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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"
48 #include "drv_spi_master.h"
71 #define SILENTSTEP2_REG_GCONF 0x00
72 #define SILENTSTEP2_REG_GSTAT 0x01
73 #define SILENTSTEP2_REG_IOIN 0x04
74 #define SILENTSTEP2_REG_IHOLD_IRUN 0x10
75 #define SILENTSTEP2_REG_TPOWERDOWN 0x11
76 #define SILENTSTEP2_REG_TSTEP 0x12
77 #define SILENTSTEP2_REG_TPWMTHRS 0x13
78 #define SILENTSTEP2_REG_TCOOLTHRS 0x14
79 #define SILENTSTEP2_REG_THIGH 0x15
80 #define SILENTSTEP2_REG_XDIRECT 0x2D
81 #define SILENTSTEP2_REG_VDCMIN 0x33
82 #define SILENTSTEP2_REG_MSLUT0 0x60
83 #define SILENTSTEP2_REG_MSLUT1 0x61
84 #define SILENTSTEP2_REG_MSLUT2 0x62
85 #define SILENTSTEP2_REG_MSLUT3 0x63
86 #define SILENTSTEP2_REG_MSLUT4 0x64
87 #define SILENTSTEP2_REG_MSLUT5 0x65
88 #define SILENTSTEP2_REG_MSLUT6 0x66
89 #define SILENTSTEP2_REG_MSLUT7 0x67
90 #define SILENTSTEP2_REG_MSLUTSEL 0x68
91 #define SILENTSTEP2_REG_MSLUTSTART 0x69
92 #define SILENTSTEP2_REG_MSCNT 0x6A
93 #define SILENTSTEP2_REG_MSCURACT 0x6B
94 #define SILENTSTEP2_REG_CHOPCONF 0x6C
95 #define SILENTSTEP2_REG_COOLCONF 0x6D
96 #define SILENTSTEP2_REG_DCCTRL 0x6E
97 #define SILENTSTEP2_REG_DRV_STATUS 0x6F
98 #define SILENTSTEP2_REG_PWMCONF 0x70
99 #define SILENTSTEP2_REG_PWM_SCALE 0x71
100 #define SILENTSTEP2_REG_ENCM_CTRL 0x72
101 #define SILENTSTEP2_REG_LOST_STEPS 0x73
102 #define SILENTSTEP2_REG_EXP_IN_PORT 0x00
103 #define SILENTSTEP2_REG_EXP_OUT_PORT 0x01
104 #define SILENTSTEP2_REG_EXP_POL_INV 0x02
105 #define SILENTSTEP2_REG_EXP_CONFIG 0x03
123 #define SILENTSTEP2_GSTAT_RESET 0x00000001ul
124 #define SILENTSTEP2_GSTAT_DRV_ERR 0x00000002ul
125 #define SILENTSTEP2_GSTAT_UV_CP 0x00000004ul
131 #define SILENTSTEP2_GCONF_I_SC_AN_OP_NORMAL 0x00
132 #define SILENTSTEP2_GCONF_I_SC_AN_AIN 0x01
133 #define SILENTSTEP2_GCONF_INT_RSE_OP_NORMAL 0x00
134 #define SILENTSTEP2_GCONF_INT_RSE_INT_RSE 0x01
135 #define SILENTSTEP2_GCONF_DISABLE 0x00
136 #define SILENTSTEP2_GCONF_ENABLE 0x01
142 #define SILENTSTEP2_THIGH_DEFAULT 0x00000300ul
143 #define SILENTSTEP2_THIGH_MAX 0x000FFFFFul
151 #define SILENTSTEP2_TCOOLTHRS_DEFAULT 0x00002700ul
152 #define SILENTSTEP2_TCOOLTHRS_MAX 0x000FFFFFul
160 #define SILENTSTEP2_CHOPCONF_SEMIN_0 0x00
161 #define SILENTSTEP2_CHOPCONF_SEMIN_BIT_MASK 0x0F
162 #define SILENTSTEP2_CHOPCONF_SEUP_1 0x00
163 #define SILENTSTEP2_CHOPCONF_SEUP_2 0x01
164 #define SILENTSTEP2_CHOPCONF_SEUP_3 0x02
165 #define SILENTSTEP2_CHOPCONF_SEUP_8 0x03
166 #define SILENTSTEP2_CHOPCONF_SEMAX_0 0x00
167 #define SILENTSTEP2_CHOPCONF_SEMAX_BIT_MASK 0x0F
