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39 #ifdef PREINIT_SUPPORTED
43 #ifdef MikroCCoreVersion
44 #if MikroCCoreVersion >= 1
49 #include "drv_digital_out.h"
50 #include "drv_digital_in.h"
51 #include "drv_i2c_master.h"
52 #include "drv_spi_master.h"
75 #define STEPPER6_PCA9538A_REG_INPUT 0x00
76 #define STEPPER6_PCA9538A_REG_OUTPUT 0x01
77 #define STEPPER6_PCA9538A_REG_POLARITY 0x02
78 #define STEPPER6_PCA9538A_REG_CONFIG 0x03
96 #define STEPPER6_PIN_TRQ 0x01
97 #define STEPPER6_PIN_M1 0x02
98 #define STEPPER6_PIN_M0 0x04
99 #define STEPPER6_PIN_SLEEP 0x08
100 #define STEPPER6_PIN_FAULT 0x10
106 #define STEPPER6_PCA9538A_DEFAULT_CONFIG 0xF0
112 #define STEPPER6_DIR_CW 0
113 #define STEPPER6_DIR_CCW 1
119 #define STEPPER6_PIN_STATE_LOW 0
120 #define STEPPER6_PIN_STATE_HIGH 1
121 #define STEPPER6_PIN_STATE_OPEN 2
127 #define STEPPER6_SPEED_VERY_SLOW 0
128 #define STEPPER6_SPEED_SLOW 1
129 #define STEPPER6_SPEED_MEDIUM 2
130 #define STEPPER6_SPEED_FAST 3
131 #define STEPPER6_SPEED_VERY_FAST 4
137 #define STEPPER6_MODE_FULL_STEP 0
138 #define STEPPER6_MODE_1_OVER_16 1
139 #define STEPPER6_MODE_HALF_STEP 2
140 #define STEPPER6_MODE_QUARTER_STEP 3
141 #define STEPPER6_MODE_1_OVER_8 4
142 #define STEPPER6_MODE_HALF_NON_CIRC_STEP 5
148 #define STEPPER6_DAC_DEFAULT_CONFIG 0x7FFFu
155 #define STEPPER6_DEVICE_ADDRESS_A1A0_00 0x70
156 #define STEPPER6_DEVICE_ADDRESS_A1A0_01 0x71
157 #define STEPPER6_DEVICE_ADDRESS_A1A0_10 0x72
158 #define STEPPER6_DEVICE_ADDRESS_A1A0_11 0x73
168 #define STEPPER6_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
169 #define STEPPER6_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
187 #define STEPPER6_MAP_MIKROBUS( cfg, mikrobus ) \
188 cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
189 cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
190 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
191 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
192 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
193 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
194 cfg.step = MIKROBUS( mikrobus, MIKROBUS_AN ); \
195 cfg.en = MIKROBUS( mikrobus, MIKROBUS_RST ); \
196 cfg.dir = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
197 cfg.rst = MIKROBUS( mikrobus, MIKROBUS_INT )
pin_name_t cs
Definition: stepper6.h:232
void stepper6_switch_direction(stepper6_t *ctx)
Stepper 6 switch direction function.
digital_out_t en
Definition: stepper6.h:209
pin_name_t sck
Definition: stepper6.h:231
void stepper6_enable_device(stepper6_t *ctx)
Stepper 6 enable device function.
void stepper6_set_rst_pin(stepper6_t *ctx, uint8_t state)
Stepper 6 set rst pin function.
pin_name_t miso
Definition: stepper6.h:229
uint8_t slave_address
Definition: stepper6.h:216
err_t stepper6_set_sleep_pin(stepper6_t *ctx, uint8_t state)
Stepper 6 set sleep pin function.
This file contains SPI specific macros, functions, etc.
pin_name_t mosi
Definition: stepper6.h:230
void stepper6_cfg_setup(stepper6_cfg_t *cfg)
Stepper 6 configuration object setup function.
spi_master_chip_select_polarity_t cs_polarity
Definition: stepper6.h:243
Stepper 6 Click configuration object.
