silentstep4  2.1.0.0
silentstep4.h
Go to the documentation of this file.
1 /****************************************************************************
2 ** Copyright (C) 2020 MikroElektronika d.o.o.
3 ** Contact: https://www.mikroe.com/contact
4 **
5 ** Permission is hereby granted, free of charge, to any person obtaining a copy
6 ** of this software and associated documentation files (the "Software"), to deal
7 ** in the Software without restriction, including without limitation the rights
8 ** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9 ** copies of the Software, and to permit persons to whom the Software is
10 ** furnished to do so, subject to the following conditions:
11 ** The above copyright notice and this permission notice shall be
12 ** included in all copies or substantial portions of the Software.
13 **
14 ** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
15 ** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
16 ** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
17 ** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
18 ** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
19 ** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
20 ** USE OR OTHER DEALINGS IN THE SOFTWARE.
21 ****************************************************************************/
22 
28 #ifndef SILENTSTEP4_H
29 #define SILENTSTEP4_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 #include "drv_spi_master.h"
53 #include "spi_specifics.h"
54 
75 #define SILENTSTEP4_REG_GCONF 0x00
76 #define SILENTSTEP4_REG_GSTAT 0x01
77 #define SILENTSTEP4_REG_IFCNT 0x02
78 #define SILENTSTEP4_REG_NODECONF 0x03
79 #define SILENTSTEP4_REG_IOIN 0x04
80 #define SILENTSTEP4_REG_DRV_CONF 0x0A
81 #define SILENTSTEP4_REG_GLOBAL_SCALER 0x0B
82 #define SILENTSTEP4_REG_IHOLD_IRUN 0x10
83 #define SILENTSTEP4_REG_TPOWERDOWN 0x11
84 #define SILENTSTEP4_REG_TSTEP 0x12
85 #define SILENTSTEP4_REG_TPWMTHRS 0x13
86 #define SILENTSTEP4_REG_TCOOLTHRS 0x14
87 #define SILENTSTEP4_REG_THIGH 0x15
88 #define SILENTSTEP4_REG_DIRECT_MODE 0x2D
89 #define SILENTSTEP4_REG_ENCMODE 0x38
90 #define SILENTSTEP4_REG_X_ENC 0x39
91 #define SILENTSTEP4_REG_ENC_CONST 0x3A
92 #define SILENTSTEP4_REG_ENC_STATUS 0x3B
93 #define SILENTSTEP4_REG_ENC_LATCH 0x3C
94 #define SILENTSTEP4_REG_ADC_VSUPPLY_AIN 0x50
95 #define SILENTSTEP4_REG_ADC_TEMP 0x51
96 #define SILENTSTEP4_REG_OTW_OV_VTH 0x52
97 #define SILENTSTEP4_REG_MSLUT_0 0x60
98 #define SILENTSTEP4_REG_MSLUT_1 0x61
99 #define SILENTSTEP4_REG_MSLUT_2 0x62
100 #define SILENTSTEP4_REG_MSLUT_3 0x63
101 #define SILENTSTEP4_REG_MSLUT_4 0x64
102 #define SILENTSTEP4_REG_MSLUT_5 0x65
103 #define SILENTSTEP4_REG_MSLUT_6 0x66
104 #define SILENTSTEP4_REG_MSLUT_7 0x67
105 #define SILENTSTEP4_REG_MSLUTSEL 0x68
106 #define SILENTSTEP4_REG_MSLUTSTART 0x69
107 #define SILENTSTEP4_REG_MSCNT 0x6A
108 #define SILENTSTEP4_REG_MSCURACT 0x6B
109 #define SILENTSTEP4_REG_CHOPCONF 0x6C
110 #define SILENTSTEP4_REG_COOLCONF 0x6D
111 #define SILENTSTEP4_REG_DRV_STATUS 0x6F
112 #define SILENTSTEP4_REG_PWMCONF 0x70
113 #define SILENTSTEP4_REG_PWM_SCALE 0x71
114 #define SILENTSTEP4_REG_PWM_AUTO 0x72
115 #define SILENTSTEP4_REG_SG4_THRS 0x74
116 #define SILENTSTEP4_REG_SG4_RESULT 0x75
117 #define SILENTSTEP4_REG_SG4_IND 0x76
118 
123 #define SILENTSTEP4_PCA9538A_REG_INPUT 0x00
124 #define SILENTSTEP4_PCA9538A_REG_OUTPUT 0x01
125 #define SILENTSTEP4_PCA9538A_REG_POLARITY 0x02
126 #define SILENTSTEP4_PCA9538A_REG_CONFIG 0x03
127 
142 #define SILENTSTEP4_IOIN_VERSION_MASK 0xFF000000ul