168 #define SILENTSTEP2_CHOPCONF_SEDN_32 0x00
169 #define SILENTSTEP2_CHOPCONF_SEDN_8 0x01
170 #define SILENTSTEP2_CHOPCONF_SEDN_2 0x02
171 #define SILENTSTEP2_CHOPCONF_SEDN_1 0x03
172 #define SILENTSTEP2_CHOPCONF_SEIMIN_1_2 0x00
173 #define SILENTSTEP2_CHOPCONF_SEIMIN_1_4 0x01
174 #define SILENTSTEP2_CHOPCONF_SGT_M64 0x00
175 #define SILENTSTEP2_CHOPCONF_SGT_P64 0x7F
176 #define SILENTSTEP2_CHOPCONF_SFILT_MODE_STD 0x00
177 #define SILENTSTEP2_CHOPCONF_SFILT_MODE_FLTR 0x01
185 #define SILENTSTEP2_IHOLD_10_32 0x0A
186 #define SILENTSTEP2_IHOLD_BIT_MASK 0x1F
187 #define SILENTSTEP2_IRUN_10_32 0x0A
188 #define SILENTSTEP2_IRUN_BIT_MASK 0x1F
189 #define SILENTSTEP2_IHOLDDELAY_PWR_DOWN 0x00
190 #define SILENTSTEP2_IHOLDDELAY_32 0x05
191 #define SILENTSTEP2_IHOLDDELAY_BIT_MASK 0x0F
197 #define SILENTSTEP2_TOFF_DIS 0x00
198 #define SILENTSTEP2_TOFF_NCLK_140 0x04
199 #define SILENTSTEP2_TOFF_BIT_MASK 0x0F
205 #define SILENTSTEP2_STEP_SPEED_MIN 1
206 #define SILENTSTEP2_STEP_SPEED_MAX 100
207 #define SILENTSTEP2_ANGLE_360_DEGREES 360.0f
213 #define SILENTSTEP2_CHOPCONF_CHM_MODE_STND 0x00
214 #define SILENTSTEP2_CHOPCONF_CHM_CONST_OFF_TIME 0x01
215 #define SILENTSTEP2_CHOPCONF_CHM_BIT_MASK 0x00004000ul
216 #define SILENTSTEP2_CHOPCONF_HE_OS_M3 0x00
217 #define SILENTSTEP2_CHOPCONF_HE_OS_M2 0x01
218 #define SILENTSTEP2_CHOPCONF_HE_OS_M1 0x02
219 #define SILENTSTEP2_CHOPCONF_HE_OS_0 0x03
220 #define SILENTSTEP2_CHOPCONF_HE_OS_1 0x04
221 #define SILENTSTEP2_CHOPCONF_HE_OS_2 0x05
222 #define SILENTSTEP2_CHOPCONF_HE_OS_3 0x06
223 #define SILENTSTEP2_CHOPCONF_HE_OS_4 0x07
224 #define SILENTSTEP2_CHOPCONF_HE_OS_5 0x08
225 #define SILENTSTEP2_CHOPCONF_HE_OS_6 0x09
226 #define SILENTSTEP2_CHOPCONF_HE_OS_7 0x0A
227 #define SILENTSTEP2_CHOPCONF_HE_OS_8 0x0B
228 #define SILENTSTEP2_CHOPCONF_HE_OS_9 0x0C
229 #define SILENTSTEP2_CHOPCONF_HE_OS_10 0x0D
230 #define SILENTSTEP2_CHOPCONF_HE_OS_11 0x0E
231 #define SILENTSTEP2_CHOPCONF_HE_OS_12 0x0F
232 #define SILENTSTEP2_CHOPCONF_HE_OS_BIT_MASK 0x00000780ul
233 #define SILENTSTEP2_CHOPCONF_HSTRT_TFD_0 0x00
234 #define SILENTSTEP2_CHOPCONF_HSTRT_TFD_1 0x01
235 #define SILENTSTEP2_CHOPCONF_HSTRT_TFD_2 0x02
236 #define SILENTSTEP2_CHOPCONF_HSTRT_TFD_3 0x03
237 #define SILENTSTEP2_CHOPCONF_HSTRT_TFD_4 0x04
238 #define SILENTSTEP2_CHOPCONF_HSTRT_TFD_5 0x05
239 #define SILENTSTEP2_CHOPCONF_HSTRT_TFD_6 0x06
240 #define SILENTSTEP2_CHOPCONF_HSTRT_TFD_7 0x07
241 #define SILENTSTEP2_CHOPCONF_HSTRT_TFD_BIT_MASK 0x00000070ul
247 #define SILENTSTEP2_MSLUT_SEL_0 0x00
