stepper17  2.1.0.0
stepper17.h
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22 
28 #ifndef STEPPER17_H
29 #define STEPPER17_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
35 #include "drv_digital_out.h"
36 #include "drv_digital_in.h"
37 #include "drv_i2c_master.h"
38 
59 #define STEPPER17_REG_INPUT_0 0x00
60 #define STEPPER17_REG_INPUT_1 0x01
61 #define STEPPER17_REG_OUTPUT_0 0x02
62 #define STEPPER17_REG_OUTPUT_1 0x03
63 #define STEPPER17_REG_POLARITY_0 0x04
64 #define STEPPER17_REG_POLARITY_1 0x05
65 #define STEPPER17_REG_CONFIG_0 0x06
66 #define STEPPER17_REG_CONFIG_1 0x07
67  // stepper17_reg
69 
84 #define STEPPER17_P0_DMODE0_PIN 0x01
85 #define STEPPER17_P0_DMODE1_PIN 0x02
86 #define STEPPER17_P0_DMODE2_PIN 0x04
87 #define STEPPER17_P0_DECAY1_PIN 0x08
88 #define STEPPER17_P0_DECAY2_PIN 0x10
89 #define STEPPER17_P0_TRQ0_PIN 0x20
90 #define STEPPER17_P0_TRQ1_PIN 0x40
91 #define STEPPER17_P0_SLEEP_X_PIN 0x80
92 #define STEPPER17_P1_LO1_PIN 0x01
93 #define STEPPER17_P1_LO2_PIN 0x02
94 #define STEPPER17_P1_MO_PIN 0x04
95 
100 #define STEPPER17_P0_DEFAULT_CONFIG 0x00
101 #define STEPPER17_P1_DEFAULT_CONFIG 0xFF
102 
107 #define STEPPER17_DIR_CW 1
108 #define STEPPER17_DIR_CCW 0
109 
114 #define STEPPER17_PIN_LOW_LEVEL 0
115 #define STEPPER17_PIN_HIGH_LEVEL 1
116 
121 #define STEPPER17_MODE_FULL_STEP 0x00
122 #define STEPPER17_MODE_1_OVER_8 0x01
123 #define STEPPER17_MODE_HALF_STEP_TYPE_B 0x02
124 #define STEPPER17_MODE_1_OVER_32 0x03
125 #define STEPPER17_MODE_HALF_STEP_TYPE_A 0x04
126 #define STEPPER17_MODE_1_OVER_16 0x05
127 #define STEPPER17_MODE_QUARTER_STEP 0x06
128 #define STEPPER17_MODE_MASK 0x07
129 
134 #define STEPPER17_TORQUE_100_PCT 0x00
135 #define STEPPER17_TORQUE_75_PCT 0x01
136 #define STEPPER17_TORQUE_50_PCT 0x02
137 #define STEPPER17_TORQUE_25_PCT 0x03
138 #define STEPPER17_TORQUE_MASK 0x03
139 
144 #define STEPPER17_DECAY_MIXED 0x00
145 #define STEPPER17_DECAY_SLOW 0x01
146 #define STEPPER17_DECAY_FAST 0x02
147 #define STEPPER17_DECAY_ADMD 0x03
148 #define STEPPER17_DECAY_MASK 0x03
149 
154 #define STEPPER17_SPEED_VERY_SLOW 0
155 #define STEPPER17_SPEED_SLOW 1
156 #define STEPPER17_SPEED_MEDIUM 2
157 #define STEPPER17_SPEED_FAST 3
158 #define STEPPER17_SPEED_VERY_FAST 4
159 
165 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_000 0x20
166 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_001 0x21
167 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_010 0x22
168 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_011 0x23
169 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_100 0x24
170 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_101 0x25
171 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_110 0x26
172 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_111 0x27
173  // stepper17_set
175 
190 #define STEPPER17_MAP_MIKROBUS( cfg, mikrobus ) \
191  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
192  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
193  cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
194  cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
195  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
196  cfg.clk = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
197  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
