stepper8  2.1.0.0
stepper8.h
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22 
28 #ifndef STEPPER8_H
29 #define STEPPER8_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 STEPPER8_PCA9538A_REG_INPUT 0x00
76 #define STEPPER8_PCA9538A_REG_OUTPUT 0x01
77 #define STEPPER8_PCA9538A_REG_POLARITY 0x02
78 #define STEPPER8_PCA9538A_REG_CONFIG 0x03
79  // stepper8_reg
81 
96 #define STEPPER8_PIN_STBY 0x01
97 #define STEPPER8_PIN_SELECT 0x02
98 #define STEPPER8_PIN_EN 0x04
99 
104 #define STEPPER8_PCA9538A_DEFAULT_CONFIG 0xF8
105 
110 #define STEPPER8_DIR_CW 0
111 #define STEPPER8_DIR_CCW 1
112 
117 #define STEPPER8_PIN_STATE_LOW 0
118 #define STEPPER8_PIN_STATE_HIGH 1
119 
124 #define STEPPER8_SPEED_VERY_SLOW 0
125 #define STEPPER8_SPEED_SLOW 1
126 #define STEPPER8_SPEED_MEDIUM 2
127 #define STEPPER8_SPEED_FAST 3
128 #define STEPPER8_SPEED_VERY_FAST 4
129 
134 #define STEPPER8_MODE_FULL_STEP 0
135 #define STEPPER8_MODE_HALF_STEP 1
136 #define STEPPER8_MODE_QUARTER_STEP 2
137 #define STEPPER8_MODE_1_OVER_8 3
138 #define STEPPER8_MODE_1_OVER_16 4
139 #define STEPPER8_MODE_1_OVER_32 5
140 #define STEPPER8_MODE_1_OVER_64 6
141 #define STEPPER8_MODE_1_OVER_128 7
142 
148 #define STEPPER8_DEVICE_ADDRESS_A1A0_00 0x70
149 #define STEPPER8_DEVICE_ADDRESS_A1A0_01 0x71
150 #define STEPPER8_DEVICE_ADDRESS_A1A0_10 0x72
151 #define STEPPER8_DEVICE_ADDRESS_A1A0_11 0x73
152 
161 #define STEPPER8_SET_DATA_SAMPLE_EDGE SET_SPI_DATA_SAMPLE_EDGE
162 #define STEPPER8_SET_DATA_SAMPLE_MIDDLE SET_SPI_DATA_SAMPLE_MIDDLE
163  // stepper8_set
165 
180 #define STEPPER8_MAP_MIKROBUS( cfg, mikrobus ) \
181  cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
182  cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
183  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
184  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
185  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
186  cfg.md1 = MIKROBUS( mikrobus, MIKROBUS_CS ); \
187  cfg.md3 = MIKROBUS( mikrobus, MIKROBUS_AN ); \
188  cfg.md0 = MIKROBUS( mikrobus, MIKROBUS_RST ); \
189  cfg.md2 = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
190  cfg.err = MIKROBUS( mikrobus, MIKROBUS_INT )
191  // stepper8_map // stepper8
194 
199 typedef struct stepper8_s
200 {
201  digital_out_t md0;
202  digital_out_t md1;
203  digital_out_t md2;
204  digital_out_t md3;
206  digital_in_t err;
208  i2c_master_t i2c;
209  spi_master_t spi;
211  uint8_t slave_address;
213  uint8_t dir;
216 
221 typedef struct
222 {
223  pin_name_t scl;
224  pin_name_t sda;
225  pin_name_t miso;
226  pin_name_t mosi;
227  pin_name_t sck;
228  pin_name_t md0;
229  pin_name_t md1;
230  pin_name_t md2;
231  pin_name_t md3;
232  pin_name_t err;
234  uint32_t i2c_speed;
235  uint8_t i2c_address;
237  uint32_t spi_speed;
238  spi_master_mode_t spi_mode;
241 
246 typedef enum
247 {
249  STEPPER8_ERROR = -1
250 
252 
269 
284 
298 
310 err_t stepper8_write_spi ( stepper8_t *ctx, uint32_t data_in );
311 
325 err_t stepper8_pca_write_reg ( stepper8_t *ctx, uint8_t reg, uint8_t data_in );
326 
339 err_t stepper8_pca_read_reg ( stepper8_t *ctx, uint8_t reg, uint8_t *data_out );
340 
352 
364 
376 
388 
400 
412 
423 void stepper8_set_md0_pin ( stepper8_t *ctx, uint8_t state );
424 
435 void stepper8_set_md1_pin ( stepper8_t *ctx, uint8_t state );
436 
447 void stepper8_set_md2_pin ( stepper8_t *ctx, uint8_t state );
448 
459 void stepper8_set_md3_pin ( stepper8_t *ctx, uint8_t state );
460 
470 
481 void stepper8_set_direction ( stepper8_t *ctx, uint8_t dir );
482 
493 void stepper8_set_rst_pin ( stepper8_t *ctx, uint8_t state );
494 
505 void stepper8_set_step_pin ( stepper8_t *ctx, uint8_t state );
506 
526 err_t stepper8_set_step_mode ( stepper8_t *ctx, uint8_t mode );
527 
545 err_t stepper8_drive_motor ( stepper8_t *ctx, uint32_t steps, uint8_t speed );
546 
547 #ifdef __cplusplus
548 }
549 #endif
550 #endif // STEPPER8_H
551  // stepper8
553 
554 // ------------------------------------------------------------------------ END
stepper8_s::dir
uint8_t dir
Definition: stepper8.h:213
stepper8_t
struct stepper8_s stepper8_t
Stepper 8 Click context object.
stepper8_init
err_t stepper8_init(stepper8_t *ctx, stepper8_cfg_t *cfg)
Stepper 8 initialization function.
stepper8_s::md2
digital_out_t md2
Definition: stepper8.h:203
spi_specifics.h
This file contains SPI specific macros, functions, etc.
stepper8_drive_motor
err_t stepper8_drive_motor(stepper8_t *ctx, uint32_t steps, uint8_t speed)
Stepper 8 driver motor function.
stepper8_pca_write_reg
err_t stepper8_pca_write_reg(stepper8_t *ctx, uint8_t reg, uint8_t data_in)
Stepper 8 pca write reg function.
stepper8_cfg_t
Stepper 8 Click configuration object.
