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 
35 #include "drv_digital_out.h"
36 #include "drv_digital_in.h"
37 #include "drv_i2c_master.h"
38 
59 #define STEPPER11_REG_INPUT_PORT 0x00
60 #define STEPPER11_REG_OUTPUT_PORT 0x01
61 #define STEPPER11_REG_POLARITY 0x02
62 #define STEPPER11_REG_CONFIGURATION 0x03
63  // stepper11_reg
65 
80 #define STEPPER11_SPEED_SLOW 1
81 #define STEPPER11_SPEED_MEDIUM 2
82 #define STEPPER11_SPEED_FAST 3
83 
88 #define STEPPER11_RESOLUTION_FULL 0x4
89 #define STEPPER11_RESOLUTION_HALF_A 0x2
90 #define STEPPER11_RESOLUTION_HALF_B 0x1
91 #define STEPPER11_RESOLUTION_QUARTER 0x6
92 #define STEPPER11_RESOLUTION_1div8 0x5
93 #define STEPPER11_RESOLUTION_1div16 0x3
94 #define STEPPER11_RESOLUTION_1div32 0x7
95 
100 #define STEPPER11_TORQUE_100 0x0
101 #define STEPPER11_TORQUE_70 0x1
102 #define STEPPER11_TORQUE_50 0x2
103 #define STEPPER11_TORQUE_30 0x3
104 
110 #define STEPPER11_SET_DEV_ADDR 0x70
111  // stepper11_set
113 
128 #define STEPPER11_MAP_MIKROBUS( cfg, mikrobus ) \
129  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
130  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
131  cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
132  cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
133  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
134  cfg.clk = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
135  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
136  // stepper11_map // stepper11
139 
144 typedef struct
145 {
146  // Output pins
147  digital_out_t en;
148  digital_out_t dir;
149  digital_out_t rst;
150  digital_out_t clk;
152  // Input pins
153  digital_in_t int_pin;
155  // Modules
156  i2c_master_t i2c;
158  // I2C slave address
159  uint8_t slave_address;
160  // ctx variable
161  uint16_t steps;
162  float resolution;
163  uint8_t step_resolution;
165 } stepper11_t;
166 
171 typedef struct
172 {
173  pin_name_t scl;
174  pin_name_t sda;
176  pin_name_t en;
177  pin_name_t dir;
178  pin_name_t rst;
179  pin_name_t clk;
180  pin_name_t int_pin;
182  uint32_t i2c_speed;
183  uint8_t i2c_address;
186 
191 typedef enum
192 {
194  STEPPER11_ERROR = -1
195 
197 
214 
230 
245 
260 err_t stepper11_generic_write ( stepper11_t *ctx, uint8_t reg, uint8_t tx_data );
261 
276 err_t stepper11_generic_read ( stepper11_t *ctx, uint8_t reg, uint8_t *rx_data );
277 
286 void stepper11_set_direction ( stepper11_t *ctx, uint8_t state );
287 
296 void stepper11_set_enable ( stepper11_t *ctx, uint8_t state );
297 
306 void stepper11_set_reset ( stepper11_t *ctx, uint8_t state );
307 
316 void stepper11_set_clock ( stepper11_t *ctx, uint8_t state );
317 
326 
336 
345 uint8_t stepper11_get_mo ( stepper11_t *ctx );
346 
355 uint8_t stepper11_get_sd ( stepper11_t *ctx );
356 
375 err_t stepper11_set_step_resolution ( stepper11_t *ctx, uint8_t step_res );
376 
392 err_t stepper11_set_torque ( stepper11_t *ctx, uint8_t torque );
393 
406 void stepper11_move_motor_angle ( stepper11_t *ctx, float degree, uint8_t speed );
407 
420 void stepper11_move_motor_step ( stepper11_t *ctx, uint16_t steps, uint8_t speed );
421 
422 #ifdef __cplusplus
423 }
424 #endif
425 #endif // STEPPER11_H
426  // stepper11
428 
429 // ------------------------------------------------------------------------ END
stepper11_get_mo
uint8_t stepper11_get_mo(stepper11_t *ctx)
Get electrical angle monitoring signal.
STEPPER11_ERROR
@ STEPPER11_ERROR
Definition: stepper11.h:194
stepper11_cfg_t::dir
pin_name_t dir
Definition: stepper11.h:177
stepper11_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: stepper11.h:182
stepper11_cfg_t::sda
pin_name_t sda
Definition: stepper11.h:174
stepper11_t::en
digital_out_t en
Definition: stepper11.h:147
stepper11_cfg_t::rst
pin_name_t rst
Definition: stepper11.h:178
stepper11_t::i2c
i2c_master_t i2c
Definition: stepper11.h:156
stepper11_t::slave_address
uint8_t slave_address
Definition: stepper11.h:159
stepper11_cfg_t::scl
pin_name_t scl
Definition: stepper11.h:173
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:148
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:162
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:145
stepper11_t::step_resolution
uint8_t step_resolution
Definition: stepper11.h:163
stepper11_return_value_t
stepper11_return_value_t
Stepper 11 Click return value data.
Definition: stepper11.h:192
stepper11_t::steps
uint16_t steps
Definition: stepper11.h:161
stepper11_cfg_t::en
pin_name_t en
Definition: stepper11.h:176
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:180
stepper11_t::clk
digital_out_t clk
Definition: stepper11.h:150
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:153
stepper11_t::rst
digital_out_t rst
Definition: stepper11.h:149
stepper11_cfg_t
Stepper 11 Click configuration object.
Definition: stepper11.h:172
stepper11_get_interrupt
uint8_t stepper11_get_interrupt(stepper11_t *ctx)
Get interrupt.
STEPPER11_OK
@ STEPPER11_OK
Definition: stepper11.h:193
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:183
stepper11_cfg_t::clk
pin_name_t clk
Definition: stepper11.h:179
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.