stepper9  2.1.0.0
stepper9.h
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22 
28 #ifndef STEPPER9_H
29 #define STEPPER9_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
39 #ifdef PREINIT_SUPPORTED
40 #include "preinit.h"
41 #endif
42 
43 #ifdef MikroCCoreVersion
44  #if MikroCCoreVersion >= 1
45  #include "delays.h"
46  #endif
47 #endif
48 
49 #include "drv_digital_out.h"
50 #include "drv_digital_in.h"
51 #include "drv_i2c_master.h"
52 
73 #define STEPPER9_REG_INPUT 0x00
74 #define STEPPER9_REG_OUTPUT 0x01
75 #define STEPPER9_REG_POLARITY 0x02
76 #define STEPPER9_REG_CONFIG 0x03
77  // stepper9_reg
79 
94 #define STEPPER9_DMODE0_PIN 0x01
95 #define STEPPER9_DMODE1_PIN 0x02
96 #define STEPPER9_DMODE2_PIN 0x04
97 #define STEPPER9_SLEEP_X_PIN 0x08
98 #define STEPPER9_LO_PIN 0x10
99 #define STEPPER9_MO_PIN 0x20
100 
105 #define STEPPER9_DEFAULT_CONFIG 0xF0
106 
111 #define STEPPER9_DIR_CCW 0
112 #define STEPPER9_DIR_CW 1
113 
118 #define STEPPER9_PIN_LOW_LEVEL 0
119 #define STEPPER9_PIN_HIGH_LEVEL 1
120 
125 #define STEPPER9_MODE_FULL_STEP 0x00
126 #define STEPPER9_MODE_HALF_STEP 0x01
127 #define STEPPER9_MODE_QUARTER_STEP 0x02
128 #define STEPPER9_MODE_1_OVER_8 0x03
129 #define STEPPER9_MODE_1_OVER_16 0x04
130 #define STEPPER9_MODE_1_OVER_32 0x05
131 #define STEPPER9_MODE_MASK 0x07
132 
137 #define STEPPER9_SPEED_VERY_SLOW 0
138 #define STEPPER9_SPEED_SLOW 1
139 #define STEPPER9_SPEED_MEDIUM 2
140 #define STEPPER9_SPEED_FAST 3
141 #define STEPPER9_SPEED_VERY_FAST 4
142 
148 #define STEPPER9_DEVICE_ADDRESS_A1A0_00 0x70
149 #define STEPPER9_DEVICE_ADDRESS_A1A0_01 0x71
150 #define STEPPER9_DEVICE_ADDRESS_A1A0_10 0x72
151 #define STEPPER9_DEVICE_ADDRESS_A1A0_11 0x73
152  // stepper9_set
154 
169 #define STEPPER9_MAP_MIKROBUS( cfg, mikrobus ) \
170  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
171  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
172  cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
173  cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
174  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
175  cfg.clk = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
176  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
177  // stepper9_map // stepper9
180 
185 typedef struct
186 {
187  // Output pins
188  digital_out_t en;
189  digital_out_t dir;
190  digital_out_t rst;
191  digital_out_t clk;
193  // Input pins
194  digital_in_t int_pin;
196  // Modules
197  i2c_master_t i2c;
199  // I2C slave address
200  uint8_t slave_address;
202 } stepper9_t;
203 
208 typedef struct
209 {
210  pin_name_t scl;
211  pin_name_t sda;
213  pin_name_t en;
214  pin_name_t dir;
215  pin_name_t rst;
216  pin_name_t clk;
217  pin_name_t int_pin;
219  uint32_t i2c_speed;
220  uint8_t i2c_address;
223 
228 typedef enum
229 {
231  STEPPER9_ERROR = -1
232 
234 
251 
266 
280 
294 err_t stepper9_write_register ( stepper9_t *ctx, uint8_t reg, uint8_t data_in );
295 
308 err_t stepper9_read_register ( stepper9_t *ctx, uint8_t reg, uint8_t *data_out );
309 
321 err_t stepper9_get_step_mode ( stepper9_t *ctx, uint8_t *mode );
322 
334 err_t stepper9_set_step_mode ( stepper9_t *ctx, uint8_t mode );
335 
348 err_t stepper9_get_sleep_x_pin ( stepper9_t *ctx, uint8_t *state );
349 
362 err_t stepper9_set_sleep_x_pin ( stepper9_t *ctx, uint8_t state );
363 
376 err_t stepper9_get_lo_pin ( stepper9_t *ctx, uint8_t *state );
377 
390 err_t stepper9_get_mo_pin ( stepper9_t *ctx, uint8_t *state );
391 
407 void stepper9_drive_motor ( stepper9_t *ctx, uint32_t steps, uint8_t speed );
408 
418 
428 
439 void stepper9_set_direction ( stepper9_t *ctx, uint8_t dir );
440 
450 
460 
470 
481 void stepper9_set_clk_pin ( stepper9_t *ctx, uint8_t state );
482 
483 #ifdef __cplusplus
484 }
485 #endif
486 #endif // STEPPER9_H
487  // stepper9
489 
490 // ------------------------------------------------------------------------ END
stepper9_cfg_t::dir
pin_name_t dir
Definition: stepper9.h:214
stepper9_t
Stepper 9 Click context object.