Definition: stepper8.h:222
stepper8_set_md1_pin
void stepper8_set_md1_pin(stepper8_t *ctx, uint8_t state)
Stepper 8 set MD1 pin function.
stepper8_set_direction
void stepper8_set_direction(stepper8_t *ctx, uint8_t dir)
Stepper 8 set direction function.
stepper8_set_step_mode
err_t stepper8_set_step_mode(stepper8_t *ctx, uint8_t mode)
Stepper 8 set step mode function.
stepper8_cfg_t::spi_mode
spi_master_mode_t spi_mode
Definition: stepper8.h:238
stepper8_select_spi
err_t stepper8_select_spi(stepper8_t *ctx)
Stepper 8 select SPI function.
stepper8_disable_device
err_t stepper8_disable_device(stepper8_t *ctx)
Stepper 8 disable device function.
stepper8_cfg_t::md1
pin_name_t md1
Definition: stepper8.h:229
stepper8_set_md0_pin
void stepper8_set_md0_pin(stepper8_t *ctx, uint8_t state)
Stepper 8 set MD0 pin function.
stepper8_disable_standby
err_t stepper8_disable_standby(stepper8_t *ctx)
Stepper 8 disable standby function.
stepper8_enable_standby
err_t stepper8_enable_standby(stepper8_t *ctx)
Stepper 8 enable standby function.
stepper8_return_value_t
stepper8_return_value_t
Stepper 8 Click return value data.
Definition: stepper8.h:247
stepper8_pca_read_reg
err_t stepper8_pca_read_reg(stepper8_t *ctx, uint8_t reg, uint8_t *data_out)
Stepper 8 pca read reg function.
stepper8_set_md3_pin
void stepper8_set_md3_pin(stepper8_t *ctx, uint8_t state)
Stepper 8 set MD3 pin function.
stepper8_s::md3
digital_out_t md3
Definition: stepper8.h:204
stepper8_cfg_t::miso
pin_name_t miso
Definition: stepper8.h:225
stepper8_cfg_t::i2c_address
uint8_t i2c_address
Definition: stepper8.h:235
stepper8_write_spi
err_t stepper8_write_spi(stepper8_t *ctx, uint32_t data_in)
Stepper 8 write spi function.
stepper8_cfg_t::mosi
pin_name_t mosi
Definition: stepper8.h:226
stepper8_cfg_setup
void stepper8_cfg_setup(stepper8_cfg_t *cfg)
Stepper 8 configuration object setup function.
stepper8_cfg_t::err
pin_name_t err
Definition: stepper8.h:232
STEPPER8_OK
@ STEPPER8_OK
Definition: stepper8.h:248
stepper8_s
Stepper 8 Click context object.
Definition: stepper8.h:200
stepper8_enable_device
err_t stepper8_enable_device(stepper8_t *ctx)
Stepper 8 enable device function.
stepper8_s::md0
digital_out_t md0
Definition: stepper8.h:201
stepper8_cfg_t::md3
pin_name_t md3
Definition: stepper8.h:231
stepper8_select_gpio
err_t stepper8_select_gpio(stepper8_t *ctx)
Stepper 8 select GPIO function.
stepper8_default_cfg
err_t stepper8_default_cfg(stepper8_t *ctx)
Stepper 8 default configuration function.
stepper8_cfg_t::sck
pin_name_t sck
Definition: stepper8.h:227
stepper8_set_rst_pin
void stepper8_set_rst_pin(stepper8_t *ctx, uint8_t state)
Stepper 8 set rst pin function.
stepper8_s::err
digital_in_t err
Definition: stepper8.h:206
stepper8_cfg_t::md2
pin_name_t md2
Definition: stepper8.h:230
stepper8_set_md2_pin
void stepper8_set_md2_pin(stepper8_t *ctx, uint8_t state)
Stepper 8 set MD2 pin function.
stepper8_get_err_pin
uint8_t stepper8_get_err_pin(stepper8_t *ctx)
Stepper 8 get ERR pin function.
stepper8_s::slave_address
uint8_t slave_address
Definition: stepper8.h:211
stepper8_s::md1
digital_out_t md1
Definition: stepper8.h:202
STEPPER8_ERROR
@ STEPPER8_ERROR
Definition: stepper8.h:249
stepper8_set_step_pin
void stepper8_set_step_pin(stepper8_t *ctx, uint8_t state)
Stepper 8 set step pin function.
stepper8_cfg_t::scl
pin_name_t scl
Definition: stepper8.h:223
stepper8_s::i2c
i2c_master_t i2c
Definition: stepper8.h:208
stepper8_cfg_t::spi_speed
uint32_t spi_speed
Definition: stepper8.h:237
stepper8_cfg_t::i2c_speed
uint32_t i2c_speed
Definition: stepper8.h:234
stepper8_s::spi
spi_master_t spi
Definition: stepper8.h:209
stepper8_cfg_t::sda
pin_name_t sda
Definition: stepper8.h:224
stepper8_cfg_t::md0
pin_name_t md0
Definition: stepper8.h:228