silentstep  2.1.0.0
silentstep.h
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22 
28 #ifndef SILENTSTEP_H
29 #define SILENTSTEP_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_spi_master.h"
52 #include "spi_specifics.h"
53 
74 #define SILENTSTEP_REG_GCONF 0x00
75 #define SILENTSTEP_REG_GSTAT 0x01
76 #define SILENTSTEP_REG_IFCNT 0x02
77 #define SILENTSTEP_REG_SLAVECONF 0x03
78 #define SILENTSTEP_REG_IOIN 0x04
79 #define SILENTSTEP_REG_X_COMPARE 0x05
80 #define SILENTSTEP_REG_IHOLD_IRUN 0x10
81 #define SILENTSTEP_REG_TPOWERDOWN 0x11
82 #define SILENTSTEP_REG_TSTEP 0x12
83 #define SILENTSTEP_REG_TPWMTHRS 0x13
84 #define SILENTSTEP_REG_TCOOLTHRS 0x14
85 #define SILENTSTEP_REG_THIGH 0x15
86 #define SILENTSTEP_REG_RAMP_MODE 0x20
87 #define SILENTSTEP_REG_XACTUAL 0x21
88 #define SILENTSTEP_REG_VACTUAL 0x22
89 #define SILENTSTEP_REG_VSTART 0x23
90 #define SILENTSTEP_REG_A1 0x24
91 #define SILENTSTEP_REG_V1 0x25
92 #define SILENTSTEP_REG_AMAX 0x26
93 #define SILENTSTEP_REG_VMAX 0x27
94 #define SILENTSTEP_REG_DMAX 0x28
95 #define SILENTSTEP_REG_D1 0x2A
96 #define SILENTSTEP_REG_VSTOP 0x2B
97 #define SILENTSTEP_REG_TZEROWAIT 0x2C
98 #define SILENTSTEP_REG_XTARGET 0x2D
99 #define SILENTSTEP_REG_VDCMIN 0x33
100 #define SILENTSTEP_REG_SW_MODE 0x34
101 #define SILENTSTEP_REG_RAMP_STAT 0x35
102 #define SILENTSTEP_REG_XLATCH 0x36
103 #define SILENTSTEP_REG_ENCMODE 0x38
104 #define SILENTSTEP_REG_X_ENC 0x39
105 #define SILENTSTEP_REG_ENC_CONST 0x3A
106 #define SILENTSTEP_REG_ENC_STATUS 0x3B
107 #define SILENTSTEP_REG_ENC_LATCH 0x3C
108 #define SILENTSTEP_REG_MSLUT_0 0x60
109 #define SILENTSTEP_REG_MSLUT_1 0x61
110 #define SILENTSTEP_REG_MSLUT_2 0x62
111 #define SILENTSTEP_REG_MSLUT_3 0x63
112 #define SILENTSTEP_REG_MSLUT_4 0x64
113 #define SILENTSTEP_REG_MSLUT_5 0x65
114 #define SILENTSTEP_REG_MSLUT_6 0x66
115 #define SILENTSTEP_REG_MSLUT_7 0x67
116 #define SILENTSTEP_REG_MSLUTSEL 0x68
117 #define SILENTSTEP_REG_MSLUTSTART 0x69
118 #define SILENTSTEP_REG_MSCNT 0x6A
119 #define SILENTSTEP_REG_MSCURACT 0x6B
120 #define SILENTSTEP_REG_CHOPCONF 0x6C
121 #define SILENTSTEP_REG_COOLCONF 0x6D
122 #define SILENTSTEP_REG_DCCTRL 0x6E
123 #define SILENTSTEP_REG_DRV_STATUS 0x6F
124 #define SILENTSTEP_REG_PWMCONF 0x70
125 #define SILENTSTEP_REG_PWM_SCALE 0x71
126 #define SILENTSTEP_REG_ENCM_CTRL 0x72
127 #define SILENTSTEP_REG_LOST_STEPS 0x73
128  // silentstep_reg
130 
145 #define SILENTSTEP_IOIN_VERSION_MASK 0xFF000000ul
146 #define SILENTSTEP_IOIN_VERSION_DEFAULT 0x11000000ul
147 
152 #define SILENTSTEP_DIR_CW 0
153 #define SILENTSTEP_DIR_CCW 1
154 
159 #define SILENTSTEP_PIN_STATE_LOW 0
160 #define SILENTSTEP_PIN_STATE_HIGH 1
161 
166 #define SILENTSTEP_SPEED_VERY_SLOW 0
167 #define SILENTSTEP_SPEED_SLOW 1
168 #define SILENTSTEP_SPEED_MEDIUM 2
169 #define SILENTSTEP_SPEED_FAST 3
170 #define SILENTSTEP_SPEED_VERY_FAST 4
171 
176 #define SILENTSTEP_TOFF_MASK 0x0000000Ful
177 #define SILENTSTEP_TOFF_SHIFT 0
178 #define SILENTSTEP_TOFF_DRIVER_DISABLE 0
179 #define SILENTSTEP_TOFF_MIN 1
180 #define SILENTSTEP_TOFF_DEFAULT 4
181 #define SILENTSTEP_TOFF_MAX 15
182 