Definition: stepper6.h:226
pin_name_t chip_select
Definition: stepper6.h:217
err_t stepper6_init(stepper6_t *ctx, stepper6_cfg_t *cfg)
Stepper 6 initialization function.
pin_name_t en
Definition: stepper6.h:234
uint8_t i2c_address
Definition: stepper6.h:239
err_t stepper6_set_m0_pin(stepper6_t *ctx, uint8_t state)
Stepper 6 set M0 pin function.
err_t stepper6_pca_read_reg(stepper6_t *ctx, uint8_t reg, uint8_t *data_out)
Stepper 6 pca read reg function.
pin_name_t scl
Definition: stepper6.h:227
pin_name_t sda
Definition: stepper6.h:228
stepper6_return_value_t
Stepper 6 Click return value data.
Definition: stepper6.h:252
i2c_master_t i2c
Definition: stepper6.h:213
uint32_t i2c_speed
Definition: stepper6.h:238
spi_master_t spi
Definition: stepper6.h:214
void stepper6_disable_device(stepper6_t *ctx)
Stepper 6 disable device function.
err_t stepper6_get_m1_pin(stepper6_t *ctx, uint8_t *state)
Stepper 6 get M1 pin function.
Stepper 6 Click context object.
Definition: stepper6.h:207
spi_master_mode_t spi_mode
Definition: stepper6.h:242
void stepper6_set_direction(stepper6_t *ctx, uint8_t dir)
Stepper 6 set direction function.
digital_out_t dir
Definition: stepper6.h:210
err_t stepper6_get_step_mode(stepper6_t *ctx, uint8_t *mode)
Stepper 6 get step mode function.
err_t stepper6_set_dac(stepper6_t *ctx, uint16_t dac_cmd)
Stepper 6 set dac function.
err_t stepper6_default_cfg(stepper6_t *ctx)
Stepper 6 default configuration function.
err_t stepper6_pca_write_reg(stepper6_t *ctx, uint8_t reg, uint8_t data_in)
Stepper 6 pca write reg function.
void stepper6_reset_pca(stepper6_t *ctx)
Stepper 6 reset device function.
err_t stepper6_get_m0_pin(stepper6_t *ctx, uint8_t *state)
Stepper 6 get M0 pin function.
pin_name_t dir
Definition: stepper6.h:235
uint32_t spi_speed
Definition: stepper6.h:241
void stepper6_set_step_pin(stepper6_t *ctx, uint8_t state)
Stepper 6 set step pin function.
err_t stepper6_get_sleep_pin(stepper6_t *ctx, uint8_t *state)
Stepper 6 get sleep pin function.
err_t stepper6_set_step_mode(stepper6_t *ctx, uint8_t mode)
Stepper 6 set step mode function.
err_t stepper6_get_fault_pin(stepper6_t *ctx, uint8_t *state)
Stepper 6 get fault pin function.
err_t stepper6_set_m1_pin(stepper6_t *ctx, uint8_t state)
Stepper 6 set M1 pin function.
pin_name_t rst
Definition: stepper6.h:236
@ STEPPER6_ERROR
Definition: stepper6.h:254
struct stepper6_s stepper6_t
Stepper 6 Click context object.
digital_out_t step
Definition: stepper6.h:208
pin_name_t step
Definition: stepper6.h:233
void stepper6_drive_motor(stepper6_t *ctx, uint32_t steps, uint8_t speed)
Stepper 6 driver motor function.
err_t stepper6_set_trq_pin(stepper6_t *ctx, uint8_t state)
Stepper 6 set trq pin function.
@ STEPPER6_OK
Definition: stepper6.h:253
err_t stepper6_get_trq_pin(stepper6_t *ctx, uint8_t *state)
Stepper 6 get trq pin function.
digital_out_t rst
Definition: stepper6.h:211