stepper13  2.1.0.0
stepper13.h
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22 
28 #ifndef STEPPER13_H
29 #define STEPPER13_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 STEPPER13_PCA9538A_REG_INPUT 0x00
74 #define STEPPER13_PCA9538A_REG_OUTPUT 0x01
75 #define STEPPER13_PCA9538A_REG_POLARITY 0x02
76 #define STEPPER13_PCA9538A_REG_CONFIG 0x03
77  // stepper13_reg
79 
95 #define STEPPER13_PIN_MS1 0x01
96 #define STEPPER13_PIN_MS2 0x02
97 #define STEPPER13_PIN_MS_MASK 0x03
98 #define STEPPER13_PIN_FAULT 0x04
99 #define STEPPER13_PIN_DIR 0x08
100 #define STEPPER13_PIN_SLEEP 0x10
101 #define STEPPER13_PIN_ENABLE 0x20
102 
107 #define STEPPER13_PCA9538A_DEFAULT_CONFIG 0xC4
108 
113 #define STEPPER13_DIR_CW 0
114 #define STEPPER13_DIR_CCW 1
115 
120 #define STEPPER13_PIN_STATE_LOW 0
121 #define STEPPER13_PIN_STATE_HIGH 1
122 
127 #define STEPPER13_SPEED_VERY_SLOW 0
128 #define STEPPER13_SPEED_SLOW 1
129 #define STEPPER13_SPEED_MEDIUM 2
130 #define STEPPER13_SPEED_FAST 3
131 #define STEPPER13_SPEED_VERY_FAST 4
132 
137 #define STEPPER13_MODE_FULL_STEP 0
138 #define STEPPER13_MODE_HALF_STEP 1
139 #define STEPPER13_MODE_QUARTER_STEP 2
140 #define STEPPER13_MODE_1_OVER_8 3
141 
147 #define STEPPER13_DEVICE_ADDRESS_A1A0_00 0x70
148 #define STEPPER13_DEVICE_ADDRESS_A1A0_01 0x71
149 #define STEPPER13_DEVICE_ADDRESS_A1A0_10 0x72
150 #define STEPPER13_DEVICE_ADDRESS_A1A0_11 0x73
151  // stepper13_set
153 
168 #define STEPPER13_MAP_MIKROBUS( cfg, mikrobus ) \
169  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
170  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
171  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
172  cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
173  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
174  // stepper13_map // stepper13
177 
182 typedef struct
183 {
184  // Output pins
185  digital_out_t rst;
186  digital_out_t step;
188  // Input pins
189  digital_in_t int_pin;
191  // Modules
192  i2c_master_t i2c;
194  // I2C slave address
195  uint8_t slave_address;
197 } stepper13_t;
198 
203 typedef struct
204 {
205  pin_name_t scl;
206  pin_name_t sda;
208  pin_name_t rst;
209  pin_name_t step;
210  pin_name_t int_pin;
212  uint32_t i2c_speed;
213  uint8_t i2c_address;
216 
221 typedef enum
222 {
224  STEPPER13_ERROR = -1
225 
227 
244 
259 
273 
287 err_t stepper13_pca_write_reg ( stepper13_t *ctx, uint8_t reg, uint8_t data_in );
288 
301 err_t stepper13_pca_read_reg ( stepper13_t *ctx, uint8_t reg, uint8_t *data_out );
302 
315 err_t stepper13_get_fault_pin ( stepper13_t *ctx, uint8_t *state );
316 
328 
340 
352 
364 
377 err_t stepper13_set_direction ( stepper13_t *ctx, uint8_t dir );
378 
390 
401 void stepper13_set_rst_pin ( stepper13_t *ctx, uint8_t state );
402 
412 
422 
433 void stepper13_set_step_pin ( stepper13_t *ctx, uint8_t state );
434 
450 err_t stepper13_get_step_mode ( stepper13_t *ctx, uint8_t *mode );
451 
467 err_t stepper13_set_step_mode ( stepper13_t *ctx, uint8_t mode );
468 
486 err_t stepper13_drive_motor ( stepper13_t *ctx, uint32_t steps, uint8_t speed );
487 
488 #ifdef __cplusplus
489 }
490 #endif
491 #endif // STEPPER13_H
492  // stepper13
494 
495 // ------------------------------------------------------------------------ END
stepper13_t::rst
digital_out_t rst
Definition: stepper13.h:185
stepper13_set_step_pin
void stepper13_set_step_pin(stepper13_t *ctx, uint8_t state)
Stepper 13 set step pin function.
