silentstep  2.1.0.0
silentstep.h
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22 
28 #ifndef SILENTSTEP_H
29 #define SILENTSTEP_H
30 
31 #ifdef __cplusplus
32 extern "C"{
33 #endif
34 
35 #include "mikrosdk_version.h"
36 
37 #ifdef __GNUC__
38 #if mikroSDK_GET_VERSION < 20800ul
39 #include "rcu_delays.h"
40 #else
41 #include "delays.h"
42 #endif
43 #endif
44 
45 #include "drv_digital_out.h"
46 #include "drv_digital_in.h"
47 #include "drv_spi_master.h"
48 #include "spi_specifics.h"
49 
70 #define SILENTSTEP_REG_GCONF 0x00
71 #define SILENTSTEP_REG_GSTAT 0x01
72 #define SILENTSTEP_REG_IFCNT 0x02
73 #define SILENTSTEP_REG_SLAVECONF 0x03
74 #define SILENTSTEP_REG_IOIN 0x04
75 #define SILENTSTEP_REG_X_COMPARE 0x05
76 #define SILENTSTEP_REG_IHOLD_IRUN 0x10
77 #define SILENTSTEP_REG_TPOWERDOWN 0x11
78 #define SILENTSTEP_REG_TSTEP 0x12
79 #define SILENTSTEP_REG_TPWMTHRS 0x13
80 #define SILENTSTEP_REG_TCOOLTHRS 0x14
81 #define SILENTSTEP_REG_THIGH 0x15
82 #define SILENTSTEP_REG_RAMP_MODE 0x20
83 #define SILENTSTEP_REG_XACTUAL 0x21
84 #define SILENTSTEP_REG_VACTUAL 0x22
85 #define SILENTSTEP_REG_VSTART 0x23
86 #define SILENTSTEP_REG_A1 0x24
87 #define SILENTSTEP_REG_V1 0x25
88 #define SILENTSTEP_REG_AMAX 0x26
89 #define SILENTSTEP_REG_VMAX 0x27
90 #define SILENTSTEP_REG_DMAX 0x28
91 #define SILENTSTEP_REG_D1 0x2A
92 #define SILENTSTEP_REG_VSTOP 0x2B
93 #define SILENTSTEP_REG_TZEROWAIT 0x2C
94 #define SILENTSTEP_REG_XTARGET 0x2D
95 #define SILENTSTEP_REG_VDCMIN 0x33
96 #define SILENTSTEP_REG_SW_MODE 0x34
97 #define SILENTSTEP_REG_RAMP_STAT 0x35
98 #define SILENTSTEP_REG_XLATCH 0x36
99 #define SILENTSTEP_REG_ENCMODE 0x38
100 #define SILENTSTEP_REG_X_ENC 0x39
101 #define SILENTSTEP_REG_ENC_CONST 0x3A
102 #define SILENTSTEP_REG_ENC_STATUS 0x3B
103 #define SILENTSTEP_REG_ENC_LATCH 0x3C
104 #define SILENTSTEP_REG_MSLUT_0 0x60
105 #define SILENTSTEP_REG_MSLUT_1 0x61
106 #define SILENTSTEP_REG_MSLUT_2 0x62
107 #define SILENTSTEP_REG_MSLUT_3 0x63
108 #define SILENTSTEP_REG_MSLUT_4 0x64
109 #define SILENTSTEP_REG_MSLUT_5 0x65
110 #define SILENTSTEP_REG_MSLUT_6 0x66
111 #define SILENTSTEP_REG_MSLUT_7 0x67
112 #define SILENTSTEP_REG_MSLUTSEL 0x68
113 #define SILENTSTEP_REG_MSLUTSTART 0x69
114 #define SILENTSTEP_REG_MSCNT 0x6A
115 #define SILENTSTEP_REG_MSCURACT 0x6B
116 #define SILENTSTEP_REG_CHOPCONF 0x6C
117 #define SILENTSTEP_REG_COOLCONF 0x6D
118 #define SILENTSTEP_REG_DCCTRL 0x6E
119 #define SILENTSTEP_REG_DRV_STATUS 0x6F
120 #define SILENTSTEP_REG_PWMCONF 0x70
121 #define SILENTSTEP_REG_PWM_SCALE 0x71
122 #define SILENTSTEP_REG_ENCM_CTRL 0x72
123 #define SILENTSTEP_REG_LOST_STEPS 0x73
124  // silentstep_reg
126 
141 #define SILENTSTEP_IOIN_VERSION_MASK 0xFF000000ul
142 #define SILENTSTEP_IOIN_VERSION_DEFAULT 0x11000000ul
143 
148 #define SILENTSTEP_DIR_CW 0
149 #define SILENTSTEP_DIR_CCW 1
150 
155 #define SILENTSTEP_PIN_STATE_LOW 0
156 #define SILENTSTEP_PIN_STATE_HIGH 1
157 
162 #define SILENTSTEP_SPEED_VERY_SLOW 0
163 #define SILENTSTEP_SPEED_SLOW 1
164 #define SILENTSTEP_SPEED_MEDIUM 2
165 #define SILENTSTEP_SPEED_FAST 3
166 #define SILENTSTEP_SPEED_VERY_FAST 4
167 
172 #define SILENTSTEP_TOFF_MASK 0x0000000Ful
173 #define SILENTSTEP_TOFF_SHIFT 0
174 #define SILENTSTEP_TOFF_DRIVER_DISABLE 0