198  // stepper17_map // stepper17
201 
206 typedef struct
207 {
208  // Output pins
209  digital_out_t en;
210  digital_out_t dir;
211  digital_out_t rst;
212  digital_out_t clk;
214  // Input pins
215  digital_in_t int_pin;
217  // Modules
218  i2c_master_t i2c;
220  // I2C slave address
221  uint8_t slave_address;
223 } stepper17_t;
224 
229 typedef struct
230 {
231  pin_name_t scl;
232  pin_name_t sda;
234  pin_name_t en;
235  pin_name_t dir;
236  pin_name_t rst;
237  pin_name_t clk;
238  pin_name_t int_pin;
240  uint32_t i2c_speed;
241  uint8_t i2c_address;
244 
249 typedef enum
250 {
252  STEPPER17_ERROR = -1
253 
255 
272 
287 
301 
315 err_t stepper17_write_register ( stepper17_t *ctx, uint8_t reg, uint8_t data_in );
316 
329 err_t stepper17_read_register ( stepper17_t *ctx, uint8_t reg, uint8_t *data_out );
330 
342 err_t stepper17_get_step_mode ( stepper17_t *ctx, uint8_t *mode );
343 
355 err_t stepper17_set_step_mode ( stepper17_t *ctx, uint8_t mode );
356 
368 err_t stepper17_get_torque ( stepper17_t *ctx, uint8_t *torque );
369 
381 err_t stepper17_set_torque ( stepper17_t *ctx, uint8_t torque );
382 
394 err_t stepper17_get_decay ( stepper17_t *ctx, uint8_t *decay );
395 
407 err_t stepper17_set_decay ( stepper17_t *ctx, uint8_t decay );
408 
421 err_t stepper17_get_sleep_x_pin ( stepper17_t *ctx, uint8_t *state );
422 
435 err_t stepper17_set_sleep_x_pin ( stepper17_t *ctx, uint8_t state );
436 
449 err_t stepper17_get_lo1_pin ( stepper17_t *ctx, uint8_t *state );
450 
463 err_t stepper17_get_lo2_pin ( stepper17_t *ctx, uint8_t *state );
464 
477 err_t stepper17_get_mo_pin ( stepper17_t *ctx, uint8_t *state );
478 
494 void stepper17_drive_motor ( stepper17_t *ctx, uint32_t steps, uint8_t speed );
495 
505 
515 
526 void stepper17_set_direction ( stepper17_t *ctx, uint8_t dir );
527 
537 
547 
557 
568 void stepper17_set_clk_pin ( stepper17_t *ctx, uint8_t state );
569 
570 #ifdef __cplusplus
571 }
572 #endif
573 #endif // STEPPER17_H
574  // stepper17
576 
577 // ------------------------------------------------------------------------ END
stepper17_get_decay
err_t stepper17_get_decay(stepper17_t *ctx, uint8_t *decay)
Stepper 17 get decay function.
STEPPER17_OK
@ STEPPER17_OK
Definition: stepper17.h:251
stepper17_read_register
err_t stepper17_read_register(stepper17_t *ctx, uint8_t reg, uint8_t *data_out)
Stepper 17 read register function.
stepper17_cfg_t::dir
pin_name_t dir
Definition: stepper17.h:235
stepper17_cfg_t::en
pin_name_t en
Definition: stepper17.h:234
stepper17_return_value_t
stepper17_return_value_t
Stepper 17 Click return value data.
Definition: stepper17.h:250
stepper17_get_torque
err_t stepper17_get_torque(stepper17_t *ctx, uint8_t *torque)
Stepper 17 get torque function.
stepper17_t::int_pin
digital_in_t int_pin
Definition: stepper17.h:215
stepper17_get_mo_pin
err_t stepper17_get_mo_pin(stepper17_t *ctx, uint8_t *state)
Stepper 17 get mo pin function.
stepper17_write_register
err_t stepper17_write_register(stepper17_t *ctx, uint8_t reg, uint8_t data_in)
Stepper 17 write register function.
stepper17_set_decay
err_t stepper17_set_decay(stepper17_t *ctx, uint8_t decay)
Stepper 17 set decay function.
stepper17_t
Stepper 17 Click context object.