stepper13_cfg_t::step
pin_name_t step
Definition: stepper13.h:209
stepper13_pca_read_reg
err_t stepper13_pca_read_reg(stepper13_t *ctx, uint8_t reg, uint8_t *data_out)
Stepper 13 pca read reg function.
stepper13_disable_sleep
err_t stepper13_disable_sleep(stepper13_t *ctx)
Stepper 13 disable sleep function.
stepper13_t
Stepper 13 Click context object.
Definition: stepper13.h:183
stepper13_t::int_pin
digital_in_t int_pin
Definition: stepper13.h:189
stepper13_init
err_t stepper13_init(stepper13_t *ctx, stepper13_cfg_t *cfg)
Stepper 13 initialization function.
stepper13_get_step_mode
err_t stepper13_get_step_mode(stepper13_t *ctx, uint8_t *mode)
Stepper 13 get step mode function.
stepper13_cfg_t::scl
pin_name_t scl
Definition: stepper13.h:205
stepper13_cfg_t::sda
pin_name_t sda
Definition: stepper13.h:206
stepper13_pca_write_reg
err_t stepper13_pca_write_reg(stepper13_t *ctx, uint8_t reg, uint8_t data_in)
Stepper 13 pca write reg function.
stepper13_set_step_mode
err_t stepper13_set_step_mode(stepper13_t *ctx, uint8_t mode)
Stepper 13 set step mode function.
stepper13_reset_pca
void stepper13_reset_pca(stepper13_t *ctx)
Stepper 13 reset device function.
stepper13_set_rst_pin
void stepper13_set_rst_pin(stepper13_t *ctx, uint8_t state)
Stepper 13 set rst pin function.
stepper13_switch_direction
err_t stepper13_switch_direction(stepper13_t *ctx)
Stepper 13 switch direction function.
stepper13_get_int_pin
uint8_t stepper13_get_int_pin(stepper13_t *ctx)
Stepper 13 get INT pin function.
stepper13_enable_device
err_t stepper13_enable_device(stepper13_t *ctx)
Stepper 13 enable device function.
stepper13_cfg_t::int_pin
pin_name_t int_pin
Definition: stepper13.h:210
STEPPER13_OK
@ STEPPER13_OK
Definition: stepper13.h:223
stepper13_enable_sleep
err_t stepper13_enable_sleep(stepper13_t *ctx)
Stepper 13 enable sleep function.
stepper13_t::slave_address
uint8_t slave_address
Definition: stepper13.h:195
stepper13_t::step
digital_out_t step
Definition: stepper13.h:186
stepper13_cfg_t::i2c_address
uint8_t i2c_address
Definition: stepper13.h:213
stepper13_set_direction
err_t stepper13_set_direction(stepper13_t *ctx, uint8_t dir)
Stepper 13 set direction function.
stepper13_disable_device
err_t stepper13_disable_device(stepper13_t *ctx)
Stepper 13 disable device function.
stepper13_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: stepper13.h:212
STEPPER13_ERROR
@ STEPPER13_ERROR
Definition: stepper13.h:224
stepper13_cfg_t
Stepper 13 Click configuration object.
Definition: stepper13.h:204
stepper13_cfg_setup
void stepper13_cfg_setup(stepper13_cfg_t *cfg)
Stepper 13 configuration object setup function.
stepper13_default_cfg
err_t stepper13_default_cfg(stepper13_t *ctx)
Stepper 13 default configuration function.
stepper13_cfg_t::rst
pin_name_t rst
Definition: stepper13.h:208
stepper13_drive_motor
err_t stepper13_drive_motor(stepper13_t *ctx, uint32_t steps, uint8_t speed)
Stepper 13 driver motor function.
stepper13_t::i2c
i2c_master_t i2c
Definition: stepper13.h:192
stepper13_return_value_t
stepper13_return_value_t
Stepper 13 Click return value data.
Definition: stepper13.h:222
stepper13_get_fault_pin
err_t stepper13_get_fault_pin(stepper13_t *ctx, uint8_t *state)
Stepper 13 get fault pin function.