stepper12  2.1.0.0
stepper12.h
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22 
28 #ifndef STEPPER12_H
29 #define STEPPER12_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 STEPPER12_REG_INPUT_0 0x00
74 #define STEPPER12_REG_INPUT_1 0x01
75 #define STEPPER12_REG_OUTPUT_0 0x02
76 #define STEPPER12_REG_OUTPUT_1 0x03
77 #define STEPPER12_REG_POLARITY_0 0x04
78 #define STEPPER12_REG_POLARITY_1 0x05
79 #define STEPPER12_REG_CONFIG_0 0x06
80 #define STEPPER12_REG_CONFIG_1 0x07
81  // stepper12_reg
83 
98 #define STEPPER12_P0_DMODE0_PIN 0x01
99 #define STEPPER12_P0_DMODE1_PIN 0x02
100 #define STEPPER12_P0_DMODE2_PIN 0x04
101 #define STEPPER12_P0_DECAY_PIN 0x08
102 #define STEPPER12_P0_TRQ0_PIN 0x20
103 #define STEPPER12_P0_TRQ1_PIN 0x40
104 #define STEPPER12_P0_SLEEP_X_PIN 0x80
105 #define STEPPER12_P1_LO_PIN 0x01
106 #define STEPPER12_P1_MO_PIN 0x04
107 
112 #define STEPPER12_P0_DEFAULT_CONFIG 0x10
113 #define STEPPER12_P1_DEFAULT_CONFIG 0xFF
114 
119 #define STEPPER12_DIR_CW 1
120 #define STEPPER12_DIR_CCW 0
121 
126 #define STEPPER12_PIN_LOW_LEVEL 0
127 #define STEPPER12_PIN_HIGH_LEVEL 1
128 
133 #define STEPPER12_MODE_FULL_STEP 0x00
134 #define STEPPER12_MODE_1_OVER_8 0x01
135 #define STEPPER12_MODE_HALF_STEP_TYPE_B 0x02
136 #define STEPPER12_MODE_1_OVER_32 0x03
137 #define STEPPER12_MODE_HALF_STEP_TYPE_A 0x04
138 #define STEPPER12_MODE_1_OVER_16 0x05
139 #define STEPPER12_MODE_QUARTER_STEP 0x06
140 #define STEPPER12_MODE_MASK 0x07
141 
146 #define STEPPER12_TORQUE_100_PCT 0x00
147 #define STEPPER12_TORQUE_75_PCT 0x01
148 #define STEPPER12_TORQUE_50_PCT 0x02
149 #define STEPPER12_TORQUE_25_PCT 0x03
150 #define STEPPER12_TORQUE_MASK 0x03
151 
156 #define STEPPER12_SPEED_VERY_SLOW 0
157 #define STEPPER12_SPEED_SLOW 1
158 #define STEPPER12_SPEED_MEDIUM 2
159 #define STEPPER12_SPEED_FAST 3
160 #define STEPPER12_SPEED_VERY_FAST 4
161 
167 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_000 0x20
168 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_001 0x21
169 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_010 0x22
170 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_011 0x23
171 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_100 0x24
172 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_101 0x25
173 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_110 0x26
174 #define STEPPER12_DEVICE_ADDRESS_A2A1A0_111 0x27
175  // stepper12_set
177 
192 #define STEPPER12_MAP_MIKROBUS( cfg, mikrobus ) \
193  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
194  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
195  cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
196  cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
197  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
198  cfg.clk = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
199  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
200  // stepper12_map // stepper12
203 
208 typedef struct
209 {
210  // Output pins
211  digital_out_t en;
212  digital_out_t dir;
213  digital_out_t rst;
214  digital_out_t clk;
216  // Input pins
217  digital_in_t int_pin;
219  // Modules
220  i2c_master_t i2c;
222  // I2C slave address
223  uint8_t slave_address;
225 } stepper12_t;
226 
231 typedef struct
232 {
233  pin_name_t scl;
234  pin_name_t sda;
236  pin_name_t en;
237  pin_name_t dir;
238  pin_name_t rst;
239  pin_name_t clk;
240  pin_name_t int_pin;
242  uint32_t i2c_speed;
243  uint8_t i2c_address;
246 
251 typedef enum
252 {
254  STEPPER12_ERROR = -1
255 
257 
274 
289 
303 
317 err_t stepper12_write_register ( stepper12_t *ctx, uint8_t reg, uint8_t data_in );
318 
331 err_t stepper12_read_register ( stepper12_t *ctx, uint8_t reg, uint8_t *data_out );
332 
344 err_t stepper12_get_step_mode ( stepper12_t *ctx, uint8_t *mode );
345 
357 err_t stepper12_set_step_mode ( stepper12_t *ctx, uint8_t mode );
358 
370 err_t stepper12_get_torque ( stepper12_t *ctx, uint8_t *torque );
371 
383 err_t stepper12_set_torque ( stepper12_t *ctx, uint8_t torque );
384 
397 err_t stepper12_get_decay_pin ( stepper12_t *ctx, uint8_t *state );
398 
411 err_t stepper12_set_decay_pin ( stepper12_t *ctx, uint8_t state );
412 
425 err_t stepper12_get_sleep_x_pin ( stepper12_t *ctx, uint8_t *state );
426 
439 err_t stepper12_set_sleep_x_pin ( stepper12_t *ctx, uint8_t state );
440 
453 err_t stepper12_get_lo_pin ( stepper12_t *ctx, uint8_t *state );
454 
467 err_t stepper12_get_mo_pin ( stepper12_t *ctx, uint8_t *state );
468 
484 void stepper12_drive_motor ( stepper12_t *ctx, uint32_t steps, uint8_t speed );
485 
495 
505 
516 void stepper12_set_direction ( stepper12_t *ctx, uint8_t dir );
517 
527 
537 
547 
558 void stepper12_set_clk_pin ( stepper12_t *ctx, uint8_t state );
559 
560 #ifdef __cplusplus
561 }
562 #endif
563 #endif // STEPPER12_H
564  // stepper12
566 
567 // ------------------------------------------------------------------------ END
STEPPER12_OK
@ STEPPER12_OK
Definition: stepper12.h:253
stepper12_get_torque
err_t stepper12_get_torque(stepper12_t *ctx, uint8_t *torque)
Stepper 12 get torque function.
