stepper8.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
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** 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.
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#ifndef STEPPER8_H
#define STEPPER8_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 STEPPER8_PCA9538A_REG_INPUT             0x00
#define STEPPER8_PCA9538A_REG_OUTPUT            0x01
#define STEPPER8_PCA9538A_REG_POLARITY          0x02
#define STEPPER8_PCA9538A_REG_CONFIG            0x03
 
 // stepper8_reg
 
#define STEPPER8_PIN_STBY                       0x01
#define STEPPER8_PIN_SELECT                     0x02
#define STEPPER8_PIN_EN                         0x04
 
#define STEPPER8_PCA9538A_DEFAULT_CONFIG        0xF8
 
#define STEPPER8_DIR_CW                         0
#define STEPPER8_DIR_CCW                        1
 
#define STEPPER8_PIN_STATE_LOW                  0
#define STEPPER8_PIN_STATE_HIGH                 1
 
#define STEPPER8_SPEED_VERY_SLOW                0
#define STEPPER8_SPEED_SLOW                     1
#define STEPPER8_SPEED_MEDIUM                   2
#define STEPPER8_SPEED_FAST                     3
#define STEPPER8_SPEED_VERY_FAST                4
 
#define STEPPER8_MODE_FULL_STEP                 0
#define STEPPER8_MODE_HALF_STEP                 1
#define STEPPER8_MODE_QUARTER_STEP              2
#define STEPPER8_MODE_1_OVER_8                  3
#define STEPPER8_MODE_1_OVER_16                 4
#define STEPPER8_MODE_1_OVER_32                 5
#define STEPPER8_MODE_1_OVER_64                 6
#define STEPPER8_MODE_1_OVER_128                7
 
#define STEPPER8_DEVICE_ADDRESS_A1A0_00         0x70
#define STEPPER8_DEVICE_ADDRESS_A1A0_01         0x71
#define STEPPER8_DEVICE_ADDRESS_A1A0_10         0x72
#define STEPPER8_DEVICE_ADDRESS_A1A0_11         0x73
 
#define STEPPER8_SET_DATA_SAMPLE_EDGE           SET_SPI_DATA_SAMPLE_EDGE
#define STEPPER8_SET_DATA_SAMPLE_MIDDLE         SET_SPI_DATA_SAMPLE_MIDDLE
 
 // stepper8_set
 
#define STEPPER8_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.md1  = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.md3  = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.md0  = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.md2  = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.err  = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // stepper8_map
 // stepper8
 
typedef struct stepper8_s
{
    digital_out_t md0;          
    digital_out_t md1;          
    digital_out_t md2;          
    digital_out_t md3;          
    digital_in_t err;           
    i2c_master_t i2c;           
    spi_master_t spi;           
    uint8_t slave_address;      
    uint8_t dir;                
} stepper8_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 md0;             
    pin_name_t md1;             
    pin_name_t md2;             
    pin_name_t md3;             
    pin_name_t err;             
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
    uint32_t            spi_speed;  
    spi_master_mode_t   spi_mode;   
} stepper8_cfg_t;
 
typedef enum
{
    STEPPER8_OK = 0,
    STEPPER8_ERROR = -1
 
} stepper8_return_value_t;
 
void stepper8_cfg_setup ( stepper8_cfg_t *cfg );
 
err_t stepper8_init ( stepper8_t *ctx, stepper8_cfg_t *cfg );
 
err_t stepper8_default_cfg ( stepper8_t *ctx );
 
err_t stepper8_write_spi ( stepper8_t *ctx, uint32_t data_in );
 
err_t stepper8_pca_write_reg ( stepper8_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t stepper8_pca_read_reg ( stepper8_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t stepper8_enable_standby ( stepper8_t *ctx );
 
err_t stepper8_disable_standby ( stepper8_t *ctx );
 
err_t stepper8_select_gpio ( stepper8_t *ctx );
 
err_t stepper8_select_spi ( stepper8_t *ctx );
 
err_t stepper8_disable_device ( stepper8_t *ctx );
 
err_t stepper8_enable_device ( stepper8_t *ctx );
 
void stepper8_set_md0_pin ( stepper8_t *ctx, uint8_t state );
 
void stepper8_set_md1_pin ( stepper8_t *ctx, uint8_t state );
 
void stepper8_set_md2_pin ( stepper8_t *ctx, uint8_t state );
 
void stepper8_set_md3_pin ( stepper8_t *ctx, uint8_t state );
 
uint8_t stepper8_get_err_pin ( stepper8_t *ctx );
 
void stepper8_set_direction ( stepper8_t *ctx, uint8_t dir );
 
void stepper8_set_rst_pin ( stepper8_t *ctx, uint8_t state );
 
void stepper8_set_step_pin ( stepper8_t *ctx, uint8_t state );
 
err_t stepper8_set_step_mode ( stepper8_t *ctx, uint8_t mode );
 
err_t stepper8_drive_motor ( stepper8_t *ctx, uint32_t steps, uint8_t speed );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER8_H
 
 // stepper8
 
// ------------------------------------------------------------------------ END