187 #define SILENTSTEP_MRES_MASK 0x0F000000ul
188 #define SILENTSTEP_MRES_SHIFT 24
189 #define SILENTSTEP_MRES_256 0
190 #define SILENTSTEP_MRES_128 1
191 #define SILENTSTEP_MRES_64 2
192 #define SILENTSTEP_MRES_32 3
193 #define SILENTSTEP_MRES_16 4
194 #define SILENTSTEP_MRES_8 5
195 #define SILENTSTEP_MRES_4 6
196 #define SILENTSTEP_MRES_2 7
197 #define SILENTSTEP_MRES_FULLSTEP 8
198 
203 #define SILENTSTEP_IRUN_MASK 0x00000F00ul
204 #define SILENTSTEP_IRUN_SHIFT 8
205 #define SILENTSTEP_IRUN_MIN 0
206 #define SILENTSTEP_IRUN_DEFAULT 2
207 #define SILENTSTEP_IRUN_MAX 31
208 
217 #define SILENTSTEP_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
218 #define SILENTSTEP_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
219  // silentstep_set
221 
236 #define SILENTSTEP_MAP_MIKROBUS( cfg, mikrobus ) \
237  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
238  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
239  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
240  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
241  cfg.spm = MIKROBUS( mikrobus, MIKROBUS_AN ); \
242  cfg.sdm = MIKROBUS( mikrobus, MIKROBUS_RST ); \
243  cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
244  cfg.dir = MIKROBUS( mikrobus, MIKROBUS_INT )
245  // silentstep_map // silentstep
248 
253 typedef struct
254 {
255  // Output pins
256  digital_out_t spm;
257  digital_out_t sdm;
258  digital_out_t step;
259  digital_out_t dir;
261  // Modules
262  spi_master_t spi;
264  pin_name_t chip_select;
266 } silentstep_t;
267 
272 typedef struct
273 {
274  // Communication gpio pins
275  pin_name_t miso;
276  pin_name_t mosi;
277  pin_name_t sck;
278  pin_name_t cs;
280  // Additional gpio pins
281  pin_name_t spm;
282  pin_name_t sdm;
283  pin_name_t step;
284  pin_name_t dir;
286  // static variable
287  uint32_t spi_speed;
288  spi_master_mode_t spi_mode;
289  spi_master_chip_select_polarity_t cs_polarity;
292 
297 typedef enum
298 {
300  SILENTSTEP_ERROR = -1
301 
303 
320 
335 
349 
363 err_t silentstep_write_reg ( silentstep_t *ctx, uint8_t reg, uint32_t data_in );
364 
377 err_t silentstep_read_reg ( silentstep_t *ctx, uint8_t reg, uint32_t *data_out );
378 
390 
401 void silentstep_set_direction ( silentstep_t *ctx, uint8_t dir );
402 
412 
423 void silentstep_set_spm_pin ( silentstep_t *ctx, uint8_t state );
424 
435 void silentstep_set_sdm_pin ( silentstep_t *ctx, uint8_t state );
436 
447 void silentstep_set_step_pin ( silentstep_t *ctx, uint8_t state );
448 
460 err_t silentstep_set_toff ( silentstep_t *ctx, uint8_t toff );
461 
482 err_t silentstep_set_step_res ( silentstep_t *ctx, uint8_t mres );
483 
495 err_t silentstep_set_run_current ( silentstep_t *ctx, uint8_t irun );
496 
512 void silentstep_drive_motor ( silentstep_t *ctx, uint32_t steps, uint8_t speed );
513 
514 #ifdef __cplusplus
515 }
516 #endif
517 #endif // SILENTSTEP_H
518  // silentstep
520 
521 // ------------------------------------------------------------------------ END
silentstep_read_reg
err_t silentstep_read_reg(silentstep_t *ctx, uint8_t reg, uint32_t *data_out)
Silent Step read reg function.
