stepper11  2.0.0.0
stepper11.h
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22 
28 #ifndef STEPPER11_H
29 #define STEPPER11_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 STEPPER11_REG_INPUT_PORT 0x00
74 #define STEPPER11_REG_OUTPUT_PORT 0x01
75 #define STEPPER11_REG_POLARITY 0x02
76 #define STEPPER11_REG_CONFIGURATION 0x03
77  // stepper11_reg
79 
94 #define STEPPER11_SPEED_SLOW 1
95 #define STEPPER11_SPEED_MEDIUM 2
96 #define STEPPER11_SPEED_FAST 3
97 
102 #define STEPPER11_RESOLUTION_FULL 0x4
103 #define STEPPER11_RESOLUTION_HALF_A 0x2
104 #define STEPPER11_RESOLUTION_HALF_B 0x1
105 #define STEPPER11_RESOLUTION_QUARTER 0x6
106 #define STEPPER11_RESOLUTION_1div8 0x5
107 #define STEPPER11_RESOLUTION_1div16 0x3
108 #define STEPPER11_RESOLUTION_1div32 0x7
109 
114 #define STEPPER11_TORQUE_100 0x0
115 #define STEPPER11_TORQUE_70 0x1
116 #define STEPPER11_TORQUE_50 0x2
117 #define STEPPER11_TORQUE_30 0x3
118 
124 #define STEPPER11_SET_DEV_ADDR 0x70
125  // stepper11_set
127 
142 #define STEPPER11_MAP_MIKROBUS( cfg, mikrobus ) \
143  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
144  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
145  cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
146  cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
147  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
148  cfg.clk = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
149  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
150  // stepper11_map // stepper11
153 
158 typedef struct
159 {
160  // Output pins
161  digital_out_t en;
162  digital_out_t dir;
163  digital_out_t rst;
164  digital_out_t clk;
166  // Input pins
167  digital_in_t int_pin;
169  // Modules
170  i2c_master_t i2c;
172  // I2C slave address
173  uint8_t slave_address;
174  // ctx variable
175  uint16_t steps;
176  float resolution;
177  uint8_t step_resolution;
179 } stepper11_t;
180 
185 typedef struct
186 {
187  pin_name_t scl;
188  pin_name_t sda;
190  pin_name_t en;
191  pin_name_t dir;
192  pin_name_t rst;
193  pin_name_t clk;
194  pin_name_t int_pin;
196  uint32_t i2c_speed;
197  uint8_t i2c_address;
200 
205 typedef enum
206 {
208  STEPPER11_ERROR = -1
209 
211 
228 
244 
259 
274 err_t stepper11_generic_write ( stepper11_t *ctx, uint8_t reg, uint8_t tx_data );
275 
290 err_t stepper11_generic_read ( stepper11_t *ctx, uint8_t reg, uint8_t *rx_data );
291 
300 void stepper11_set_direction ( stepper11_t *ctx, uint8_t state );
301 
310 void stepper11_set_enable ( stepper11_t *ctx, uint8_t state );
311 
320 void stepper11_set_reset ( stepper11_t *ctx, uint8_t state );
321 
330 void stepper11_set_clock ( stepper11_t *ctx, uint8_t state );
331 
340 
350 
359 uint8_t stepper11_get_mo ( stepper11_t *ctx );
360 
369 uint8_t stepper11_get_sd ( stepper11_t *ctx );
370 
389 err_t stepper11_set_step_resolution ( stepper11_t *ctx, uint8_t step_res );
390 
406 err_t stepper11_set_torque ( stepper11_t *ctx, uint8_t torque );
407 
420 void stepper11_move_motor_angle ( stepper11_t *ctx, float degree, uint8_t speed );
421 
434 void stepper11_move_motor_step ( stepper11_t *ctx, uint16_t steps, uint8_t speed );
435 
436 #ifdef __cplusplus
437 }
438 #endif
439 #endif // STEPPER11_H
440  // stepper11
442 
443 // ------------------------------------------------------------------------ END
stepper11_get_mo
uint8_t stepper11_get_mo(stepper11_t *ctx)
Get electrical angle monitoring signal.
