35#include "drv_digital_out.h"
36#include "drv_digital_in.h"
37#include "drv_i2c_master.h"
38#include "drv_spi_master.h"
61#define STEPPER15_REG_INPUT_PORT 0x00
62#define STEPPER15_REG_OUTPUT_PORT 0x01
63#define STEPPER15_REG_POLARITY_INVERSION 0x02
64#define STEPPER15_REG_CONFIGURATION 0x03
70#define STEPPER15_REG_FAULT_STATUS 0x00
71#define STEPPER15_REG_DIAG_STATUS_1 0x01
72#define STEPPER15_REG_DIAG_STATUS_2 0x02
73#define STEPPER15_REG_CTRL_1 0x03
74#define STEPPER15_REG_CTRL_2 0x04
75#define STEPPER15_REG_CTRL_3 0x05
76#define STEPPER15_REG_CTRL_4 0x06
77#define STEPPER15_REG_CTRL_5 0x07
78#define STEPPER15_REG_CTRL_6 0x08
79#define STEPPER15_REG_CTRL_7 0x09
80#define STEPPER15_REG_CTRL_8 0x0A
98#define STEPPER15_SET_DIRECTION_BIT_MASK 0xFB
99#define STEPPER15_SET_DIRECTION_CCW 0x00
100#define STEPPER15_SET_DIRECTION_CW 0x04
106#define STEPPER15_SET_WORK_MODE_BIT_MASK 0xFE
107#define STEPPER15_SET_WORK_MODE_SLEEP 0x00
108#define STEPPER15_SET_WORK_MODE_ENABLE_DEVICE 0x01
114#define STEPPER15_SET_OUT_MODE_BIT_MASK 0xFD
115#define STEPPER15_SET_OUT_MODE_DEVICE_OUTPUTS_ENABLE 0x00
116#define STEPPER15_SET_OUT_MODE_DEVICE_OUTPUTS_DISABLE 0x02
122#define STEPPER15_SET_CONFIG_DEFAULT 0xF8
128#define STEPPER15_FAULT_ST_OL_MASK 0x01
129#define STEPPER15_FAULT_ST_OT_MASK 0x02
130#define STEPPER15_FAULT_ST_STL_SLIP_MASK 0x04
131#define STEPPER15_FAULT_ST_OCP_MASK 0x08
132#define STEPPER15_FAULT_ST_CPUV_MASK 0x10
133#define STEPPER15_FAULT_ST_UVLO_MASK 0x20
134#define STEPPER15_FAULT_ST_SPI_ERROR_MASK 0x40
135#define STEPPER15_FAULT_ST_FAULT_MASK 0x80
141#define STEPPER15_DIAG_1_OCP_HS1_A_MASK 0x01
142#define STEPPER15_DIAG_1_OCP_LS1_A_MASK 0x02
143#define STEPPER15_DIAG_1_OCP_HS2_A_MASK 0x04
144#define STEPPER15_DIAG_1_OCP_LS2_A_MASK 0x08
145#define STEPPER15_DIAG_1_OCP_HS1_B_MASK 0x10
146#define STEPPER15_DIAG_1_OCP_LS1_B_MASK 0x20
147#define STEPPER15_DIAG_1_OCP_HS2_B_MASK 0x40
148#define STEPPER15_DIAG_1_OCP_LS2_B_MASK 0x80
155#define STEPPER15_DIAG_2_OL_A_MASK 0x01
156#define STEPPER15_DIAG_2_OL_B_MASK 0x02
157#define STEPPER15_DIAG_2_SLIP_MASK 0x04
158#define STEPPER15_DIAG_2_STALL_MASK 0x08
159#define STEPPER15_DIAG_2_STL_LRN_OK_MASK 0x10
160#define STEPPER15_DIAG_2_OTS_MASK 0x20
161#define STEPPER15_DIAG_2_OTW_MASK 0x40
162#define STEPPER15_DIAG_2_UTW_MASK 0x80
169#define STEPPER15_CTRL1_SLEW_RATE_MASK 0x03
170#define STEPPER15_CTRL1_EN_NSR_MASK 0x04
171#define STEPPER15_CTRL1_RSVD1_MASK 0x08
172#define STEPPER15_CTRL1_TRQ_DAC_MASK 0xF0
173#define STEPPER15_SET_CTRL1_TRQ_100 0x00
174#define STEPPER15_SET_CTRL1_TRQ_93_75 0x10
175#define STEPPER15_SET_CTRL1_TRQ_87_5 0x20
176#define STEPPER15_SET_CTRL1_TRQ_81_25 0x30
177#define STEPPER15_SET_CTRL1_TRQ_75 0x40
178#define STEPPER15_SET_CTRL1_TRQ_68_75 0x50
179#define STEPPER15_SET_CTRL1_TRQ_62_5 0x60
180#define STEPPER15_SET_CTRL1_TRQ_56_25 0x70
181#define STEPPER15_SET_CTRL1_TRQ_50 0x80
182#define STEPPER15_SET_CTRL1_TRQ_43_75 0x90
183#define STEPPER15_SET_CTRL1_TRQ_37_5 0xA0
184#define STEPPER15_SET_CTRL1_TRQ_31_25 0xB0
185#define STEPPER15_SET_CTRL1_TRQ_25 0xC0
