stepper5  2.1.0.0
stepper5.h
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22 
28 #ifndef STEPPER5_H
29 #define STEPPER5_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_uart.h"
52 
73 #define STEPPER5_REG_GCONF 0x00
74 #define STEPPER5_REG_GSTAT 0x01
75 #define STEPPER5_REG_IFCNT 0x02
76 #define STEPPER5_REG_SLAVECONF 0x03
77 #define STEPPER5_REG_OTP_PROG 0x04
78 #define STEPPER5_REG_OTP_READ 0x05
79 #define STEPPER5_REG_IOIN 0x06
80 #define STEPPER5_REG_FACTORY_CONF 0x07
81 #define STEPPER5_REG_IHOLD_IRUN 0x10
82 #define STEPPER5_REG_TPOWERDOWN 0x11
83 #define STEPPER5_REG_TSTEP 0x12
84 #define STEPPER5_REG_TPWMTHRS 0x13
85 #define STEPPER5_REG_VACTUAL 0x22
86 #define STEPPER5_REG_MSCNT 0x6A
87 #define STEPPER5_REG_MSCURACT 0x6B
88 #define STEPPER5_REG_CHOPCONF 0x6C
89 #define STEPPER5_REG_COOLCONF 0x6D
90 #define STEPPER5_REG_DRV_STATUS 0x6F
91 #define STEPPER5_REG_PWMCONF 0x70
92 #define STEPPER5_REG_PWM_SCALE 0x71
93 #define STEPPER5_REG_PWM_AUTO 0x72
94  // stepper5_reg
96 
111 #define STEPPER5_IOIN_VERSION_MASK 0xFF000000ul
112 #define STEPPER5_IOIN_VERSION_DEFAULT 0x20000000ul
113 
118 #define STEPPER5_DIR_CW 0
119 #define STEPPER5_DIR_CCW 1
120 
125 #define STEPPER5_PIN_STATE_LOW 0
126 #define STEPPER5_PIN_STATE_HIGH 1
127 
132 #define STEPPER5_SPEED_VERY_SLOW 0
133 #define STEPPER5_SPEED_SLOW 1
134 #define STEPPER5_SPEED_MEDIUM 2
135 #define STEPPER5_SPEED_FAST 3
136 #define STEPPER5_SPEED_VERY_FAST 4
137 
142 #define STEPPER5_GCONF_I_SCALE_ANALOG_INT_5V 0x00000000ul
143 #define STEPPER5_GCONF_I_SCALE_ANALOG_EXT_VREF 0x00000001ul
144 #define STEPPER5_GCONF_INTERNAL_RSENSE_EXT 0x00000000ul
145 #define STEPPER5_GCONF_INTERNAL_RSENSE_INT 0x00000002ul
146 #define STEPPER5_GCONF_EN_SPREAD_CYCLE_SCHOP 0x00000000ul
147 #define STEPPER5_GCONF_EN_SPREAD_CYCLE_SCYCLE 0x00000004ul
148 #define STEPPER5_GCONF_SHAFT_INVERSE 0x00000008ul
149 #define STEPPER5_GCONF_INDEX_OTPW_FIRST_MSTEP 0x00000000ul
150 #define STEPPER5_GCONF_INDEX_OTPW_OVERTEMP 0x00000010ul
151 #define STEPPER5_GCONF_INDEX_STEP_OTPW 0x00000000ul
152 #define STEPPER5_GCONF_INDEX_STEP_INT 0x00000020ul
153 #define STEPPER5_GCONF_PDN_DISABLE_SSC_REDUCT 0x00000000ul
154 #define STEPPER5_GCONF_PDN_DISABLE_UART_EN 0x00000040ul
155 #define STEPPER5_GCONF_MSTEP_REG_SELECT_MS_PINS 0x00000000ul
156 #define STEPPER5_GCONF_MSTEP_REG_SELECT_MSTEP 0x00000080ul
157 #define STEPPER5_GCONF_MULTISTEP_FILT_DIS 0x00000000ul
158 #define STEPPER5_GCONF_MULTISTEP_FILT_EN 0x00000100ul
159 #define STEPPER5_GCONF_TEST_MODE_NORMAL 0x00000000ul
160 #define STEPPER5_GCONF_TEST_MODE_ENN 0x00000200ul
161 
166 #define STEPPER5_TOFF_MASK 0x0000000Ful
167 #define STEPPER5_TOFF_SHIFT 0
168 #define STEPPER5_TOFF_DRIVER_DISABLE 0
169 #define STEPPER5_TOFF_MIN 1
170 #define STEPPER5_TOFF_DEFAULT 4
171 #define STEPPER5_TOFF_MAX 15
172 
177 #define STEPPER5_MRES_MASK 0x0F000000ul
178 #define STEPPER5_MRES_SHIFT 24
179 #define STEPPER5_MRES_256 0
180 #define STEPPER5_MRES_128 1