Definition: stepper9.h:186
stepper9_get_step_mode
err_t stepper9_get_step_mode(stepper9_t *ctx, uint8_t *mode)
Stepper 9 get step mode function.
stepper9_cfg_t::scl
pin_name_t scl
Definition: stepper9.h:210
stepper9_reset_device
void stepper9_reset_device(stepper9_t *ctx)
Stepper 9 reset device function.
stepper9_return_value_t
stepper9_return_value_t
Stepper 9 Click return value data.
Definition: stepper9.h:229
stepper9_cfg_t
Stepper 9 Click configuration object.
Definition: stepper9.h:209
stepper9_t::i2c
i2c_master_t i2c
Definition: stepper9.h:197
STEPPER9_OK
@ STEPPER9_OK
Definition: stepper9.h:230
stepper9_get_mo_pin
err_t stepper9_get_mo_pin(stepper9_t *ctx, uint8_t *state)
Stepper 9 get mo pin function.
stepper9_read_register
err_t stepper9_read_register(stepper9_t *ctx, uint8_t reg, uint8_t *data_out)
Stepper 9 read register function.
stepper9_get_lo_pin
err_t stepper9_get_lo_pin(stepper9_t *ctx, uint8_t *state)
Stepper 9 get lo pin function.
stepper9_set_step_mode
err_t stepper9_set_step_mode(stepper9_t *ctx, uint8_t mode)
Stepper 9 set step mode function.
stepper9_get_int_pin
uint8_t stepper9_get_int_pin(stepper9_t *ctx)
Stepper 9 get int pin function.
stepper9_write_register
err_t stepper9_write_register(stepper9_t *ctx, uint8_t reg, uint8_t data_in)
Stepper 9 write register function.
stepper9_cfg_t::int_pin
pin_name_t int_pin
Definition: stepper9.h:217
stepper9_t::clk
digital_out_t clk
Definition: stepper9.h:191
stepper9_enable_device
void stepper9_enable_device(stepper9_t *ctx)
Stepper 9 enable device function.
stepper9_disable_device
void stepper9_disable_device(stepper9_t *ctx)
Stepper 9 disable device function.
stepper9_cfg_t::sda
pin_name_t sda
Definition: stepper9.h:211
stepper9_cfg_t::rst
pin_name_t rst
Definition: stepper9.h:215
stepper9_get_sleep_x_pin
err_t stepper9_get_sleep_x_pin(stepper9_t *ctx, uint8_t *state)
Stepper 9 get sleep x pin function.
stepper9_t::int_pin
digital_in_t int_pin
Definition: stepper9.h:194
stepper9_init
err_t stepper9_init(stepper9_t *ctx, stepper9_cfg_t *cfg)
Stepper 9 initialization function.
stepper9_cfg_setup
void stepper9_cfg_setup(stepper9_cfg_t *cfg)
Stepper 9 configuration object setup function.
stepper9_t::rst
digital_out_t rst
Definition: stepper9.h:190
stepper9_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: stepper9.h:219
stepper9_default_cfg
err_t stepper9_default_cfg(stepper9_t *ctx)
Stepper 9 default configuration function.
stepper9_switch_direction
void stepper9_switch_direction(stepper9_t *ctx)
Stepper 9 switch direction function.
stepper9_set_direction
void stepper9_set_direction(stepper9_t *ctx, uint8_t dir)
Stepper 9 set direction function.
stepper9_set_sleep_x_pin
err_t stepper9_set_sleep_x_pin(stepper9_t *ctx, uint8_t state)
Stepper 9 set sleep x pin function.
stepper9_t::slave_address
uint8_t slave_address
Definition: stepper9.h:200
stepper9_t::dir
digital_out_t dir
Definition: stepper9.h:189
STEPPER9_ERROR
@ STEPPER9_ERROR
Definition: stepper9.h:231
stepper9_set_clk_pin
void stepper9_set_clk_pin(stepper9_t *ctx, uint8_t state)
Stepper 9 set clk pin function.
stepper9_cfg_t::clk
pin_name_t clk
Definition: stepper9.h:216
stepper9_drive_motor
void stepper9_drive_motor(stepper9_t *ctx, uint32_t steps, uint8_t speed)
Stepper 9 driver motor function.
stepper9_cfg_t::en
pin_name_t en
Definition: stepper9.h:213
stepper9_cfg_t::i2c_address
uint8_t i2c_address
Definition: stepper9.h:220
stepper9_t::en
digital_out_t en
Definition: stepper9.h:188