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35 #include "mikrosdk_version.h"
38 #if mikroSDK_GET_VERSION < 20800ul
39 #include "rcu_delays.h"
45 #include "drv_digital_out.h"
46 #include "drv_digital_in.h"
47 #include "drv_i2c_master.h"
69 #define STEPPER12_REG_INPUT_0 0x00
70 #define STEPPER12_REG_INPUT_1 0x01
71 #define STEPPER12_REG_OUTPUT_0 0x02
72 #define STEPPER12_REG_OUTPUT_1 0x03
73 #define STEPPER12_REG_POLARITY_0 0x04
74 #define STEPPER12_REG_POLARITY_1 0x05
75 #define STEPPER12_REG_CONFIG_0 0x06
76 #define STEPPER12_REG_CONFIG_1 0x07
94 #define STEPPER12_P0_DMODE0_PIN 0x01
95 #define STEPPER12_P0_DMODE1_PIN 0x02
96 #define STEPPER12_P0_DMODE2_PIN 0x04
97 #define STEPPER12_P0_DECAY_PIN 0x08
98 #define STEPPER12_P0_TRQ0_PIN 0x20
99 #define STEPPER12_P0_TRQ1_PIN 0x40
100 #define STEPPER12_P0_SLEEP_X_PIN 0x80
101 #define STEPPER12_P1_LO_PIN 0x01
102 #define STEPPER12_P1_MO_PIN 0x04
108 #define STEPPER12_P0_DEFAULT_CONFIG 0x10
109 #define STEPPER12_P1_DEFAULT_CONFIG 0xFF
115 #define STEPPER12_DIR_CW 1
116 #define STEPPER12_DIR_CCW 0
122 #define STEPPER12_PIN_LOW_LEVEL 0
123 #define STEPPER12_PIN_HIGH_LEVEL 1
129 #define STEPPER12_MODE_FULL_STEP 0x00
130 #define STEPPER12_MODE_1_OVER_8 0x01
131 #define STEPPER12_MODE_HALF_STEP_TYPE_B 0x02
132 #define STEPPER12_MODE_1_OVER_32 0x03
133 #define STEPPER12_MODE_HALF_STEP_TYPE_A 0x04
134 #define STEPPER12_MODE_1_OVER_16 0x05
135 #define STEPPER12_MODE_QUARTER_STEP 0x06
136 #define STEPPER12_MODE_MASK 0x07
142 #define STEPPER12_TORQUE_100_PCT 0x00
143 #define STEPPER12_TORQUE_75_PCT 0x01
144 #define STEPPER12_TORQUE_50_PCT 0x02
145 #define STEPPER12_TORQUE_25_PCT 0x03
146 #define STEPPER12_TORQUE_MASK 0x03
152 #define STEPPER12_SPEED_VERY_SLOW 0
153 #define STEPPER12_SPEED_SLOW 1
154 #define STEPPER12_SPEED_MEDIUM 2
155 #define STEPPER12_SPEED_FAST 3
156 #define STEPPER12_SPEED_VERY_FAST 4
163 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_000 0x20
164 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_001 0x21
165 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_010 0x22
166 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_011 0x23
167 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_100 0x24
168 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_101 0x25
169 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_110 0x26
170 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_111 0x27
188 #define STEPPER12_MAP_MIKROBUS( cfg, mikrobus ) \
189 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
190 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
191 cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
192 cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
193 cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
194 cfg.clk = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
195 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
559 #endif // STEPPER12_H
@ STEPPER12_OK
Definition: stepper12.h:249
err_t stepper12_get_torque(stepper12_t *ctx, uint8_t *torque)
Stepper 12 get torque function.
err_t stepper12_set_sleep_x_pin(stepper12_t *ctx, uint8_t state)
Stepper 12 set sleep x pin function.
void stepper12_drive_motor(stepper12_t *ctx, uint32_t steps, uint8_t speed)
Stepper 12 driver motor function.
digital_out_t rst
Definition: stepper12.h:209
void stepper12_set_direction(stepper12_t *ctx, uint8_t dir)
Stepper 12 set direction function.
digital_in_t int_pin
Definition: stepper12.h:213
void stepper12_disable_device(stepper12_t *ctx)
Stepper 12 disable device function.
void stepper12_reset_device(stepper12_t *ctx)
Stepper 12 reset device function.
pin_name_t dir
Definition: stepper12.h:233
pin_name_t clk
Definition: stepper12.h:235
err_t stepper12_set_decay_pin(stepper12_t *ctx, uint8_t state)
Stepper 12 set decay pin function.
pin_name_t scl
Definition: stepper12.h:229
@ STEPPER12_ERROR
Definition: stepper12.h:250
void stepper12_switch_direction(stepper12_t *ctx)
Stepper 12 switch direction function.
err_t stepper12_init(stepper12_t *ctx, stepper12_cfg_t *cfg)
Stepper 12 initialization function.
Stepper 12 Click context object.
Definition: stepper12.h:205
void stepper12_cfg_setup(stepper12_cfg_t *cfg)
Stepper 12 configuration object setup function.
digital_out_t en
Definition: stepper12.h:207
err_t stepper12_set_step_mode(stepper12_t *ctx, uint8_t mode)
Stepper 12 set step mode function.
pin_name_t rst
Definition: stepper12.h:234
digital_out_t clk
Definition: stepper12.h:210
i2c_master_t i2c
Definition: stepper12.h:216
err_t stepper12_write_register(stepper12_t *ctx, uint8_t reg, uint8_t data_in)
Stepper 12 write register function.
err_t stepper12_default_cfg(stepper12_t *ctx)
Stepper 12 default configuration function.
err_t stepper12_read_register(stepper12_t *ctx, uint8_t reg, uint8_t *data_out)
Stepper 12 read register function.
digital_out_t dir
Definition: stepper12.h:208
err_t stepper12_get_mo_pin(stepper12_t *ctx, uint8_t *state)
Stepper 12 get mo pin function.
err_t stepper12_get_step_mode(stepper12_t *ctx, uint8_t *mode)
Stepper 12 get step mode function.
uint8_t i2c_address
Definition: stepper12.h:239
pin_name_t int_pin
Definition: stepper12.h:236
pin_name_t sda
Definition: stepper12.h:230
void stepper12_enable_device(stepper12_t *ctx)
Stepper 12 enable device function.
err_t stepper12_get_decay_pin(stepper12_t *ctx, uint8_t *state)
Stepper 12 get decay pin function.
err_t stepper12_get_lo_pin(stepper12_t *ctx, uint8_t *state)
Stepper 12 get lo pin function.
uint8_t stepper12_get_int_pin(stepper12_t *ctx)
Stepper 12 get int pin function.
void stepper12_set_clk_pin(stepper12_t *ctx, uint8_t state)
Stepper 12 set clk pin function.
Stepper 12 Click configuration object.
Definition: stepper12.h:228
err_t stepper12_get_sleep_x_pin(stepper12_t *ctx, uint8_t *state)
Stepper 12 get sleep x pin function.
uint32_t i2c_speed
Definition: stepper12.h:238
pin_name_t en
Definition: stepper12.h:232
stepper12_return_value_t
Stepper 12 Click return value data.
Definition: stepper12.h:248
uint8_t slave_address
Definition: stepper12.h:219
err_t stepper12_set_torque(stepper12_t *ctx, uint8_t torque)
Stepper 12 set torque function.