STEPPER11_ERROR
@ STEPPER11_ERROR
Definition: stepper11.h:208
stepper11_cfg_t::dir
pin_name_t dir
Definition: stepper11.h:191
stepper11_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: stepper11.h:196
stepper11_cfg_t::sda
pin_name_t sda
Definition: stepper11.h:188
stepper11_t::en
digital_out_t en
Definition: stepper11.h:161
stepper11_cfg_t::rst
pin_name_t rst
Definition: stepper11.h:192
stepper11_t::i2c
i2c_master_t i2c
Definition: stepper11.h:170
stepper11_t::slave_address
uint8_t slave_address
Definition: stepper11.h:173
stepper11_cfg_t::scl
pin_name_t scl
Definition: stepper11.h:187
stepper11_get_diag
uint8_t stepper11_get_diag(stepper11_t *ctx)
Get anomaly detection flag.
stepper11_t::dir
digital_out_t dir
Definition: stepper11.h:162
stepper11_cfg_setup
void stepper11_cfg_setup(stepper11_cfg_t *cfg)
Stepper 11 configuration object setup function.
stepper11_t::resolution
float resolution
Definition: stepper11.h:176
stepper11_get_sd
uint8_t stepper11_get_sd(stepper11_t *ctx)
Get stall detection flag.
stepper11_set_reset
void stepper11_set_reset(stepper11_t *ctx, uint8_t state)
Set restart.
stepper11_set_step_resolution
err_t stepper11_set_step_resolution(stepper11_t *ctx, uint8_t step_res)
Set step resolution.
stepper11_set_clock
void stepper11_set_clock(stepper11_t *ctx, uint8_t state)
Set clock state.
stepper11_move_motor_step
void stepper11_move_motor_step(stepper11_t *ctx, uint16_t steps, uint8_t speed)
Move motor in step value.
stepper11_init
err_t stepper11_init(stepper11_t *ctx, stepper11_cfg_t *cfg)
Stepper 11 initialization function.
stepper11_t
Stepper 11 Click context object.
Definition: stepper11.h:159
stepper11_t::step_resolution
uint8_t step_resolution
Definition: stepper11.h:177
stepper11_return_value_t
stepper11_return_value_t
Stepper 11 Click return value data.
Definition: stepper11.h:206
stepper11_t::steps
uint16_t steps
Definition: stepper11.h:175
stepper11_cfg_t::en
pin_name_t en
Definition: stepper11.h:190
stepper11_generic_write
err_t stepper11_generic_write(stepper11_t *ctx, uint8_t reg, uint8_t tx_data)
Stepper 11 I2C writing function.
stepper11_default_cfg
err_t stepper11_default_cfg(stepper11_t *ctx)
Stepper 11 default configuration function.
stepper11_cfg_t::int_pin
pin_name_t int_pin
Definition: stepper11.h:194
stepper11_t::clk
digital_out_t clk
Definition: stepper11.h:164
stepper11_set_torque
err_t stepper11_set_torque(stepper11_t *ctx, uint8_t torque)
Set torque.
stepper11_t::int_pin
digital_in_t int_pin
Definition: stepper11.h:167
stepper11_t::rst
digital_out_t rst
Definition: stepper11.h:163
stepper11_cfg_t
Stepper 11 Click configuration object.
Definition: stepper11.h:186
stepper11_get_interrupt
uint8_t stepper11_get_interrupt(stepper11_t *ctx)
Get interrupt.
STEPPER11_OK
@ STEPPER11_OK
Definition: stepper11.h:207
stepper11_generic_read
err_t stepper11_generic_read(stepper11_t *ctx, uint8_t reg, uint8_t *rx_data)
Stepper 11 I2C reading function.
stepper11_set_enable
void stepper11_set_enable(stepper11_t *ctx, uint8_t state)
Set enable.
stepper11_cfg_t::i2c_address
uint8_t i2c_address
Definition: stepper11.h:197
stepper11_cfg_t::clk
pin_name_t clk
Definition: stepper11.h:193
stepper11_move_motor_angle
void stepper11_move_motor_angle(stepper11_t *ctx, float degree, uint8_t speed)
Move motor in angle value.
stepper11_set_direction
void stepper11_set_direction(stepper11_t *ctx, uint8_t state)
Set direction.