143 #define SILENTSTEP4_IOIN_VERSION_DEFAULT 0x40000000ul
144 
149 #define SILENTSTEP4_PIN_EN 0x01
150 #define SILENTSTEP4_PIN_SLEEP 0x02
151 #define SILENTSTEP4_PIN_DIAG0 0x04
152 #define SILENTSTEP4_PIN_DIAG1 0x08
153 #define SILENTSTEP4_PIN_OV 0x10
154 
159 #define SILENTSTEP4_PCA9538A_DEFAULT_CONFIG 0xFC
160 
165 #define SILENTSTEP4_DIR_CW 0
166 #define SILENTSTEP4_DIR_CCW 1
167 
172 #define SILENTSTEP4_PIN_STATE_LOW 0
173 #define SILENTSTEP4_PIN_STATE_HIGH 1
174 
179 #define SILENTSTEP4_SPEED_VERY_SLOW 0
180 #define SILENTSTEP4_SPEED_SLOW 1
181 #define SILENTSTEP4_SPEED_MEDIUM 2
182 #define SILENTSTEP4_SPEED_FAST 3
183 #define SILENTSTEP4_SPEED_VERY_FAST 4
184 
189 #define SILENTSTEP4_TOFF_MASK 0x0000000Ful
190 #define SILENTSTEP4_TOFF_SHIFT 0
191 #define SILENTSTEP4_TOFF_DRIVER_DISABLE 0
192 #define SILENTSTEP4_TOFF_MIN 1
193 #define SILENTSTEP4_TOFF_DEFAULT 4
194 #define SILENTSTEP4_TOFF_MAX 15
195 
200 #define SILENTSTEP4_MRES_MASK 0x0F000000ul
201 #define SILENTSTEP4_MRES_SHIFT 24
202 #define SILENTSTEP4_MRES_256 0
203 #define SILENTSTEP4_MRES_128 1
204 #define SILENTSTEP4_MRES_64 2
205 #define SILENTSTEP4_MRES_32 3
206 #define SILENTSTEP4_MRES_16 4
207 #define SILENTSTEP4_MRES_8 5
208 #define SILENTSTEP4_MRES_4 6
209 #define SILENTSTEP4_MRES_2 7
210 #define SILENTSTEP4_MRES_FULLSTEP 8
211 
216 #define SILENTSTEP4_IRUN_MASK 0x00000F00ul
217 #define SILENTSTEP4_IRUN_SHIFT 8
218 #define SILENTSTEP4_IRUN_MIN 0
219 #define SILENTSTEP4_IRUN_DEFAULT 16
220 #define SILENTSTEP4_IRUN_MAX 31
221 
227 #define SILENTSTEP4_DEVICE_ADDRESS_A1A0_00 0x70
228 #define SILENTSTEP4_DEVICE_ADDRESS_A1A0_01 0x71
229 #define SILENTSTEP4_DEVICE_ADDRESS_A1A0_10 0x72
230 #define SILENTSTEP4_DEVICE_ADDRESS_A1A0_11 0x73
231 
240 #define SILENTSTEP4_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
241 #define SILENTSTEP4_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
242  // silentstep4_set
244 
259 #define SILENTSTEP4_MAP_MIKROBUS( cfg, mikrobus ) \
260  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
261  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
262  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
263  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
264  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
265  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
266  cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
267  cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST ); \
268  cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
269  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
270  // silentstep4_map // silentstep4
273 
278 typedef struct silentstep4_s
279 {
280  digital_out_t dir;
281  digital_out_t rst;
282  digital_out_t step;
284  digital_in_t int_pin;
286  i2c_master_t i2c;
287  spi_master_t spi;
289  uint8_t slave_address;
290  pin_name_t chip_select;
293 
298 typedef struct
299 {
300  pin_name_t scl;
301  pin_name_t sda;
302  pin_name_t miso;
303  pin_name_t mosi;
304  pin_name_t sck;
305  pin_name_t cs;
306  pin_name_t dir;
307  pin_name_t rst;
308  pin_name_t step;
309  pin_name_t int_pin;
311  uint32_t i2c_speed;
312  uint8_t i2c_address;
314  uint32_t spi_speed;
315  spi_master_mode_t spi_mode;
316  spi_master_chip_select_polarity_t cs_polarity;
319 
324 typedef enum
325 {
327  SILENTSTEP4_ERROR = -1
328 
330 
347 
362 
376 
390 err_t silentstep4_write_reg ( silentstep4_t *ctx, uint8_t reg, uint32_t data_in );
391 
404 err_t silentstep4_read_reg ( silentstep4_t *ctx, uint8_t reg, uint32_t *data_out );
