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35 #include "drv_digital_out.h"
36 #include "drv_digital_in.h"
37 #include "drv_i2c_master.h"
59 #define STEPPER21_REG_INPUT 0x00
60 #define STEPPER21_REG_OUTPUT 0x01
61 #define STEPPER21_REG_POLARITY 0x02
62 #define STEPPER21_REG_CONFIG 0x03
80 #define STEPPER21_PIN_SLEEP 0x01
81 #define STEPPER21_PIN_FAULT 0x02
82 #define STEPPER21_PIN_DECAY 0x04
83 #define STEPPER21_PIN_ENABLE 0x08
84 #define STEPPER21_PIN_HOME 0x10
85 #define STEPPER21_PIN_MODE0 0x20
86 #define STEPPER21_PIN_MODE1 0x40
87 #define STEPPER21_PIN_MODE2 0x80
93 #define STEPPER21_DEFAULT_CONFIG 0x16
99 #define STEPPER21_DIR_CCW 0
100 #define STEPPER21_DIR_CW 1
106 #define STEPPER21_PIN_STATE_LOW 0
107 #define STEPPER21_PIN_STATE_HIGH 1
108 #define STEPPER21_PIN_STATE_OPEN 2
114 #define STEPPER21_MODE_FULL_STEP 0x00
115 #define STEPPER21_MODE_HALF_STEP 0x01
116 #define STEPPER21_MODE_QUARTER_STEP 0x02
117 #define STEPPER21_MODE_1_OVER_8 0x03
118 #define STEPPER21_MODE_1_OVER_16 0x04
119 #define STEPPER21_MODE_1_OVER_32 0x05
120 #define STEPPER21_MODE_MASK 0x07
126 #define STEPPER21_SPEED_VERY_SLOW 0
127 #define STEPPER21_SPEED_SLOW 1
128 #define STEPPER21_SPEED_MEDIUM 2
129 #define STEPPER21_SPEED_FAST 3
130 #define STEPPER21_SPEED_VERY_FAST 4
137 #define STEPPER21_DEVICE_ADDRESS_A1A0_00 0x70
138 #define STEPPER21_DEVICE_ADDRESS_A1A0_01 0x71
139 #define STEPPER21_DEVICE_ADDRESS_A1A0_10 0x72
140 #define STEPPER21_DEVICE_ADDRESS_A1A0_11 0x73
158 #define STEPPER21_MAP_MIKROBUS( cfg, mikrobus ) \
159 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
160 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
161 cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
162 cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
163 cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
164 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
546 #endif // STEPPER21_H
err_t stepper21_init(stepper21_t *ctx, stepper21_cfg_t *cfg)
Stepper 21 initialization function.
pin_name_t step
Definition: stepper21.h:202
pin_name_t int_pin
Definition: stepper21.h:203
err_t stepper21_set_enable_pin(stepper21_t *ctx, uint8_t state)
Stepper 21 set enable pin function.
stepper21_return_value_t
Stepper 21 Click return value data.
Definition: stepper21.h:215
err_t stepper21_get_home_pin(stepper21_t *ctx, uint8_t *state)
Stepper 21 get home pin function.
i2c_master_t i2c
Definition: stepper21.h:184
void stepper21_set_rst_pin(stepper21_t *ctx, uint8_t state)
Stepper 21 set rst pin function.
uint8_t slave_address
Definition: stepper21.h:187
err_t stepper21_get_fault_pin(stepper21_t *ctx, uint8_t *state)
Stepper 21 get fault pin function.
digital_out_t step
Definition: stepper21.h:178
uint8_t stepper21_get_int_pin(stepper21_t *ctx)
Stepper 21 get int pin function.
digital_out_t dir
Definition: stepper21.h:176
err_t stepper21_get_step_mode(stepper21_t *ctx, uint8_t *mode)
Stepper 21 get step mode function.
pin_name_t rst
Definition: stepper21.h:201
void stepper21_set_direction(stepper21_t *ctx, uint8_t dir)
Stepper 21 set direction function.
void stepper21_switch_direction(stepper21_t *ctx)
Stepper 21 switch direction function.
@ STEPPER21_ERROR
Definition: stepper21.h:217
err_t stepper21_set_step_mode(stepper21_t *ctx, uint8_t mode)
Stepper 21 set step mode function.
void stepper21_drive_motor(stepper21_t *ctx, uint32_t steps, uint8_t speed)
Stepper 21 driver motor function.
err_t stepper21_set_decay_pin(stepper21_t *ctx, uint8_t state)
Stepper 21 set decay pin function.
err_t stepper21_get_decay_pin(stepper21_t *ctx, uint8_t *state)
Stepper 21 get decay pin function.
uint8_t i2c_address
Definition: stepper21.h:206
void stepper21_set_step_pin(stepper21_t *ctx, uint8_t state)
Stepper 21 set step pin function.
pin_name_t dir
Definition: stepper21.h:200
err_t stepper21_default_cfg(stepper21_t *ctx)
Stepper 21 default configuration function.
err_t stepper21_read_register(stepper21_t *ctx, uint8_t reg, uint8_t *data_out)
Stepper 21 read register function.
err_t stepper21_write_register(stepper21_t *ctx, uint8_t reg, uint8_t data_in)
Stepper 21 write register function.
digital_in_t int_pin
Definition: stepper21.h:181
digital_out_t rst
Definition: stepper21.h:177
err_t stepper21_get_sleep_pin(stepper21_t *ctx, uint8_t *state)
Stepper 21 get sleep pin function.
uint32_t i2c_speed
Definition: stepper21.h:205
err_t stepper21_get_enable_pin(stepper21_t *ctx, uint8_t *state)
Stepper 21 get enable pin function.
pin_name_t sda
Definition: stepper21.h:198
err_t stepper21_disable_device(stepper21_t *ctx)
Stepper 21 disable device function.
@ STEPPER21_OK
Definition: stepper21.h:216
void stepper21_reset_device(stepper21_t *ctx)
Stepper 21 reset device function.
err_t stepper21_set_sleep_pin(stepper21_t *ctx, uint8_t state)
Stepper 21 set sleep pin function.
Stepper 21 Click configuration object.
Definition: stepper21.h:196
void stepper21_cfg_setup(stepper21_cfg_t *cfg)
Stepper 21 configuration object setup function.
Stepper 21 Click context object.
Definition: stepper21.h:174
err_t stepper21_enable_device(stepper21_t *ctx)
Stepper 21 enable device function.
pin_name_t scl
Definition: stepper21.h:197