stepper  2.1.0.0
stepper.h
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22 
28 #ifndef STEPPER_H
29 #define STEPPER_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 
72 #define STEPPER_PIN_STATE_LOW 0
73 #define STEPPER_PIN_STATE_HIGH 1
74 
79 #define STEPPER_DIR_CW 0
80 #define STEPPER_DIR_CCW 1
81 
86 #define STEPPER_MODE_FULL_STEP 0
87 #define STEPPER_MODE_HALF_STEP 1
88 #define STEPPER_MODE_QUARTER_STEP 2
89 #define STEPPER_MODE_1_OVER_8_STEP 3
90 
95 #define STEPPER_MICROSTEP_NUM_PER_STEP 32
96 
101 #define STEPPER_SPEED_VERY_SLOW 0
102 #define STEPPER_SPEED_SLOW 1
103 #define STEPPER_SPEED_MEDIUM 2
104 #define STEPPER_SPEED_FAST 3
105 #define STEPPER_SPEED_VERY_FAST 4
106  // stepper_set
108 
123 #define STEPPER_MAP_MIKROBUS( cfg, mikrobus ) \
124  cfg.ms1 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
125  cfg.ms2 = MIKROBUS( mikrobus, MIKROBUS_RST ); \
126  cfg.dir = MIKROBUS( mikrobus, MIKROBUS_CS ); \
127  cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
128  cfg.en = MIKROBUS( mikrobus, MIKROBUS_INT )
129  // stepper_map // stepper
132 
137 typedef struct
138 {
139  digital_out_t ms1;
140  digital_out_t ms2;
141  digital_out_t dir;
142  digital_out_t step;
143  digital_out_t en;
145 } stepper_t;
146 
151 typedef struct
152 {
153  pin_name_t ms1;
154  pin_name_t ms2;
155  pin_name_t dir;
156  pin_name_t step;
157  pin_name_t en;
159 } stepper_cfg_t;
160 
165 typedef enum
166 {
168  STEPPER_ERROR = -1
169 
171 
188 
202 err_t stepper_init ( stepper_t *ctx, stepper_cfg_t *cfg );
203 
215 
225 void stepper_set_step_mode ( stepper_t *ctx, uint8_t mode );
226 
242 void stepper_drive_motor ( stepper_t *ctx, uint32_t steps, uint8_t speed );
243 
253 
263 
274 void stepper_set_direction ( stepper_t *ctx, uint8_t dir );
275 
285 
296 void stepper_set_step_pin ( stepper_t *ctx, uint8_t state );
297 
298 #ifdef __cplusplus
299 }
300 #endif
301 #endif // STEPPER_H
302  // stepper
304 
305 // ------------------------------------------------------------------------ END
stepper_cfg_t::en
pin_name_t en
Definition: stepper.h:157
stepper_t::step
digital_out_t step
Definition: stepper.h:142
stepper_t::ms2
digital_out_t ms2
Definition: stepper.h:140
stepper_cfg_t::step
pin_name_t step
Definition: stepper.h:156
stepper_disable_device
void stepper_disable_device(stepper_t *ctx)
Stepper disable device function.
stepper_set_step_mode
void stepper_set_step_mode(stepper_t *ctx, uint8_t mode)
Stepper set step mode function.
stepper_set_direction
void stepper_set_direction(stepper_t *ctx, uint8_t dir)
Stepper set direction function.
stepper_t::dir
digital_out_t dir
Definition: stepper.h:141
stepper_set_step_pin
void stepper_set_step_pin(stepper_t *ctx, uint8_t state)
Stepper set step pin function.
STEPPER_ERROR
@ STEPPER_ERROR
Definition: stepper.h:168
stepper_init
err_t stepper_init(stepper_t *ctx, stepper_cfg_t *cfg)
Stepper initialization function.
stepper_t::ms1
digital_out_t ms1
Definition: stepper.h:139
stepper_enable_device
void stepper_enable_device(stepper_t *ctx)
Stepper enable device function.
STEPPER_OK
@ STEPPER_OK
Definition: stepper.h:167
stepper_switch_direction
void stepper_switch_direction(stepper_t *ctx)
Stepper switch direction function.
stepper_cfg_t::ms2
pin_name_t ms2
Definition: stepper.h:154
stepper_cfg_t::dir
pin_name_t dir
Definition: stepper.h:155
stepper_t
Stepper Click context object.
Definition: stepper.h:138
stepper_return_value_t
stepper_return_value_t
Stepper Click return value data.
Definition: stepper.h:166
stepper_cfg_setup
void stepper_cfg_setup(stepper_cfg_t *cfg)
Stepper configuration object setup function.
stepper_drive_motor
void stepper_drive_motor(stepper_t *ctx, uint32_t steps, uint8_t speed)
Stepper driver motor function.
stepper_default_cfg
void stepper_default_cfg(stepper_t *ctx)
Stepper default configuration function.
stepper_cfg_t
Stepper Click configuration object.
Definition: stepper.h:152
stepper_cfg_t::ms1
pin_name_t ms1
Definition: stepper.h:153
stepper_t::en
digital_out_t en
Definition: stepper.h:143