248 #define SILENTSTEP2_MSLUT_SEL_1 0x01
249 #define SILENTSTEP2_MSLUT_SEL_2 0x02
250 #define SILENTSTEP2_MSLUT_SEL_3 0x03
251 #define SILENTSTEP2_MSLUT_SEL_4 0x04
252 #define SILENTSTEP2_MSLUT_SEL_5 0x05
253 #define SILENTSTEP2_MSLUT_SEL_6 0x06
254 #define SILENTSTEP2_MSLUT_SEL_7 0x07
255 #define SILENTSTEP2_MSLUTSEL_WIDTH_BIT_MASK 0x000000FFul
256 #define SILENTSTEP2_MSLUTSEL_SEG_BIT_MASK 0x00FFFFFFul
262 #define SILENTSTEP2_MSLUTSTART_SIN_BIT_MASK 0x000000FFul
263 #define SILENTSTEP2_MSLUTSTART_SIN90_BIT_MASK 0x000000FFul
269 #define SILENTSTEP2_CHOPCONF_MRES_BIT_MASK 0xF0FFFFFFul
270 #define SILENTSTEP2_CHOPCONF_DEDGE_BIT_MASK 0xDFFFFFFFul
271 #define SILENTSTEP2_CHOPCONF_INTPOL_BIT_MASK 0xEFFFFFFFul
272 #define SILENTSTEP2_CHOPCONF_TBL_BIT_MASK 0xFFFE7FFFul
273 #define SILENTSTEP2_CHOPCONF_TOFF_BIT_MASK 0xFFFFFFF0ul
279 #define SILENTSTEP2_PIN_NONE 0x00
280 #define SILENTSTEP2_PIN_EN 0x01
281 #define SILENTSTEP2_PIN_FT1 0x02
282 #define SILENTSTEP2_PIN_FT2 0x04
283 #define SILENTSTEP2_PIN_ALL 0x07
289 #define SILENTSTEP2_DIRECTION_COUNTERCLOCKWISE 0
290 #define SILENTSTEP2_DIRECTION_CLOCKWISE 1
296 #define SILENTSTEP2_STEP_DELAY_DEFAULT_100US 100ul
303 #define SILENTSTEP2_DEVICE_ADDRESS_0 0x70
304 #define SILENTSTEP2_DEVICE_ADDRESS_1 0x72
305 #define SILENTSTEP2_DEVICE_ADDRESS_2 0x74
306 #define SILENTSTEP2_DEVICE_ADDRESS_3 0x76
316 #define SILENTSTEP2_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
317 #define SILENTSTEP2_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
335 #define SILENTSTEP2_MAP_MIKROBUS( cfg, mikrobus ) \
336 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
337 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
338 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
339 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
340 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
341 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
342 cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
343 cfg.stp = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
344 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
1063 #endif // SILENTSTEP2_H
@ SILENTSTEP2_MRES_16
Definition: silentstep2.h:506
uint8_t olb
Definition: silentstep2.h:480
@ SILENTSTEP2_ERROR
Definition: silentstep2.h:492
uint8_t s2gb
Definition: silentstep2.h:478
uint16_t sg_result
Definition: silentstep2.h:471
digital_out_t stp
Definition: silentstep2.h:367
err_t silentstep2_set_mslutstart(silentstep2_t *ctx, uint32_t start_sin, uint32_t start_sin90)
Silent Step 2 sets the absolute current microstep table function.