186#define STEPPER15_SET_CTRL1_TRQ_18_75 0xD0
187#define STEPPER15_SET_CTRL1_TRQ_12_5 0xE0
188#define STEPPER15_SET_CTRL1_TRQ_6_25 0xF0
196#define STEPPER15_CTRL2_DECAY_MASK 0x07
197#define STEPPER15_CTRL2_TOFF_MASK 0x18
198#define STEPPER15_CTRL2_RSVD2_MASK 0x60
199#define STEPPER15_CTRL2_DIS_OUT_MASK 0x80
200#define STEPPER15_SET_CTRL2_OUTPUT_ENABLE 0x00
201#define STEPPER15_SET_CTRL2_OUTPUT_DISABLE 0x80
202#define STEPPER15_SET_CTRL2_TOFF_7_us 0x00
203#define STEPPER15_SET_CTRL2_TOFF_16_us 0x08
204#define STEPPER15_SET_CTRL2_TOFF_24_us 0x10
205#define STEPPER15_SET_CTRL2_TOFF_32_us 0x18
206#define STEPPER15_SET_CTRL2_SMART_TUNE_RIPPLE_CTRL 0x07
213#define STEPPER15_CTRL3_MICROSTEP_MODE_MASK 0x0F
214#define STEPPER15_CTRL3_SPI_STEP_MASK 0x10
215#define STEPPER15_CTRL3_SPI_DIR_MASK 0x20
216#define STEPPER15_CTRL3_STEP_MASK 0x40
217#define STEPPER15_CTRL3_DIR_MASK 0x80
218#define STEPPER15_SET_SPI_DIR_INPUT_PIN 0x00
219#define STEPPER15_SET_SPI_DIR_SPI 0x80
220#define STEPPER15_SET_SPI_STEP_INPUT_PIN 0x00
221#define STEPPER15_SET_SPI_STEP_SPI 0x40
222#define STEPPER15_SET_CTRL3_SET_MICROSTEP_MODE_FULL_STEP 0x00
229#define STEPPER15_CTRL4_TW_REP_MASK 0x01
230#define STEPPER15_CTRL4_OTSD_MODE_MASK 0x02
231#define STEPPER15_CTRL4_OCP_MODE_MASK 0x04
232#define STEPPER15_CTRL4_EN_OL_MASK 0x08
233#define STEPPER15_CTRL4_LOCK_MASK 0x70
234#define STEPPER15_CTRL4_CLR_FLT_MASK 0x80
235#define STEPPER15_SET_CTRL4_CLR_FLT 0x80
236#define STEPPER15_SET_CTRL4_UNLOCK_ALL_REG 0x30
243#define STEPPER15_CTRL5_SLIP_REP_MASK 0x01
244#define STEPPER15_CTRL5_EN_SLIP_MASK 0x02
245#define STEPPER15_CTRL5_EN_STLFCHG_MASK 0x04
246#define STEPPER15_CTRL5_STL_REP_MASK 0x08
247#define STEPPER15_SET_CTRL5_REPORTED_ON_FAULT 0x08
254#define STEPPER15_CTRL6_STALL_TH_MASK 0xFF
261#define STEPPER15_CTRL7_STALL_TH_MASK 0xFF
268#define STEPPER15_CTRL8_REV_ID_MASK 0x0F
269#define STEPPER15_CTRL8_STL_UPDATE_MODE_MASK 0x10
270#define STEPPER15_CTRL8_UTW_REP_MASK 0x20
271#define STEPPER15_CTRL8_RSVD3_MASK 0xC0
278#define STEPPER15_SET_DEV_ADDR 0x70
291#define STEPPER15_DIRECTION_COUNTERCLOCKWISE 0
292#define STEPPER15_DIRECTION_CLOCKWISE 1
305#define STEPPER15_WORK_MODE_SLEEP 0
306#define STEPPER15_WORK_MODE_ENABLE_DEVICE 1
319#define STEPPER15_OUTPUT_MODE_OUTPUTS_DISABLE 0
320#define STEPPER15_OUTPUT_MODE_OUTPUTS_ENABLE 1
333#define STEPPER15_FAULT_CONDITION 0
334#define STEPPER15_CORRECT_CONDITION 1
352#define STEPPER15_MAP_MIKROBUS( cfg, mikrobus ) \
353 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
354 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
355 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
356 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
357 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
358 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
359 cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
360 cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
361 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
void stepper15_motor_stop(stepper15_t *ctx)
Stepper 15 motor stop function.
