stepper9.h

Go to the documentation of this file.

/****************************************************************************
** 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
**  USE OR OTHER DEALINGS IN THE SOFTWARE.
****************************************************************************/
 
#ifndef STEPPER9_H
#define STEPPER9_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"
 
#define STEPPER9_REG_INPUT                      0x00
#define STEPPER9_REG_OUTPUT                     0x01
#define STEPPER9_REG_POLARITY                   0x02
#define STEPPER9_REG_CONFIG                     0x03
 
 // stepper9_reg
 
#define STEPPER9_DMODE0_PIN                     0x01
#define STEPPER9_DMODE1_PIN                     0x02
#define STEPPER9_DMODE2_PIN                     0x04
#define STEPPER9_SLEEP_X_PIN                    0x08
#define STEPPER9_LO_PIN                         0x10
#define STEPPER9_MO_PIN                         0x20
 
#define STEPPER9_DEFAULT_CONFIG                 0xF0
 
#define STEPPER9_DIR_CCW                        0
#define STEPPER9_DIR_CW                         1
 
#define STEPPER9_PIN_LOW_LEVEL                  0
#define STEPPER9_PIN_HIGH_LEVEL                 1
 
#define STEPPER9_MODE_FULL_STEP                 0x00
#define STEPPER9_MODE_HALF_STEP                 0x01
#define STEPPER9_MODE_QUARTER_STEP              0x02
#define STEPPER9_MODE_1_OVER_8                  0x03
#define STEPPER9_MODE_1_OVER_16                 0x04
#define STEPPER9_MODE_1_OVER_32                 0x05
#define STEPPER9_MODE_MASK                      0x07
 
#define STEPPER9_SPEED_VERY_SLOW                0
#define STEPPER9_SPEED_SLOW                     1
#define STEPPER9_SPEED_MEDIUM                   2
#define STEPPER9_SPEED_FAST                     3
#define STEPPER9_SPEED_VERY_FAST                4 
 
#define STEPPER9_DEVICE_ADDRESS_A1A0_00         0x70
#define STEPPER9_DEVICE_ADDRESS_A1A0_01         0x71
#define STEPPER9_DEVICE_ADDRESS_A1A0_10         0x72
#define STEPPER9_DEVICE_ADDRESS_A1A0_11         0x73
 
 // stepper9_set
 
#define STEPPER9_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.clk = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // stepper9_map
 // stepper9
 
typedef struct
{
    // Output pins
    digital_out_t en;           
    digital_out_t dir;          
    digital_out_t rst;          
    digital_out_t clk;          
    // Input pins
    digital_in_t int_pin;       
    // Modules
    i2c_master_t i2c;           
    // I2C slave address
    uint8_t slave_address;      
} stepper9_t;
 
typedef struct
{
    pin_name_t scl;             
    pin_name_t sda;             
    pin_name_t en;              
    pin_name_t dir;             
    pin_name_t rst;             
    pin_name_t clk;             
    pin_name_t int_pin;         
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
} stepper9_cfg_t;
 
typedef enum
{
    STEPPER9_OK = 0,
    STEPPER9_ERROR = -1
 
} stepper9_return_value_t;
 
void stepper9_cfg_setup ( stepper9_cfg_t *cfg );
 
err_t stepper9_init ( stepper9_t *ctx, stepper9_cfg_t *cfg );
 
err_t stepper9_default_cfg ( stepper9_t *ctx );
 
err_t stepper9_write_register ( stepper9_t *ctx, uint8_t reg, uint8_t data_in );
 
err_t stepper9_read_register ( stepper9_t *ctx, uint8_t reg, uint8_t *data_out );
 
err_t stepper9_get_step_mode ( stepper9_t *ctx, uint8_t *mode );
 
err_t stepper9_set_step_mode ( stepper9_t *ctx, uint8_t mode );
 
err_t stepper9_get_sleep_x_pin ( stepper9_t *ctx, uint8_t *state );
 
err_t stepper9_set_sleep_x_pin ( stepper9_t *ctx, uint8_t state );
 
err_t stepper9_get_lo_pin ( stepper9_t *ctx, uint8_t *state );
 
err_t stepper9_get_mo_pin ( stepper9_t *ctx, uint8_t *state );
 
void stepper9_drive_motor ( stepper9_t *ctx, uint32_t steps, uint8_t speed );
 
void stepper9_enable_device ( stepper9_t *ctx );
 
void stepper9_disable_device ( stepper9_t *ctx );
 
void stepper9_set_direction ( stepper9_t *ctx, uint8_t dir );
 
void stepper9_switch_direction ( stepper9_t *ctx );
 
void stepper9_reset_device ( stepper9_t *ctx );
 
uint8_t stepper9_get_int_pin ( stepper9_t *ctx );
 
void stepper9_set_clk_pin ( stepper9_t *ctx, uint8_t state );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER9_H
 
 // stepper9
 
// ------------------------------------------------------------------------ END