181 #define STEPPER5_MRES_64 2
182 #define STEPPER5_MRES_32 3
183 #define STEPPER5_MRES_16 4
184 #define STEPPER5_MRES_8 5
185 #define STEPPER5_MRES_4 6
186 #define STEPPER5_MRES_2 7
187 #define STEPPER5_MRES_FULLSTEP 8
188 
193 #define STEPPER5_IRUN_MASK 0x00000F00ul
194 #define STEPPER5_IRUN_SHIFT 8
195 #define STEPPER5_IRUN_MIN 0
196 #define STEPPER5_IRUN_DEFAULT 16
197 #define STEPPER5_IRUN_MAX 31
198 
203 #define STEPPER5_UART_SYNC_BYTE 0x05
204 #define STEPPER5_UART_SLAVE_ADDRESS 0x00
205 #define STEPPER5_UART_WRITE_BIT 0x80
206 
212 #define STEPPER5_TX_DRV_BUFFER_SIZE 100
213 #define STEPPER5_RX_DRV_BUFFER_SIZE 300
214  // stepper5_set
216 
231 #define STEPPER5_MAP_MIKROBUS( cfg, mikrobus ) \
232  cfg.tx_pin = MIKROBUS( mikrobus, MIKROBUS_TX ); \
233  cfg.rx_pin = MIKROBUS( mikrobus, MIKROBUS_RX ); \
234  cfg.diag = MIKROBUS( mikrobus, MIKROBUS_AN ); \
235  cfg.dir = MIKROBUS( mikrobus, MIKROBUS_RST ); \
236  cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
237  cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
238  cfg.ind = MIKROBUS( mikrobus, MIKROBUS_INT );
239  // stepper5_map // stepper5
242 
247 typedef struct
248 {
249  // Output pins
250  digital_out_t dir;
251  digital_out_t en;
252  digital_out_t step;
254  // Input pins
255  digital_in_t diag;
256  digital_in_t ind;
258  // Modules
259  uart_t uart;
261  // Buffers
262  uint8_t uart_rx_buffer[ STEPPER5_RX_DRV_BUFFER_SIZE ];
263  uint8_t uart_tx_buffer[ STEPPER5_TX_DRV_BUFFER_SIZE ];
265 } stepper5_t;
266 
271 typedef struct
272 {
273  // Communication gpio pins
274  pin_name_t rx_pin;
275  pin_name_t tx_pin;
277  // Additional gpio pins
278  pin_name_t diag;
279  pin_name_t dir;
280  pin_name_t en;
281  pin_name_t step;
282  pin_name_t ind;
284  // Static variable
285  uint32_t baud_rate;
287  uart_data_bits_t data_bit;
288  uart_parity_t parity_bit;
289  uart_stop_bits_t stop_bit;
292 
297 typedef enum
298 {
300  STEPPER5_ERROR = -1
301 
303 
320 
335 
349 
361 void stepper5_write_reg ( stepper5_t *ctx, uint8_t reg, uint32_t data_in );
362 
375 err_t stepper5_read_reg ( stepper5_t *ctx, uint8_t reg, uint32_t *data_out );
376 
388 
398 
408 
419 void stepper5_set_direction ( stepper5_t *ctx, uint8_t dir );
420 
430 
441 void stepper5_set_step_pin ( stepper5_t *ctx, uint8_t state );
442 
452 
462 
474 err_t stepper5_set_toff ( stepper5_t *ctx, uint8_t toff );
475 
496 err_t stepper5_set_step_res ( stepper5_t *ctx, uint8_t mres );
497 
509 err_t stepper5_set_run_current ( stepper5_t *ctx, uint8_t irun );
510 
526 void stepper5_drive_motor ( stepper5_t *ctx, uint32_t steps, uint8_t speed );
527 
528 #ifdef __cplusplus
529 }
530 #endif
531 #endif // STEPPER5_H
532  // stepper5
534 
535 // ------------------------------------------------------------------------ END
stepper5_t::diag
digital_in_t diag
Definition: stepper5.h:255
stepper5_set_step_res
err_t stepper5_set_step_res(stepper5_t *ctx, uint8_t mres)
Stepper 5 set step res function.
