stepper6  2.1.0.0
stepper6.h
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22 
28 #ifndef STEPPER6_H
29 #define STEPPER6_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 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
79  // stepper6_reg
81 
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
101 
106 #define STEPPER6_PCA9538A_DEFAULT_CONFIG 0xF0
107 
112 #define STEPPER6_DIR_CW 0
113 #define STEPPER6_DIR_CCW 1
114 
119 #define STEPPER6_PIN_STATE_LOW 0
120 #define STEPPER6_PIN_STATE_HIGH 1
121 #define STEPPER6_PIN_STATE_OPEN 2
122 
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
132 
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
143 
148 #define STEPPER6_DAC_DEFAULT_CONFIG 0x7FFFu
149 
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
159 
168 #define STEPPER6_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
169 #define STEPPER6_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
170  // stepper6_set
172 
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 )
198  // stepper6_map // stepper6
201 
206 typedef struct stepper6_s
207 {
208  digital_out_t step;
209  digital_out_t en;
210  digital_out_t dir;
211  digital_out_t rst;
213  i2c_master_t i2c;
214  spi_master_t spi;
216  uint8_t slave_address;
217  pin_name_t chip_select;
220 
225 typedef struct
226 {
227  pin_name_t scl;
228  pin_name_t sda;
229  pin_name_t miso;
230  pin_name_t mosi;
231  pin_name_t sck;
232  pin_name_t cs;
233  pin_name_t step;
234  pin_name_t en;
235  pin_name_t dir;
236  pin_name_t rst;
238  uint32_t i2c_speed;
239  uint8_t i2c_address;
241  uint32_t spi_speed;
242  spi_master_mode_t spi_mode;
243  spi_master_chip_select_polarity_t cs_polarity;
246 
251 typedef enum
252 {
254  STEPPER6_ERROR = -1
255 
257 
274 
289 
303 
316 err_t stepper6_set_dac ( stepper6_t *ctx, uint16_t dac_cmd );
317 
331 err_t stepper6_pca_write_reg ( stepper6_t *ctx, uint8_t reg, uint8_t data_in );
332 
345 err_t stepper6_pca_read_reg ( stepper6_t *ctx, uint8_t reg, uint8_t *data_out );
346 
360 err_t stepper6_get_trq_pin ( stepper6_t *ctx, uint8_t *state );
361 
375 err_t stepper6_set_trq_pin ( stepper6_t *ctx, uint8_t state );
376 
389 err_t stepper6_get_m1_pin ( stepper6_t *ctx, uint8_t *state );
390 
403 err_t stepper6_set_m1_pin ( stepper6_t *ctx, uint8_t state );
404 
418 err_t stepper6_get_m0_pin ( stepper6_t *ctx, uint8_t *state );
419 
433 err_t stepper6_set_m0_pin ( stepper6_t *ctx, uint8_t state );
434 
447 err_t stepper6_get_sleep_pin ( stepper6_t *ctx, uint8_t *state );
448 
461 err_t stepper6_set_sleep_pin ( stepper6_t *ctx, uint8_t state );
462 
475 err_t stepper6_get_fault_pin ( stepper6_t *ctx, uint8_t *state );
476 
486 
496 
507 void stepper6_set_direction ( stepper6_t *ctx, uint8_t dir );
508 
518 
528 
539 void stepper6_set_rst_pin ( stepper6_t *ctx, uint8_t state );
540 
551 void stepper6_set_step_pin ( stepper6_t *ctx, uint8_t state );
552 
570 err_t stepper6_get_step_mode ( stepper6_t *ctx, uint8_t *mode );
571 
589 err_t stepper6_set_step_mode ( stepper6_t *ctx, uint8_t mode );
590 
606 void stepper6_drive_motor ( stepper6_t *ctx, uint32_t steps, uint8_t speed );
607 
608 #ifdef __cplusplus
609 }
610 #endif
611 #endif // STEPPER6_H
612  // stepper6
614 
615 // ------------------------------------------------------------------------ END
stepper6_cfg_t::cs
pin_name_t cs
Definition: stepper6.h:232
stepper6_switch_direction
void stepper6_switch_direction(stepper6_t *ctx)
Stepper 6 switch direction function.
stepper6_s::en
digital_out_t en
Definition: stepper6.h:209
stepper6_cfg_t::sck
pin_name_t sck
Definition: stepper6.h:231
stepper6_enable_device
void stepper6_enable_device(stepper6_t *ctx)
Stepper 6 enable device function.
stepper6_set_rst_pin
void stepper6_set_rst_pin(stepper6_t *ctx, uint8_t state)
Stepper 6 set rst pin function.
stepper6_cfg_t::miso
pin_name_t miso
Definition: stepper6.h:229
stepper6_s::slave_address
uint8_t slave_address
Definition: stepper6.h:216
stepper6_set_sleep_pin
err_t stepper6_set_sleep_pin(stepper6_t *ctx, uint8_t state)
Stepper 6 set sleep pin function.
spi_specifics.h
This file contains SPI specific macros, functions, etc.
stepper6_cfg_t::mosi
pin_name_t mosi
Definition: stepper6.h:230
stepper6_cfg_setup
void stepper6_cfg_setup(stepper6_cfg_t *cfg)
Stepper 6 configuration object setup function.
stepper6_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: stepper6.h:243
stepper6_cfg_t
Stepper 6 Click configuration object.