405 
419 err_t silentstep4_pca_write_reg ( silentstep4_t *ctx, uint8_t reg, uint8_t data_in );
420 
433 err_t silentstep4_pca_read_reg ( silentstep4_t *ctx, uint8_t reg, uint8_t *data_out );
434 
446 
459 err_t silentstep4_get_en_pin ( silentstep4_t *ctx, uint8_t *state );
460 
473 err_t silentstep4_set_en_pin ( silentstep4_t *ctx, uint8_t state );
474 
487 err_t silentstep4_get_sleep_pin ( silentstep4_t *ctx, uint8_t *state );
488 
501 err_t silentstep4_set_sleep_pin ( silentstep4_t *ctx, uint8_t state );
502 
515 err_t silentstep4_get_diag0_pin ( silentstep4_t *ctx, uint8_t *state );
516 
529 err_t silentstep4_get_diag1_pin ( silentstep4_t *ctx, uint8_t *state );
530 
543 err_t silentstep4_get_ov_pin ( silentstep4_t *ctx, uint8_t *state );
544 
556 
568 
579 void silentstep4_set_direction ( silentstep4_t *ctx, uint8_t dir );
580 
590 
600 
611 void silentstep4_set_rst_pin ( silentstep4_t *ctx, uint8_t state );
612 
622 
633 void silentstep4_set_step_pin ( silentstep4_t *ctx, uint8_t state );
634 
646 err_t silentstep4_set_toff ( silentstep4_t *ctx, uint8_t toff );
647 
668 err_t silentstep4_set_step_res ( silentstep4_t *ctx, uint8_t mres );
669 
681 err_t silentstep4_set_run_current ( silentstep4_t *ctx, uint8_t irun );
682 
698 void silentstep4_drive_motor ( silentstep4_t *ctx, uint32_t steps, uint8_t speed );
699 
700 #ifdef __cplusplus
701 }
702 #endif
703 #endif // SILENTSTEP4_H
704  // silentstep4
706 
707 // ------------------------------------------------------------------------ END
silentstep4_s::chip_select
pin_name_t chip_select
Definition: silentstep4.h:290
silentstep4_cfg_t::spi_speed
uint32_t spi_speed
Definition: silentstep4.h:314
SILENTSTEP4_OK
@ SILENTSTEP4_OK
Definition: silentstep4.h:326
silentstep4_set_step_pin
void silentstep4_set_step_pin(silentstep4_t *ctx, uint8_t state)
Silent Step 4 set step pin function.
silentstep4_drive_motor
void silentstep4_drive_motor(silentstep4_t *ctx, uint32_t steps, uint8_t speed)
Silent Step 4 driver motor function.
silentstep4_return_value_t
silentstep4_return_value_t
Silent Step 4 Click return value data.
Definition: silentstep4.h:325
silentstep4_s::int_pin
digital_in_t int_pin
Definition: silentstep4.h:284
silentstep4_s::spi
spi_master_t spi
Definition: silentstep4.h:287
silentstep4_cfg_setup
void silentstep4_cfg_setup(silentstep4_cfg_t *cfg)
Silent Step 4 configuration object setup function.
silentstep4_cfg_t::rst
pin_name_t rst
Definition: silentstep4.h:307
silentstep4_cfg_t::dir
pin_name_t dir
Definition: silentstep4.h:306
silentstep4_cfg_t::sda
pin_name_t sda
Definition: silentstep4.h:301
silentstep4_check_com
err_t silentstep4_check_com(silentstep4_t *ctx)
Silent Step 4 check com function.
silentstep4_get_diag0_pin
err_t silentstep4_get_diag0_pin(silentstep4_t *ctx, uint8_t *state)
Silent Step 4 get diag0 pin function.
silentstep4_cfg_t
Silent Step 4 Click configuration object.
Definition: silentstep4.h:299
spi_specifics.h
This file contains SPI specific macros, functions, etc.
silentstep4_write_reg
err_t silentstep4_write_reg(silentstep4_t *ctx, uint8_t reg, uint32_t data_in)
Silent Step 4 write reg function.
silentstep4_set_step_res
err_t silentstep4_set_step_res(silentstep4_t *ctx, uint8_t mres)
Silent Step 4 set step res function.
silentstep4_cfg_t::int_pin
pin_name_t int_pin
Definition: silentstep4.h:309
silentstep4_get_int_pin
uint8_t silentstep4_get_int_pin(silentstep4_t *ctx)
Silent Step 4 get int pin function.
silentstep4_s
Silent Step 4 Click context object.