stepper5_cfg_t::en
pin_name_t en
Definition: stepper5.h:280
stepper5_cfg_setup
void stepper5_cfg_setup(stepper5_cfg_t *cfg)
Stepper 5 configuration object setup function.
stepper5_t::uart
uart_t uart
Definition: stepper5.h:259
STEPPER5_ERROR
@ STEPPER5_ERROR
Definition: stepper5.h:300
stepper5_switch_direction
void stepper5_switch_direction(stepper5_t *ctx)
Stepper 5 switch direction function.
stepper5_set_run_current
err_t stepper5_set_run_current(stepper5_t *ctx, uint8_t irun)
Stepper 5 set run current function.
stepper5_write_reg
void stepper5_write_reg(stepper5_t *ctx, uint8_t reg, uint32_t data_in)
Stepper 5 write reg function.
stepper5_cfg_t
Stepper 5 Click configuration object.
Definition: stepper5.h:272
stepper5_cfg_t::stop_bit
uart_stop_bits_t stop_bit
Definition: stepper5.h:289
STEPPER5_RX_DRV_BUFFER_SIZE
#define STEPPER5_RX_DRV_BUFFER_SIZE
Definition: stepper5.h:213
stepper5_set_step_pin
void stepper5_set_step_pin(stepper5_t *ctx, uint8_t state)
Stepper 5 set step pin function.
stepper5_cfg_t::parity_bit
uart_parity_t parity_bit
Definition: stepper5.h:288
stepper5_set_direction
void stepper5_set_direction(stepper5_t *ctx, uint8_t dir)
Stepper 5 set direction function.
stepper5_cfg_t::ind
pin_name_t ind
Definition: stepper5.h:282
stepper5_cfg_t::uart_blocking
bool uart_blocking
Definition: stepper5.h:286
stepper5_t::ind
digital_in_t ind
Definition: stepper5.h:256
stepper5_cfg_t::dir
pin_name_t dir
Definition: stepper5.h:279
stepper5_t
Stepper 5 Click context object.
Definition: stepper5.h:248
stepper5_t::dir
digital_out_t dir
Definition: stepper5.h:250
stepper5_cfg_t::rx_pin
pin_name_t rx_pin
Definition: stepper5.h:274
stepper5_check_com
err_t stepper5_check_com(stepper5_t *ctx)
Stepper 5 check com function.
stepper5_init
err_t stepper5_init(stepper5_t *ctx, stepper5_cfg_t *cfg)
Stepper 5 initialization function.
stepper5_cfg_t::tx_pin
pin_name_t tx_pin
Definition: stepper5.h:275
stepper5_drive_motor
void stepper5_drive_motor(stepper5_t *ctx, uint32_t steps, uint8_t speed)
Stepper 5 driver motor function.
stepper5_default_cfg
err_t stepper5_default_cfg(stepper5_t *ctx)
Stepper 5 default configuration function.
stepper5_set_toff
err_t stepper5_set_toff(stepper5_t *ctx, uint8_t toff)
Stepper 5 set toff function.
stepper5_cfg_t::baud_rate
uint32_t baud_rate
Definition: stepper5.h:285
stepper5_return_value_t
stepper5_return_value_t
Stepper 5 Click return value data.
Definition: stepper5.h:298
stepper5_disable_device
void stepper5_disable_device(stepper5_t *ctx)
Stepper 5 disable device function.
stepper5_t::step
digital_out_t step
Definition: stepper5.h:252
STEPPER5_OK
@ STEPPER5_OK
Definition: stepper5.h:299
stepper5_cfg_t::step
pin_name_t step
Definition: stepper5.h:281
stepper5_t::en
digital_out_t en
Definition: stepper5.h:251
stepper5_get_diag_pin
uint8_t stepper5_get_diag_pin(stepper5_t *ctx)
Stepper 5 get diag pin function.
stepper5_read_reg
err_t stepper5_read_reg(stepper5_t *ctx, uint8_t reg, uint32_t *data_out)
Stepper 5 read reg function.
stepper5_cfg_t::data_bit
uart_data_bits_t data_bit
Definition: stepper5.h:287
stepper5_cfg_t::diag
pin_name_t diag
Definition: stepper5.h:278
stepper5_get_index_pin
uint8_t stepper5_get_index_pin(stepper5_t *ctx)
Stepper 5 get index pin function.
stepper5_enable_device
void stepper5_enable_device(stepper5_t *ctx)
Stepper 5 enable device function.
STEPPER5_TX_DRV_BUFFER_SIZE
#define STEPPER5_TX_DRV_BUFFER_SIZE
Stepper 5 driver buffer size.
Definition: stepper5.h:212