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 
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 STEPPER17_REG_INPUT_0 0x00
74 #define STEPPER17_REG_INPUT_1 0x01
75 #define STEPPER17_REG_OUTPUT_0 0x02
76 #define STEPPER17_REG_OUTPUT_1 0x03
77 #define STEPPER17_REG_POLARITY_0 0x04
78 #define STEPPER17_REG_POLARITY_1 0x05
79 #define STEPPER17_REG_CONFIG_0 0x06
80 #define STEPPER17_REG_CONFIG_1 0x07
81  // stepper17_reg
83 
98 #define STEPPER17_P0_DMODE0_PIN 0x01
99 #define STEPPER17_P0_DMODE1_PIN 0x02
100 #define STEPPER17_P0_DMODE2_PIN 0x04
101 #define STEPPER17_P0_DECAY1_PIN 0x08
102 #define STEPPER17_P0_DECAY2_PIN 0x10
103 #define STEPPER17_P0_TRQ0_PIN 0x20
104 #define STEPPER17_P0_TRQ1_PIN 0x40
105 #define STEPPER17_P0_SLEEP_X_PIN 0x80
106 #define STEPPER17_P1_LO1_PIN 0x01
107 #define STEPPER17_P1_LO2_PIN 0x02
108 #define STEPPER17_P1_MO_PIN 0x04
109 
114 #define STEPPER17_P0_DEFAULT_CONFIG 0x00
115 #define STEPPER17_P1_DEFAULT_CONFIG 0xFF
116 
121 #define STEPPER17_DIR_CW 1
122 #define STEPPER17_DIR_CCW 0
123 
128 #define STEPPER17_PIN_LOW_LEVEL 0
129 #define STEPPER17_PIN_HIGH_LEVEL 1
130 
135 #define STEPPER17_MODE_FULL_STEP 0x00
136 #define STEPPER17_MODE_1_OVER_8 0x01
137 #define STEPPER17_MODE_HALF_STEP_TYPE_B 0x02
138 #define STEPPER17_MODE_1_OVER_32 0x03
139 #define STEPPER17_MODE_HALF_STEP_TYPE_A 0x04
140 #define STEPPER17_MODE_1_OVER_16 0x05
141 #define STEPPER17_MODE_QUARTER_STEP 0x06
142 #define STEPPER17_MODE_MASK 0x07
143 
148 #define STEPPER17_TORQUE_100_PCT 0x00
149 #define STEPPER17_TORQUE_75_PCT 0x01
150 #define STEPPER17_TORQUE_50_PCT 0x02
151 #define STEPPER17_TORQUE_25_PCT 0x03
152 #define STEPPER17_TORQUE_MASK 0x03
153 
158 #define STEPPER17_DECAY_MIXED 0x00
159 #define STEPPER17_DECAY_SLOW 0x01
160 #define STEPPER17_DECAY_FAST 0x02
161 #define STEPPER17_DECAY_ADMD 0x03
162 #define STEPPER17_DECAY_MASK 0x03
163 
168 #define STEPPER17_SPEED_VERY_SLOW 0
169 #define STEPPER17_SPEED_SLOW 1
170 #define STEPPER17_SPEED_MEDIUM 2
171 #define STEPPER17_SPEED_FAST 3
172 #define STEPPER17_SPEED_VERY_FAST 4
173 
179 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_000 0x20
180 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_001 0x21
181 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_010 0x22
182 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_011 0x23
183 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_100 0x24
184 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_101 0x25
185 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_110 0x26
186 #define STEPPER17_DEVICE_ADDRESS_A2A1A0_111 0x27
187  // stepper17_set
189 
204 #define STEPPER17_MAP_MIKROBUS( cfg, mikrobus ) \
205  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
206  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
207  cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
208  cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
209  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
210  cfg.clk = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
211  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
212  // stepper17_map // stepper17
215 
220 typedef struct
221 {
222  // Output pins
223  digital_out_t en;
224  digital_out_t dir;
225  digital_out_t rst;
226  digital_out_t clk;
228  // Input pins
229  digital_in_t int_pin;
231  // Modules
232  i2c_master_t i2c;
234  // I2C slave address
235  uint8_t slave_address;
237 } stepper17_t;
238 
243 typedef struct
244 {
245  pin_name_t scl;
246  pin_name_t sda;
248  pin_name_t en;
249  pin_name_t dir;
250  pin_name_t rst;
251  pin_name_t clk;
252  pin_name_t int_pin;
254  uint32_t i2c_speed;
255  uint8_t i2c_address;
258 
263 typedef enum
264 {
266  STEPPER17_ERROR = -1
267 
269 
286 
301 
315 
329 err_t stepper17_write_register ( stepper17_t *ctx, uint8_t reg, uint8_t data_in );
330 
343 err_t stepper17_read_register ( stepper17_t *ctx, uint8_t reg, uint8_t *data_out );
344 
356 err_t stepper17_get_step_mode ( stepper17_t *ctx, uint8_t *mode );
357 
369 err_t stepper17_set_step_mode ( stepper17_t *ctx, uint8_t mode );
370 
382 err_t stepper17_get_torque ( stepper17_t *ctx, uint8_t *torque );
383 
395 err_t stepper17_set_torque ( stepper17_t *ctx, uint8_t torque );
396 
408 err_t stepper17_get_decay ( stepper17_t *ctx, uint8_t *decay );
409 
421 err_t stepper17_set_decay ( stepper17_t *ctx, uint8_t decay );
422 
435 err_t stepper17_get_sleep_x_pin ( stepper17_t *ctx, uint8_t *state );
436 
449 err_t stepper17_set_sleep_x_pin ( stepper17_t *ctx, uint8_t state );
450 
463 err_t stepper17_get_lo1_pin ( stepper17_t *ctx, uint8_t *state );
464 
477 err_t stepper17_get_lo2_pin ( stepper17_t *ctx, uint8_t *state );
478 
491 err_t stepper17_get_mo_pin ( stepper17_t *ctx, uint8_t *state );
492 
508 void stepper17_drive_motor ( stepper17_t *ctx, uint32_t steps, uint8_t speed );
509 
519 
529 
540 void stepper17_set_direction ( stepper17_t *ctx, uint8_t dir );
541 
551 
561 
571 
582 void stepper17_set_clk_pin ( stepper17_t *ctx, uint8_t state );
583 
584 #ifdef __cplusplus
585 }
586 #endif
587 #endif // STEPPER17_H
588  // stepper17
590 
591 // ------------------------------------------------------------------------ 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:265
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:249
stepper17_cfg_t::en
pin_name_t en
Definition: stepper17.h:248
stepper17_return_value_t
stepper17_return_value_t
Stepper 17 Click return value data.
Definition: stepper17.h:264
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:229
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:221
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:223
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:226
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:252
stepper17_cfg_t::clk
pin_name_t clk
Definition: stepper17.h:251
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:245
stepper17_cfg_t::sda
pin_name_t sda
Definition: stepper17.h:246
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:224
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:266
stepper17_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: stepper17.h:254
stepper17_t::i2c
i2c_master_t i2c
Definition: stepper17.h:232
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:250
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:244
stepper17_t::slave_address
uint8_t slave_address
Definition: stepper17.h:235
stepper17_cfg_t::i2c_address
uint8_t i2c_address
Definition: stepper17.h:255
stepper17_t::rst
digital_out_t rst
Definition: stepper17.h:225
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.