silentstep2_drv_t
Silent Step 2 Click driver selector.
Definition: silentstep2.h:354
@ SILENTSTEP2_TBL_CLOCKS_36
Definition: silentstep2.h:522
i2c_master_t i2c
Definition: silentstep2.h:371
pin_name_t stp
Definition: silentstep2.h:394
err_t silentstep2_rotate_by_angle(silentstep2_t *ctx, uint8_t step_speed, float angle, uint16_t res_360)
Silent Step 2 rotates the shaft through a desired angle function.
uint8_t cs_actual
Definition: silentstep2.h:473
uint8_t diag0_error
Definition: silentstep2.h:419
uint8_t pwm_autoscale
Definition: silentstep2.h:459
uint8_t enc_commutation
Definition: silentstep2.h:417
uint8_t small_hysteresis
Definition: silentstep2.h:428
err_t silentstep2_set_h_end_strt(silentstep2_t *ctx, uint8_t chm, uint8_t h_end_offset, uint8_t hstrt_tfd)
Silent Step 2 sets the chopper mode config function.
@ SILENTSTEP2_MRES_2
Definition: silentstep2.h:509
void silentstep2_set_direction(silentstep2_t *ctx, uint8_t dir)
Silent Step 2 sets the clockwise or counterclockwise direction movement function.
@ SILENTSTEP2_TBL_CLOCKS_24
Definition: silentstep2.h:521
uint8_t stall_guard
Definition: silentstep2.h:474
uint8_t s2ga
Definition: silentstep2.h:477
This file contains SPI specific macros, functions, etc.
uint8_t stop_enable
Definition: silentstep2.h:429
Silent Step 2 Click configuration object.
Definition: silentstep2.h:386
err_t silentstep2_set_mslut(silentstep2_t *ctx, uint8_t mslut_sel, uint32_t mslut)
Silent Step 2 sets the microstep table entries function.
uint8_t seimin
Definition: silentstep2.h:444
uint8_t i_scale_analog
Definition: silentstep2.h:414
silentstep2_mres_t
Silent Step 2 Click reduced microstep resolution value data.
Definition: silentstep2.h:501
pin_name_t mosi
Definition: silentstep2.h:390
err_t silentstep2_get_gstat(silentstep2_t *ctx, uint32_t *gstat)
Silent Step 2 get global status function.
uint8_t seup
Definition: silentstep2.h:441
@ SILENTSTEP2_MRES_NATIVE
Definition: silentstep2.h:510
uint8_t stst
Definition: silentstep2.h:481
@ SILENTSTEP2_MRES_4
Definition: silentstep2.h:508
err_t silentstep2_init(silentstep2_t *ctx, silentstep2_cfg_t *cfg)
Silent Step 2 initialization function.
Silent Step 2 Click voltage mode pwm stealthChop object.
Definition: silentstep2.h:455
uint8_t freewheel
Definition: silentstep2.h:461
uint32_t step_delay
Definition: silentstep2.h:397
uint8_t en_pwm_mode
Definition: silentstep2.h:416
spi_master_t spi
Definition: silentstep2.h:372
err_t silentstep2_get_drv_status(silentstep2_t *ctx, silentstep2_drv_status_t *drv_status)
Silent Step 2 get driver status error flags function.
uint8_t diag1_index
Definition: silentstep2.h:423
err_t silentstep2_reg_read(silentstep2_t *ctx, uint8_t reg, uint32_t *data_in)
Silent Step 2 data reading function.