stepper12_set_sleep_x_pin
err_t stepper12_set_sleep_x_pin(stepper12_t *ctx, uint8_t state)
Stepper 12 set sleep x pin function.
stepper12_drive_motor
void stepper12_drive_motor(stepper12_t *ctx, uint32_t steps, uint8_t speed)
Stepper 12 driver motor function.
stepper12_t::rst
digital_out_t rst
Definition: stepper12.h:213
stepper12_set_direction
void stepper12_set_direction(stepper12_t *ctx, uint8_t dir)
Stepper 12 set direction function.
stepper12_t::int_pin
digital_in_t int_pin
Definition: stepper12.h:217
stepper12_disable_device
void stepper12_disable_device(stepper12_t *ctx)
Stepper 12 disable device function.
stepper12_reset_device
void stepper12_reset_device(stepper12_t *ctx)
Stepper 12 reset device function.
stepper12_cfg_t::dir
pin_name_t dir
Definition: stepper12.h:237
stepper12_cfg_t::clk
pin_name_t clk
Definition: stepper12.h:239
stepper12_set_decay_pin
err_t stepper12_set_decay_pin(stepper12_t *ctx, uint8_t state)
Stepper 12 set decay pin function.
stepper12_cfg_t::scl
pin_name_t scl
Definition: stepper12.h:233
STEPPER12_ERROR
@ STEPPER12_ERROR
Definition: stepper12.h:254
stepper12_switch_direction
void stepper12_switch_direction(stepper12_t *ctx)
Stepper 12 switch direction function.
stepper12_init
err_t stepper12_init(stepper12_t *ctx, stepper12_cfg_t *cfg)
Stepper 12 initialization function.
stepper12_t
Stepper 12 Click context object.
Definition: stepper12.h:209
stepper12_cfg_setup
void stepper12_cfg_setup(stepper12_cfg_t *cfg)
Stepper 12 configuration object setup function.
stepper12_t::en
digital_out_t en
Definition: stepper12.h:211
stepper12_set_step_mode
err_t stepper12_set_step_mode(stepper12_t *ctx, uint8_t mode)
Stepper 12 set step mode function.
stepper12_cfg_t::rst
pin_name_t rst
Definition: stepper12.h:238
stepper12_t::clk
digital_out_t clk
Definition: stepper12.h:214
stepper12_t::i2c
i2c_master_t i2c
Definition: stepper12.h:220
stepper12_write_register
err_t stepper12_write_register(stepper12_t *ctx, uint8_t reg, uint8_t data_in)
Stepper 12 write register function.
stepper12_default_cfg
err_t stepper12_default_cfg(stepper12_t *ctx)
Stepper 12 default configuration function.
stepper12_read_register
err_t stepper12_read_register(stepper12_t *ctx, uint8_t reg, uint8_t *data_out)
Stepper 12 read register function.
stepper12_t::dir
digital_out_t dir
Definition: stepper12.h:212
stepper12_get_mo_pin
err_t stepper12_get_mo_pin(stepper12_t *ctx, uint8_t *state)
Stepper 12 get mo pin function.
stepper12_get_step_mode
err_t stepper12_get_step_mode(stepper12_t *ctx, uint8_t *mode)
Stepper 12 get step mode function.
stepper12_cfg_t::i2c_address
uint8_t i2c_address
Definition: stepper12.h:243
stepper12_cfg_t::int_pin
pin_name_t int_pin
Definition: stepper12.h:240
stepper12_cfg_t::sda
pin_name_t sda
Definition: stepper12.h:234
stepper12_enable_device
void stepper12_enable_device(stepper12_t *ctx)
Stepper 12 enable device function.
stepper12_get_decay_pin
err_t stepper12_get_decay_pin(stepper12_t *ctx, uint8_t *state)
Stepper 12 get decay pin function.
stepper12_get_lo_pin
err_t stepper12_get_lo_pin(stepper12_t *ctx, uint8_t *state)
Stepper 12 get lo pin function.
stepper12_get_int_pin
uint8_t stepper12_get_int_pin(stepper12_t *ctx)
Stepper 12 get int pin function.
stepper12_set_clk_pin
void stepper12_set_clk_pin(stepper12_t *ctx, uint8_t state)
Stepper 12 set clk pin function.
stepper12_cfg_t
Stepper 12 Click configuration object.
Definition: stepper12.h:232
stepper12_get_sleep_x_pin
err_t stepper12_get_sleep_x_pin(stepper12_t *ctx, uint8_t *state)
Stepper 12 get sleep x pin function.
stepper12_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: stepper12.h:242
stepper12_cfg_t::en
pin_name_t en
Definition: stepper12.h:236
stepper12_return_value_t
stepper12_return_value_t
Stepper 12 Click return value data.
Definition: stepper12.h:252
stepper12_t::slave_address
uint8_t slave_address
Definition: stepper12.h:223
stepper12_set_torque
err_t stepper12_set_torque(stepper12_t *ctx, uint8_t torque)
Stepper 12 set torque function.