175 #define SILENTSTEP_TOFF_MIN 1
176 #define SILENTSTEP_TOFF_DEFAULT 4
177 #define SILENTSTEP_TOFF_MAX 15
178 
183 #define SILENTSTEP_MRES_MASK 0x0F000000ul
184 #define SILENTSTEP_MRES_SHIFT 24
185 #define SILENTSTEP_MRES_256 0
186 #define SILENTSTEP_MRES_128 1
187 #define SILENTSTEP_MRES_64 2
188 #define SILENTSTEP_MRES_32 3
189 #define SILENTSTEP_MRES_16 4
190 #define SILENTSTEP_MRES_8 5
191 #define SILENTSTEP_MRES_4 6
192 #define SILENTSTEP_MRES_2 7
193 #define SILENTSTEP_MRES_FULLSTEP 8
194 
199 #define SILENTSTEP_IRUN_MASK 0x00000F00ul
200 #define SILENTSTEP_IRUN_SHIFT 8
201 #define SILENTSTEP_IRUN_MIN 0
202 #define SILENTSTEP_IRUN_DEFAULT 2
203 #define SILENTSTEP_IRUN_MAX 31
204 
213 #define SILENTSTEP_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
214 #define SILENTSTEP_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
215  // silentstep_set
217 
232 #define SILENTSTEP_MAP_MIKROBUS( cfg, mikrobus ) \
233  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
234  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
235  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
236  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
237  cfg.spm = MIKROBUS( mikrobus, MIKROBUS_AN ); \
238  cfg.sdm = MIKROBUS( mikrobus, MIKROBUS_RST ); \
239  cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
240  cfg.dir = MIKROBUS( mikrobus, MIKROBUS_INT )
241  // silentstep_map // silentstep
244 
249 typedef struct
250 {
251  // Output pins
252  digital_out_t spm;
253  digital_out_t sdm;
254  digital_out_t step;
255  digital_out_t dir;
257  // Modules
258  spi_master_t spi;
260  pin_name_t chip_select;
262 } silentstep_t;
263 
268 typedef struct
269 {
270  // Communication gpio pins
271  pin_name_t miso;
272  pin_name_t mosi;
273  pin_name_t sck;
274  pin_name_t cs;
276  // Additional gpio pins
277  pin_name_t spm;
278  pin_name_t sdm;
279  pin_name_t step;
280  pin_name_t dir;
282  // static variable
283  uint32_t spi_speed;
284  spi_master_mode_t spi_mode;
285  spi_master_chip_select_polarity_t cs_polarity;
288 
293 typedef enum
294 {
296  SILENTSTEP_ERROR = -1
297 
299 
316 
331 
345 
359 err_t silentstep_write_reg ( silentstep_t *ctx, uint8_t reg, uint32_t data_in );
360 
373 err_t silentstep_read_reg ( silentstep_t *ctx, uint8_t reg, uint32_t *data_out );
374 
386 
397 void silentstep_set_direction ( silentstep_t *ctx, uint8_t dir );
398 
408 
419 void silentstep_set_spm_pin ( silentstep_t *ctx, uint8_t state );
420 
431 void silentstep_set_sdm_pin ( silentstep_t *ctx, uint8_t state );
432 
443 void silentstep_set_step_pin ( silentstep_t *ctx, uint8_t state );
444 
456 err_t silentstep_set_toff ( silentstep_t *ctx, uint8_t toff );
457 
478 err_t silentstep_set_step_res ( silentstep_t *ctx, uint8_t mres );
479 
491 err_t silentstep_set_run_current ( silentstep_t *ctx, uint8_t irun );
492 
508 void silentstep_drive_motor ( silentstep_t *ctx, uint32_t steps, uint8_t speed );
509 
510 #ifdef __cplusplus
511 }
512 #endif
513 #endif // SILENTSTEP_H
514  // silentstep
516 
517 // ------------------------------------------------------------------------ END
silentstep_read_reg
err_t silentstep_read_reg(silentstep_t *ctx, uint8_t reg, uint32_t *data_out)
Silent Step read reg function.