Silent Step 2 Click context object.
Definition: silentstep2.h:365
uint8_t ot
Definition: silentstep2.h:475
err_t silentstep2_set_dedge(silentstep2_t *ctx, uint8_t dedge_en)
Silent Step 2 sets the step impulsen function.
uint8_t diag0_otpw
Definition: silentstep2.h:420
digital_in_t int_pin
Definition: silentstep2.h:369
uint8_t diag1_onstate
Definition: silentstep2.h:424
err_t silentstep2_set_tbl_blank_time(silentstep2_t *ctx, silentstep2_tbl_t tbl)
Silent Step 2 enable the blank time select function.
@ SILENTSTEP2_MRES_8
Definition: silentstep2.h:507
uint8_t diag1_steps_skipped
Definition: silentstep2.h:425
uint32_t step_delay
Definition: silentstep2.h:377
spi_master_chip_select_polarity_t cs_polarity
Definition: silentstep2.h:404
err_t silentstep2_set_mstep_res(silentstep2_t *ctx, silentstep2_mres_t step_width)
Silent Step 2 sets the micro step resolution function.
err_t silentstep2_get_diag1(silentstep2_t *ctx, uint8_t *diag1)
Silent Step 2 get the diagnostics output DIAG1 function.
@ SILENTSTEP2_TBL_CLOCKS_54
Definition: silentstep2.h:523
err_t silentstep2_reg_write(silentstep2_t *ctx, uint8_t reg, uint32_t data_in)
Silent Step 2 data writing function.
uint8_t ola
Definition: silentstep2.h:479
uint8_t direct_mode
Definition: silentstep2.h:430
pin_name_t sda
Definition: silentstep2.h:388
@ SILENTSTEP2_MRES_32
Definition: silentstep2.h:505
err_t silentstep2_default_cfg(silentstep2_t *ctx)
Silent Step 2 default configuration function.
err_t silentstep2_input_enable(silentstep2_t *ctx)
Silent Step 2 enable input function.
uint8_t shaft
Definition: silentstep2.h:418
pin_name_t chip_select
Definition: silentstep2.h:375
@ SILENTSTEP2_OK
Definition: silentstep2.h:491
uint8_t slave_address
Definition: silentstep2.h:374
uint32_t i2c_speed
Definition: silentstep2.h:399
silentstep2_return_value_t
Silent Step 2 Click return value data.
Definition: silentstep2.h:490
err_t silentstep2_set_tcoolthrs(silentstep2_t *ctx, uint32_t tcoolthrs)
Silent Step 2 sets lower threshold velocity for switching on smart energy function.
uint8_t diag0_int_pushpull
Definition: silentstep2.h:426
pin_name_t int_pin
Definition: silentstep2.h:395
Silent Step 2 Click smart energy control coolStep and stallGuard2 object.
Definition: silentstep2.h:439
uint8_t semax
Definition: silentstep2.h:442
err_t silentstep2_port_exp_write(silentstep2_t *ctx, uint8_t reg, uint8_t data_in)
Silent Step 2 port expander data writing function.
uint8_t internal_rsense
Definition: silentstep2.h:415
err_t silentstep2_make_one_step(silentstep2_t *ctx, uint8_t step_speed)
Silent Step 2 make the one step function.
uint8_t otpw
Definition: silentstep2.h:476
digital_out_t dir
Definition: silentstep2.h:366
err_t silentstep2_set_ihold_irun(silentstep2_t *ctx, uint8_t ihold, uint8_t irun, uint8_t ihold_delay)
Silent Step 2 sets driver current control function.
uint8_t pwm_ampl
Definition: silentstep2.h:456
uint8_t sgt
Definition: silentstep2.h:445
uint8_t silentstep2_get_interrupt(silentstep2_t *ctx)
Silent Step 2 get the interrupt function.
err_t silentstep2_get_diag0(silentstep2_t *ctx, uint8_t *diag0)
Silent Step 2 get the diagnostics output DIAG0 function.
pin_name_t dir
Definition: silentstep2.h:393
uint8_t i2c_address
Definition: silentstep2.h:400
pin_name_t cs
Definition: silentstep2.h:392
pin_name_t sck
Definition: silentstep2.h:391
Silent Step 2 Click stallGuard2 value and driver error flags object.