Definition: silentstep4.h:279
silentstep4_get_en_pin
err_t silentstep4_get_en_pin(silentstep4_t *ctx, uint8_t *state)
Silent Step 4 get en pin function.
silentstep4_set_sleep_pin
err_t silentstep4_set_sleep_pin(silentstep4_t *ctx, uint8_t state)
Silent Step 4 set sleep pin function.
silentstep4_cfg_t::mosi
pin_name_t mosi
Definition: silentstep4.h:303
SILENTSTEP4_ERROR
@ SILENTSTEP4_ERROR
Definition: silentstep4.h:327
silentstep4_cfg_t::i2c_address
uint8_t i2c_address
Definition: silentstep4.h:312
silentstep4_default_cfg
err_t silentstep4_default_cfg(silentstep4_t *ctx)
Silent Step 4 default configuration function.
silentstep4_reset_pca
void silentstep4_reset_pca(silentstep4_t *ctx)
Silent Step 4 reset device function.
silentstep4_cfg_t::cs
pin_name_t cs
Definition: silentstep4.h:305
silentstep4_set_run_current
err_t silentstep4_set_run_current(silentstep4_t *ctx, uint8_t irun)
Silent Step 4 set run current function.
silentstep4_get_sleep_pin
err_t silentstep4_get_sleep_pin(silentstep4_t *ctx, uint8_t *state)
Silent Step 4 get sleep pin function.
silentstep4_s::step
digital_out_t step
Definition: silentstep4.h:282
silentstep4_pca_write_reg
err_t silentstep4_pca_write_reg(silentstep4_t *ctx, uint8_t reg, uint8_t data_in)
Silent Step 4 pca write reg function.
silentstep4_cfg_t::step
pin_name_t step
Definition: silentstep4.h:308
silentstep4_init
err_t silentstep4_init(silentstep4_t *ctx, silentstep4_cfg_t *cfg)
Silent Step 4 initialization function.
silentstep4_t
struct silentstep4_s silentstep4_t
Silent Step 4 Click context object.
silentstep4_cfg_t::sck
pin_name_t sck
Definition: silentstep4.h:304
silentstep4_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: silentstep4.h:316
silentstep4_read_reg
err_t silentstep4_read_reg(silentstep4_t *ctx, uint8_t reg, uint32_t *data_out)
Silent Step 4 read reg function.
silentstep4_set_en_pin
err_t silentstep4_set_en_pin(silentstep4_t *ctx, uint8_t state)
Silent Step 4 set en pin function.
silentstep4_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: silentstep4.h:311
silentstep4_enable_device
err_t silentstep4_enable_device(silentstep4_t *ctx)
Silent Step 4 enable device function.
silentstep4_cfg_t::scl
pin_name_t scl
Definition: silentstep4.h:300
silentstep4_s::rst
digital_out_t rst
Definition: silentstep4.h:281
silentstep4_get_ov_pin
err_t silentstep4_get_ov_pin(silentstep4_t *ctx, uint8_t *state)
Silent Step 4 get ov pin function.
silentstep4_set_rst_pin
void silentstep4_set_rst_pin(silentstep4_t *ctx, uint8_t state)
Silent Step 4 set rst pin function.
silentstep4_set_direction
void silentstep4_set_direction(silentstep4_t *ctx, uint8_t dir)
Silent Step 4 set direction function.
silentstep4_s::slave_address
uint8_t slave_address
Definition: silentstep4.h:289
silentstep4_disable_device
err_t silentstep4_disable_device(silentstep4_t *ctx)
Silent Step 4 disable device function.
silentstep4_switch_direction
void silentstep4_switch_direction(silentstep4_t *ctx)
Silent Step 4 switch direction function.
silentstep4_cfg_t::miso
pin_name_t miso
Definition: silentstep4.h:302
silentstep4_pca_read_reg
err_t silentstep4_pca_read_reg(silentstep4_t *ctx, uint8_t reg, uint8_t *data_out)
Silent Step 4 pca read reg function.
silentstep4_get_diag1_pin
err_t silentstep4_get_diag1_pin(silentstep4_t *ctx, uint8_t *state)
Silent Step 4 get diag1 pin function.
silentstep4_s::i2c
i2c_master_t i2c
Definition: silentstep4.h:286
silentstep4_set_toff
err_t silentstep4_set_toff(silentstep4_t *ctx, uint8_t toff)
Silent Step 4 set toff function.
silentstep4_s::dir
digital_out_t dir
Definition: silentstep4.h:280
silentstep4_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: silentstep4.h:315