Definition: stepper17.h:207
stepper17_get_int_pin
uint8_t stepper17_get_int_pin(stepper17_t *ctx)
Stepper 17 get int pin function.
stepper17_get_lo1_pin
err_t stepper17_get_lo1_pin(stepper17_t *ctx, uint8_t *state)
Stepper 17 get lo1 pin function.
stepper17_set_direction
void stepper17_set_direction(stepper17_t *ctx, uint8_t dir)
Stepper 17 set direction function.
stepper17_get_lo2_pin
err_t stepper17_get_lo2_pin(stepper17_t *ctx, uint8_t *state)
Stepper 17 get lo2 pin function.
stepper17_get_step_mode
err_t stepper17_get_step_mode(stepper17_t *ctx, uint8_t *mode)
Stepper 17 get step mode function.
stepper17_t::en
digital_out_t en
Definition: stepper17.h:209
stepper17_get_sleep_x_pin
err_t stepper17_get_sleep_x_pin(stepper17_t *ctx, uint8_t *state)
Stepper 17 get sleep x pin function.
stepper17_t::clk
digital_out_t clk
Definition: stepper17.h:212
stepper17_init
err_t stepper17_init(stepper17_t *ctx, stepper17_cfg_t *cfg)
Stepper 17 initialization function.
stepper17_cfg_t::int_pin
pin_name_t int_pin
Definition: stepper17.h:238
stepper17_cfg_t::clk
pin_name_t clk
Definition: stepper17.h:237
stepper17_set_sleep_x_pin
err_t stepper17_set_sleep_x_pin(stepper17_t *ctx, uint8_t state)
Stepper 17 set sleep x pin function.
stepper17_cfg_t::scl
pin_name_t scl
Definition: stepper17.h:231
stepper17_cfg_t::sda
pin_name_t sda
Definition: stepper17.h:232
stepper17_set_torque
err_t stepper17_set_torque(stepper17_t *ctx, uint8_t torque)
Stepper 17 set torque function.
stepper17_drive_motor
void stepper17_drive_motor(stepper17_t *ctx, uint32_t steps, uint8_t speed)
Stepper 17 driver motor function.
stepper17_t::dir
digital_out_t dir
Definition: stepper17.h:210
stepper17_enable_device
void stepper17_enable_device(stepper17_t *ctx)
Stepper 17 enable device function.
stepper17_switch_direction
void stepper17_switch_direction(stepper17_t *ctx)
Stepper 17 switch direction function.
STEPPER17_ERROR
@ STEPPER17_ERROR
Definition: stepper17.h:252
stepper17_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: stepper17.h:240
stepper17_t::i2c
i2c_master_t i2c
Definition: stepper17.h:218
stepper17_default_cfg
err_t stepper17_default_cfg(stepper17_t *ctx)
Stepper 17 default configuration function.
stepper17_reset_device
void stepper17_reset_device(stepper17_t *ctx)
Stepper 17 reset device function.
stepper17_cfg_t::rst
pin_name_t rst
Definition: stepper17.h:236
stepper17_set_clk_pin
void stepper17_set_clk_pin(stepper17_t *ctx, uint8_t state)
Stepper 17 set clk pin function.
stepper17_cfg_t
Stepper 17 Click configuration object.
Definition: stepper17.h:230
stepper17_t::slave_address
uint8_t slave_address
Definition: stepper17.h:221
stepper17_cfg_t::i2c_address
uint8_t i2c_address
Definition: stepper17.h:241
stepper17_t::rst
digital_out_t rst
Definition: stepper17.h:211
stepper17_set_step_mode
err_t stepper17_set_step_mode(stepper17_t *ctx, uint8_t mode)
Stepper 17 set step mode function.
stepper17_cfg_setup
void stepper17_cfg_setup(stepper17_cfg_t *cfg)
Stepper 17 configuration object setup function.
stepper17_disable_device
void stepper17_disable_device(stepper17_t *ctx)
Stepper 17 disable device function.