEVICE_ADDRESS_A1A0_10         0x72
#define STEPPER6_DEVICE_ADDRESS_A1A0_11         0x73
 
#define STEPPER6_SET_DATA_SAMPLE_EDGE           SET_SPI_DATA_SAMPLE_EDGE
#define STEPPER6_SET_DATA_SAMPLE_MIDDLE         SET_SPI_DATA_SAMPLE_MIDDLE
 
 // stepper6_set
 
#define STEPPER6_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl  = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda  = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
    cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
    cfg.sck  = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
    cfg.cs   = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.step = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.en   = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.dir  = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.rst  = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // stepper6_map
 // stepper6
 
typedef struct stepper6_s
{
    digital_out_t step;         
    digital_out_t en;           
    digital_out_t dir;          
    digital_out_t rst;          
    i2c_master_t i2c;           
    spi_master_t spi;           
    uint8_t      slave_address; 
    pin_name_t   chip_select;   
} stepper6_t;
 
typedef struct
{
    pin_name_t scl;             
    pin_name_t sda;             
    pin_name_t miso;            
    pin_name_t mosi;            
    pin_name_t sck;             
    pin_name_t cs;              
    pin_name_t step;            
    pin_name_t en;              
    pin_name_t dir;             
    pin_name_t rst;             
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
    uint32_t                          spi_speed;    
    spi_master_mode_t                 spi_mode;     
    spi_master_chip_select_polarity_t cs_polarity;  
} stepper6_cfg_t;
 
typedef enum
{
    STEPPER6_OK = 0,
    STEPPER6_ERROR = -1
 
} stepper6_return_value_t;
 
void stepper6_cfg_setup ( stepper6_cfg_t *cfg );
 
err_t stepper6_init ( stepper6_t *ctx, stepper6_cfg_t *cfg );
 
err_t stepper6_default_cfg ( stepper6_t *ctx );
 
err_t stepper6_set_dac ( stepper6_t *ctx, uint16_t dac_cmd );
 
err_t stepper6_pca_write_reg ( stepper6_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t stepper6_pca_read_reg ( stepper6_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t stepper6_get_trq_pin ( stepper6_t *ctx, uint8_t *state );
 
err_t stepper6_set_trq_pin ( stepper6_t *ctx, uint8_t state );
 
err_t stepper6_get_m1_pin ( stepper6_t *ctx, uint8_t *state );
 
err_t stepper6_set_m1_pin ( stepper6_t *ctx, uint8_t state );
 
err_t stepper6_get_m0_pin ( stepper6_t *ctx, uint8_t *state );
 
err_t stepper6_set_m0_pin ( stepper6_t *ctx, uint8_t state );
 
err_t stepper6_get_sleep_pin ( stepper6_t *ctx, uint8_t *state );
 
err_t stepper6_set_sleep_pin ( stepper6_t *ctx, uint8_t state );
 
err_t stepper6_get_fault_pin ( stepper6_t *ctx, uint8_t *state );
 
void stepper6_enable_device ( stepper6_t *ctx );
 
void stepper6_disable_device ( stepper6_t *ctx );
 
void stepper6_set_direction ( stepper6_t *ctx, uint8_t dir );
 
void stepper6_switch_direction ( stepper6_t *ctx );
 
void stepper6_reset_pca ( stepper6_t *ctx );
 
void stepper6_set_rst_pin ( stepper6_t *ctx, uint8_t state );
 
void stepper6_set_step_pin ( stepper6_t *ctx, uint8_t state );
 
err_t stepper6_get_step_mode ( stepper6_t *ctx, uint8_t *mode );
 
err_t stepper6_set_step_mode ( stepper6_t *ctx, uint8_t mode );
 
void stepper6_drive_motor ( stepper6_t *ctx, uint32_t steps, uint8_t speed );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER6_H
 
 // stepper6
 
// ------------------------------------------------------------------------ END