Definition: silentstep2.h:470
err_t silentstep2_switch_off(silentstep2_t *ctx)
Silent Step 2 sets the power OFF function.
err_t silentstep2_set_gconf(silentstep2_t *ctx, silentstep2_gconf_t gconf)
Silent Step 2 sets global configuration function.
err_t silentstep2_set_toff(silentstep2_t *ctx, uint8_t off_time)
Silent Step 2 sets the off time and driver enable function.
void silentstep2_cfg_setup(silentstep2_cfg_t *cfg)
Silent Step 2 configuration object setup function.
uint8_t fsactive
Definition: silentstep2.h:472
@ SILENTSTEP2_MRES_256
Definition: silentstep2.h:502
uint8_t diag1_pushpull
Definition: silentstep2.h:427
@ SILENTSTEP2_DRV_SEL_SPI
Definition: silentstep2.h:355
err_t silentstep2_set_pwmconf(silentstep2_t *ctx, silentstep2_pwmconf_t pwmconf)
Silent Step 2 sets the voltage PWM Mode stealthChop function.
uint8_t pwm_symmetric
Definition: silentstep2.h:460
pin_name_t miso
Definition: silentstep2.h:389
uint8_t semin
Definition: silentstep2.h:440
@ SILENTSTEP2_MRES_128
Definition: silentstep2.h:503
err_t silentstep2_set_intpol(silentstep2_t *ctx, uint8_t intpol_en)
Silent Step 2 enable the actual microstep resolution function.
Silent Step 2 Click global configuration object.
Definition: silentstep2.h:413
err_t silentstep2_set_thigh(silentstep2_t *ctx, uint32_t thigh)
Silent Step 2 sets the velocity setting function.
err_t silentstep2_set_coolconf(silentstep2_t *ctx, silentstep2_coolconf_t coolconf)
Silent Step 2 sets the coolStep smart current control function.
uint8_t diag0_stall
Definition: silentstep2.h:421
silentstep2_tbl_t
Silent Step 2 Click comparator blank time value data.
Definition: silentstep2.h:519
uint8_t pwm_grad
Definition: silentstep2.h:457
@ SILENTSTEP2_TBL_CLOCKS_16
Definition: silentstep2.h:520
@ SILENTSTEP2_DRV_SEL_I2C
Definition: silentstep2.h:356
uint8_t sedn
Definition: silentstep2.h:443
spi_master_mode_t spi_mode
Definition: silentstep2.h:403
err_t silentstep2_set_mslutsel(silentstep2_t *ctx, uint32_t lut_seg_str, uint32_t lut_width_sel)
Silent Step 2 sets the microstep segments function.
err_t silentstep2_port_exp_read(silentstep2_t *ctx, uint8_t reg, uint8_t *data_out)
Silent Step 2 port expander data reading function.
uint32_t spi_speed
Definition: silentstep2.h:402
@ SILENTSTEP2_MRES_64
Definition: silentstep2.h:504
uint8_t diag1_stall
Definition: silentstep2.h:422
err_t silentstep2_set_pins(silentstep2_t *ctx, uint8_t set_mask, uint8_t clr_mask)
Silent Step 2 sets the pin states function.
pin_name_t scl
Definition: silentstep2.h:387
uint8_t sfilt
Definition: silentstep2.h:446
void silentstep2_set_step(silentstep2_t *ctx, uint8_t step)
Silent Step 2 set the step pin state function.
uint8_t pwm_freq
Definition: silentstep2.h:458