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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 STEPPER21_REG_INPUT 0x00
70 #define STEPPER21_REG_OUTPUT 0x01
71 #define STEPPER21_REG_POLARITY 0x02
72 #define STEPPER21_REG_CONFIG 0x03
90 #define STEPPER21_PIN_SLEEP 0x01
91 #define STEPPER21_PIN_FAULT 0x02
92 #define STEPPER21_PIN_DECAY 0x04
93 #define STEPPER21_PIN_ENABLE 0x08
94 #define STEPPER21_PIN_HOME 0x10
95 #define STEPPER21_PIN_MODE0 0x20
96 #define STEPPER21_PIN_MODE1 0x40
97 #define STEPPER21_PIN_MODE2 0x80
103 #define STEPPER21_DEFAULT_CONFIG 0x16
109 #define STEPPER21_DIR_CCW 0
110 #define STEPPER21_DIR_CW 1
116 #define STEPPER21_PIN_STATE_LOW 0
117 #define STEPPER21_PIN_STATE_HIGH 1
118 #define STEPPER21_PIN_STATE_OPEN 2
124 #define STEPPER21_MODE_FULL_STEP 0x00
125 #define STEPPER21_MODE_HALF_STEP 0x01
126 #define STEPPER21_MODE_QUARTER_STEP 0x02
127 #define STEPPER21_MODE_1_OVER_8 0x03
128 #define STEPPER21_MODE_1_OVER_16 0x04
129 #define STEPPER21_MODE_1_OVER_32 0x05
130 #define STEPPER21_MODE_MASK 0x07
136 #define STEPPER21_SPEED_VERY_SLOW 0
137 #define STEPPER21_SPEED_SLOW 1
138 #define STEPPER21_SPEED_MEDIUM 2
139 #define STEPPER21_SPEED_FAST 3
140 #define STEPPER21_SPEED_VERY_FAST 4
147 #define STEPPER21_DEVICE_ADDRESS_A1A0_00 0x70
148 #define STEPPER21_DEVICE_ADDRESS_A1A0_01 0x71
149 #define STEPPER21_DEVICE_ADDRESS_A1A0_10 0x72
150 #define STEPPER21_DEVICE_ADDRESS_A1A0_11 0x73
168 #define STEPPER21_MAP_MIKROBUS( cfg, mikrobus ) \
169 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
170 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
171 cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
172 cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
173 cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
174 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
556 #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:212
pin_name_t int_pin
Definition: stepper21.h:213
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:225
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:194
void stepper21_set_rst_pin(stepper21_t *ctx, uint8_t state)
Stepper 21 set rst pin function.
uint8_t slave_address
Definition: stepper21.h:197
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:188
uint8_t stepper21_get_int_pin(stepper21_t *ctx)
Stepper 21 get int pin function.
digital_out_t dir
Definition: stepper21.h:186
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:211
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:227
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:216
void stepper21_set_step_pin(stepper21_t *ctx, uint8_t state)
Stepper 21 set step pin function.
pin_name_t dir
Definition: stepper21.h:210
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:191
digital_out_t rst
Definition: stepper21.h:187
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:215
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:208
err_t stepper21_disable_device(stepper21_t *ctx)
Stepper 21 disable device function.
@ STEPPER21_OK
Definition: stepper21.h:226
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:206
void stepper21_cfg_setup(stepper21_cfg_t *cfg)
Stepper 21 configuration object setup function.
Stepper 21 Click context object.
Definition: stepper21.h:184
err_t stepper21_enable_device(stepper21_t *ctx)
Stepper 21 enable device function.
pin_name_t scl
Definition: stepper21.h:207