Definition: stepper6.h:226
stepper6_s::chip_select
pin_name_t chip_select
Definition: stepper6.h:217
stepper6_init
err_t stepper6_init(stepper6_t *ctx, stepper6_cfg_t *cfg)
Stepper 6 initialization function.
stepper6_cfg_t::en
pin_name_t en
Definition: stepper6.h:234
stepper6_cfg_t::i2c_address
uint8_t i2c_address
Definition: stepper6.h:239
stepper6_set_m0_pin
err_t stepper6_set_m0_pin(stepper6_t *ctx, uint8_t state)
Stepper 6 set M0 pin function.
stepper6_pca_read_reg
err_t stepper6_pca_read_reg(stepper6_t *ctx, uint8_t reg, uint8_t *data_out)
Stepper 6 pca read reg function.
stepper6_cfg_t::scl
pin_name_t scl
Definition: stepper6.h:227
stepper6_cfg_t::sda
pin_name_t sda
Definition: stepper6.h:228
stepper6_return_value_t
stepper6_return_value_t
Stepper 6 Click return value data.
Definition: stepper6.h:252
stepper6_s::i2c
i2c_master_t i2c
Definition: stepper6.h:213
stepper6_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: stepper6.h:238
stepper6_s::spi
spi_master_t spi
Definition: stepper6.h:214
stepper6_disable_device
void stepper6_disable_device(stepper6_t *ctx)
Stepper 6 disable device function.
stepper6_get_m1_pin
err_t stepper6_get_m1_pin(stepper6_t *ctx, uint8_t *state)
Stepper 6 get M1 pin function.
stepper6_s
Stepper 6 Click context object.
Definition: stepper6.h:207
stepper6_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: stepper6.h:242
stepper6_set_direction
void stepper6_set_direction(stepper6_t *ctx, uint8_t dir)
Stepper 6 set direction function.
stepper6_s::dir
digital_out_t dir
Definition: stepper6.h:210
stepper6_get_step_mode
err_t stepper6_get_step_mode(stepper6_t *ctx, uint8_t *mode)
Stepper 6 get step mode function.
stepper6_set_dac
err_t stepper6_set_dac(stepper6_t *ctx, uint16_t dac_cmd)
Stepper 6 set dac function.
stepper6_default_cfg
err_t stepper6_default_cfg(stepper6_t *ctx)
Stepper 6 default configuration function.
stepper6_pca_write_reg
err_t stepper6_pca_write_reg(stepper6_t *ctx, uint8_t reg, uint8_t data_in)
Stepper 6 pca write reg function.
stepper6_reset_pca
void stepper6_reset_pca(stepper6_t *ctx)
Stepper 6 reset device function.
stepper6_get_m0_pin
err_t stepper6_get_m0_pin(stepper6_t *ctx, uint8_t *state)
Stepper 6 get M0 pin function.
stepper6_cfg_t::dir
pin_name_t dir
Definition: stepper6.h:235
stepper6_cfg_t::spi_speed
uint32_t spi_speed
Definition: stepper6.h:241
stepper6_set_step_pin
void stepper6_set_step_pin(stepper6_t *ctx, uint8_t state)
Stepper 6 set step pin function.
stepper6_get_sleep_pin
err_t stepper6_get_sleep_pin(stepper6_t *ctx, uint8_t *state)
Stepper 6 get sleep pin function.
stepper6_set_step_mode
err_t stepper6_set_step_mode(stepper6_t *ctx, uint8_t mode)
Stepper 6 set step mode function.
stepper6_get_fault_pin
err_t stepper6_get_fault_pin(stepper6_t *ctx, uint8_t *state)
Stepper 6 get fault pin function.
stepper6_set_m1_pin
err_t stepper6_set_m1_pin(stepper6_t *ctx, uint8_t state)
Stepper 6 set M1 pin function.
stepper6_cfg_t::rst
pin_name_t rst
Definition: stepper6.h:236
STEPPER6_ERROR
@ STEPPER6_ERROR
Definition: stepper6.h:254
stepper6_t
struct stepper6_s stepper6_t
Stepper 6 Click context object.
stepper6_s::step
digital_out_t step
Definition: stepper6.h:208
stepper6_cfg_t::step
pin_name_t step
Definition: stepper6.h:233
stepper6_drive_motor
void stepper6_drive_motor(stepper6_t *ctx, uint32_t steps, uint8_t speed)
Stepper 6 driver motor function.
stepper6_set_trq_pin
err_t stepper6_set_trq_pin(stepper6_t *ctx, uint8_t state)
Stepper 6 set trq pin function.
STEPPER6_OK
@ STEPPER6_OK
Definition: stepper6.h:253
stepper6_get_trq_pin
err_t stepper6_get_trq_pin(stepper6_t *ctx, uint8_t *state)
Stepper 6 get trq pin function.
stepper6_s::rst
digital_out_t rst
Definition: stepper6.h:211