silentstep_cfg_t::sck
pin_name_t sck
Definition: silentstep.h:273
silentstep_drive_motor
void silentstep_drive_motor(silentstep_t *ctx, uint32_t steps, uint8_t speed)
Silent Step driver motor function.
silentstep_set_spm_pin
void silentstep_set_spm_pin(silentstep_t *ctx, uint8_t state)
Silent Step set spm pin function.
silentstep_cfg_t
Silent Step Click configuration object.
Definition: silentstep.h:269
silentstep_t::chip_select
pin_name_t chip_select
Definition: silentstep.h:260
silentstep_t::sdm
digital_out_t sdm
Definition: silentstep.h:253
spi_specifics.h
This file contains SPI specific macros, functions, etc.
silentstep_switch_direction
void silentstep_switch_direction(silentstep_t *ctx)
Silent Step switch direction function.
silentstep_init
err_t silentstep_init(silentstep_t *ctx, silentstep_cfg_t *cfg)
Silent Step initialization function.
silentstep_set_step_res
err_t silentstep_set_step_res(silentstep_t *ctx, uint8_t mres)
Silent Step set step res function.
silentstep_cfg_t::dir
pin_name_t dir
Definition: silentstep.h:280
silentstep_check_com
err_t silentstep_check_com(silentstep_t *ctx)
Silent Step check com function.
silentstep_t::spi
spi_master_t spi
Definition: silentstep.h:258
SILENTSTEP_ERROR
@ SILENTSTEP_ERROR
Definition: silentstep.h:296
silentstep_set_toff
err_t silentstep_set_toff(silentstep_t *ctx, uint8_t toff)
Silent Step set toff function.
silentstep_t::dir
digital_out_t dir
Definition: silentstep.h:255
silentstep_set_sdm_pin
void silentstep_set_sdm_pin(silentstep_t *ctx, uint8_t state)
Silent Step set sdm pin function.
silentstep_cfg_t::mosi
pin_name_t mosi
Definition: silentstep.h:272
silentstep_cfg_t::step
pin_name_t step
Definition: silentstep.h:279
silentstep_t
Silent Step Click context object.
Definition: silentstep.h:250
silentstep_set_direction
void silentstep_set_direction(silentstep_t *ctx, uint8_t dir)
Silent Step set direction function.
silentstep_set_step_pin
void silentstep_set_step_pin(silentstep_t *ctx, uint8_t state)
Silent Step set step pin function.
silentstep_cfg_t::spi_speed
uint32_t spi_speed
Definition: silentstep.h:283
silentstep_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: silentstep.h:284
silentstep_cfg_setup
void silentstep_cfg_setup(silentstep_cfg_t *cfg)
Silent Step configuration object setup function.
silentstep_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: silentstep.h:285
silentstep_cfg_t::cs
pin_name_t cs
Definition: silentstep.h:274
silentstep_default_cfg
err_t silentstep_default_cfg(silentstep_t *ctx)
Silent Step default configuration function.
silentstep_t::step
digital_out_t step
Definition: silentstep.h:254
silentstep_t::spm
digital_out_t spm
Definition: silentstep.h:252
silentstep_cfg_t::miso
pin_name_t miso
Definition: silentstep.h:271
silentstep_write_reg
err_t silentstep_write_reg(silentstep_t *ctx, uint8_t reg, uint32_t data_in)
Silent Step write reg function.
silentstep_cfg_t::sdm
pin_name_t sdm
Definition: silentstep.h:278
silentstep_cfg_t::spm
pin_name_t spm
Definition: silentstep.h:277
silentstep_return_value_t
silentstep_return_value_t
Silent Step Click return value data.
Definition: silentstep.h:294
SILENTSTEP_OK
@ SILENTSTEP_OK
Definition: silentstep.h:295
silentstep_set_run_current
err_t silentstep_set_run_current(silentstep_t *ctx, uint8_t irun)
Silent Step set run current function.