silentstep_cfg_t::sck
pin_name_t sck
Definition: silentstep.h:277
silentstep_drive_motor
void silentstep_drive_motor(silentstep_t *ctx, uint32_t steps, uint8_t speed)
Silent Step driver motor function.
silentstep_set_spm_pin
void silentstep_set_spm_pin(silentstep_t *ctx, uint8_t state)
Silent Step set spm pin function.
silentstep_cfg_t
Silent Step Click configuration object.
Definition: silentstep.h:273
silentstep_t::chip_select
pin_name_t chip_select
Definition: silentstep.h:264
silentstep_t::sdm
digital_out_t sdm
Definition: silentstep.h:257
spi_specifics.h
This file contains SPI specific macros, functions, etc.
silentstep_switch_direction
void silentstep_switch_direction(silentstep_t *ctx)
Silent Step switch direction function.
silentstep_init
err_t silentstep_init(silentstep_t *ctx, silentstep_cfg_t *cfg)
Silent Step initialization function.
silentstep_set_step_res
err_t silentstep_set_step_res(silentstep_t *ctx, uint8_t mres)
Silent Step set step res function.
silentstep_cfg_t::dir
pin_name_t dir
Definition: silentstep.h:284
silentstep_check_com
err_t silentstep_check_com(silentstep_t *ctx)
Silent Step check com function.
silentstep_t::spi
spi_master_t spi
Definition: silentstep.h:262
SILENTSTEP_ERROR
@ SILENTSTEP_ERROR
Definition: silentstep.h:300
silentstep_set_toff
err_t silentstep_set_toff(silentstep_t *ctx, uint8_t toff)
Silent Step set toff function.
silentstep_t::dir
digital_out_t dir
Definition: silentstep.h:259
silentstep_set_sdm_pin
void silentstep_set_sdm_pin(silentstep_t *ctx, uint8_t state)
Silent Step set sdm pin function.
silentstep_cfg_t::mosi
pin_name_t mosi
Definition: silentstep.h:276
silentstep_cfg_t::step
pin_name_t step
Definition: silentstep.h:283
silentstep_t
Silent Step Click context object.
Definition: silentstep.h:254
silentstep_set_direction
void silentstep_set_direction(silentstep_t *ctx, uint8_t dir)
Silent Step set direction function.
silentstep_set_step_pin
void silentstep_set_step_pin(silentstep_t *ctx, uint8_t state)
Silent Step set step pin function.
silentstep_cfg_t::spi_speed
uint32_t spi_speed
Definition: silentstep.h:287
silentstep_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: silentstep.h:288
silentstep_cfg_setup
void silentstep_cfg_setup(silentstep_cfg_t *cfg)
Silent Step configuration object setup function.
silentstep_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: silentstep.h:289
silentstep_cfg_t::cs
pin_name_t cs
Definition: silentstep.h:278
silentstep_default_cfg
err_t silentstep_default_cfg(silentstep_t *ctx)
Silent Step default configuration function.
silentstep_t::step
digital_out_t step
Definition: silentstep.h:258
silentstep_t::spm
digital_out_t spm
Definition: silentstep.h:256
silentstep_cfg_t::miso
pin_name_t miso
Definition: silentstep.h:275
silentstep_write_reg
err_t silentstep_write_reg(silentstep_t *ctx, uint8_t reg, uint32_t data_in)
Silent Step write reg function.
silentstep_cfg_t::sdm
pin_name_t sdm
Definition: silentstep.h:282
silentstep_cfg_t::spm
pin_name_t spm
Definition: silentstep.h:281
silentstep_return_value_t
silentstep_return_value_t
Silent Step Click return value data.
Definition: silentstep.h:298
SILENTSTEP_OK
@ SILENTSTEP_OK
Definition: silentstep.h:299
silentstep_set_run_current
err_t silentstep_set_run_current(silentstep_t *ctx, uint8_t irun)
Silent Step set run current function.