err_t stepper15_generic_write(stepper15_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len)
Stepper 15 data writing function.
err_t stepper15_set_output_mode(stepper15_t *ctx, uint8_t output_mode)
Stepper 15 set output mode function.
err_t stepper15_set_direction(stepper15_t *ctx, uint8_t direction)
Stepper 15 set direction function.
uint8_t stepper15_get_interrupt(stepper15_t *ctx)
Stepper 15 get interrupt function.
err_t stepper15_init(stepper15_t *ctx, stepper15_cfg_t *cfg)
Stepper 15 initialization function.
err_t stepper15_set_counts(stepper15_t *ctx, uint8_t counts)
Stepper 15 set counts function.
void stepper15_reset(stepper15_t *ctx)
Stepper 15 reset function.
err_t stepper15_default_cfg(stepper15_t *ctx)
Stepper 15 default configuration function.
err_t stepper15_step_by_angle(stepper15_t *ctx, uint8_t step_speed, float angle, uint16_t step_360)
Stepper 15 step by angle function.
void stepper15_cfg_setup(stepper15_cfg_t *cfg)
Stepper 15 configuration object setup function.
err_t stepper15_set_work_mode(stepper15_t *ctx, uint8_t work_mode)
Stepper 15 set work mode function.
void stepper15_drv_interface_selection(stepper15_cfg_t *cfg, stepper15_drv_t drv_sel)
Stepper 15 driver interface setup function.
uint8_t stepper15_get_fault_condition(stepper15_t *ctx)
Stepper 15 get fault condition function.
err_t stepper15_set_torque_dac(stepper15_t *ctx, uint8_t trq_data)
Stepper 15 set torque DAC function.
err_t stepper15_make_one_step(stepper15_t *ctx, uint8_t step_speed)
Stepper 15 make one step function.
struct stepper15_s stepper15_t
Stepper 15 Click context object.
stepper15_return_value_t
Stepper 15 Click return value data.
Definition: stepper15.h:439
@ STEPPER15_OK
Definition: stepper15.h:440
@ STEPPER15_ERROR
Definition: stepper15.h:441
err_t(* stepper15_master_io_t)(struct stepper15_s *, uint8_t, uint8_t *, uint8_t)
Stepper 15 Click driver interface.
Definition: stepper15.h:381
stepper15_drv_t
Stepper 15 Click driver selector.
Definition: stepper15.h:371
@ STEPPER15_DRV_SEL_SPI
Definition: stepper15.h:372
@ STEPPER15_DRV_SEL_I2C
Definition: stepper15.h:373
Stepper 15 Click configuration object.
Definition: stepper15.h:411
uint32_t i2c_speed
Definition: stepper15.h:423
spi_master_chip_select_polarity_t cs_polarity
Definition: stepper15.h:428
pin_name_t sck
Definition: stepper15.h:416
spi_master_mode_t spi_mode
Definition: stepper15.h:427
pin_name_t mosi
Definition: stepper15.h:415
uint32_t spi_speed
Definition: stepper15.h:426
pin_name_t scl
Definition: stepper15.h:412
pin_name_t int_pin
Definition: stepper15.h:421
pin_name_t pwm
Definition: stepper15.h:420
pin_name_t miso
Definition: stepper15.h:414
pin_name_t sda
Definition: stepper15.h:413
stepper15_drv_t drv_sel
Definition: stepper15.h:430
pin_name_t rst
Definition: stepper15.h:419
pin_name_t cs
Definition: stepper15.h:417
uint8_t i2c_address
Definition: stepper15.h:424
Stepper 15 Click context object.
Definition: stepper15.h:388
spi_master_t spi
Definition: stepper15.h:395
stepper15_master_io_t write_f
Definition: stepper15.h:401
digital_out_t pwm
Definition: stepper15.h:390
digital_in_t int_pin
Definition: stepper15.h:392
i2c_master_t i2c
Definition: stepper15.h:394
digital_out_t rst
Definition: stepper15.h:389
uint8_t slave_address
Definition: stepper15.h:397
stepper15_master_io_t read_f
Definition: stepper15.h:402
stepper15_drv_t drv_sel
Definition: stepper15.h:399
pin_name_t chip_select
Definition: stepper15.h:398