stepper7.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 STEPPER7_H
#define STEPPER7_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_spi_master.h"
#include "spi_specifics.h"
 
#define STEPPER7_REG_IODIR                  0x00
#define STEPPER7_REG_IPOL                   0x01
#define STEPPER7_REG_GPINTEN                0x02
#define STEPPER7_REG_DEFVAL                 0x03
#define STEPPER7_REG_INTCON                 0x04
#define STEPPER7_REG_IOCON                  0x05
#define STEPPER7_REG_GPPU                   0x06
#define STEPPER7_REG_INTF                   0x07
#define STEPPER7_REG_INTCAP                 0x08
#define STEPPER7_REG_GPIO                   0x09
#define STEPPER7_REG_OLAT                   0x0A
 
 // stepper7_reg
 
#define STEPPER7_PIN_PHASE2                 0x80
#define STEPPER7_PIN_PHASE1                 0x40
#define STEPPER7_PIN_I12                    0x20
#define STEPPER7_PIN_I02                    0x10
#define STEPPER7_PIN_I11                    0x08
#define STEPPER7_PIN_I01                    0x04
 
#define STEPPER7_IODIR_DEFAULT              0x03
#define STEPPER7_IOCON_DEFAULT              0x38
#define STEPPER7_GPIO_CLEAR                 0x00
 
#define STEPPER7_DIR_CW                     0
#define STEPPER7_DIR_CCW                    1
 
#define STEPPER7_PIN_LOW_LEVEL              0
#define STEPPER7_PIN_HIGH_LEVEL             1
 
#define STEPPER7_MODE_FULL_STEP             0
#define STEPPER7_MODE_HALF_STEP             1
#define STEPPER7_MODE_1_OVER_8_STEP         2
 
#define STEPPER7_SPEED_VERY_SLOW            0
#define STEPPER7_SPEED_SLOW                 1
#define STEPPER7_SPEED_MEDIUM               2
#define STEPPER7_SPEED_FAST                 3
#define STEPPER7_SPEED_VERY_FAST            4 
 
#define STEPPER7_SPI_READ_OPCODE            0x41
#define STEPPER7_SPI_WRITE_OPCODE           0x40
 
#define STEPPER7_SET_DATA_SAMPLE_EDGE       SET_SPI_DATA_SAMPLE_EDGE
#define STEPPER7_SET_DATA_SAMPLE_MIDDLE     SET_SPI_DATA_SAMPLE_MIDDLE
 
 // stepper7_set
 
#define STEPPER7_MAP_MIKROBUS( cfg, mikrobus ) \
    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.rst = MIKROBUS( mikrobus, MIKROBUS_RST );
 
 // stepper7_map
 // stepper7
 
typedef struct
{
    // Output pins
    digital_out_t rst;              
    // Modules
    spi_master_t spi;               
    pin_name_t   chip_select;       
    uint8_t step_mode;              
    uint8_t direction;              
} stepper7_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t miso;                
    pin_name_t mosi;                
    pin_name_t sck;                 
    pin_name_t cs;                  
    // Additional gpio pins
    pin_name_t rst;                 
    // static variable
    uint32_t                          spi_speed;    
    spi_master_mode_t                 spi_mode;     
    spi_master_chip_select_polarity_t cs_polarity;  
} stepper7_cfg_t;
 
typedef enum
{
    STEPPER7_OK = 0,
    STEPPER7_ERROR = -1
 
} stepper7_return_value_t;
 
void stepper7_cfg_setup ( stepper7_cfg_t *cfg );
 
err_t stepper7_init ( stepper7_t *ctx, stepper7_cfg_t *cfg );
 
err_t stepper7_default_cfg ( stepper7_t *ctx );
 
err_t stepper7_write_reg ( stepper7_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t stepper7_read_reg ( stepper7_t *ctx, uint8_t reg, uint8_t *data_out );
 
void stepper7_set_rst_pin ( stepper7_t *ctx, uint8_t state );
 
void stepper7_reset_device ( stepper7_t *ctx );
 
err_t stepper7_set_phase2_pin ( stepper7_t *ctx, uint8_t state );
 
err_t stepper7_set_phase1_pin ( stepper7_t *ctx, uint8_t state );
 
err_t stepper7_set_i12_pin ( stepper7_t *ctx, uint8_t state );
 
err_t stepper7_set_i02_pin ( stepper7_t *ctx, uint8_t state );
 
err_t stepper7_set_i11_pin ( stepper7_t *ctx, uint8_t state );
 
err_t stepper7_set_i01_pin ( stepper7_t *ctx, uint8_t state );
 
err_t stepper7_enable_device ( stepper7_t *ctx );
 
err_t stepper7_disable_device ( stepper7_t *ctx );
 
void stepper7_set_step_mode ( stepper7_t *ctx, uint8_t mode );
 
void stepper7_set_direction ( stepper7_t *ctx, uint8_t dir );
 
void stepper7_switch_direction ( stepper7_t *ctx );
 
err_t stepper7_drive_motor ( stepper7_t *ctx, uint32_t steps, uint8_t speed );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER7_H
 
 // stepper7
 
// ------------------------------------------------------------------------ END