stepper28.h

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/****************************************************************************
** Copyright (C) 2020 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
** Permission is hereby granted, free of charge, to any person obtaining a copy
** of this software and associated documentation files (the "Software"), to deal
** in the Software without restriction, including without limitation the rights
** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
** copies of the Software, and to permit persons to whom the Software is
** furnished to do so, subject to the following conditions:
** The above copyright notice and this permission notice shall be
** included in all copies or substantial portions of the Software.
**
** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
**  USE OR OTHER DEALINGS IN THE SOFTWARE.
****************************************************************************/

 
#ifndef STEPPER28_H
#define STEPPER28_H
 
#ifdef __cplusplus
extern "C"{
#endif

#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
 
#ifdef MikroCCoreVersion
    #if MikroCCoreVersion >= 1
        #include "delays.h"
    #endif
#endif
 
#include "drv_digital_out.h"
#include "drv_digital_in.h"
#include "drv_i2c_master.h"




#define STEPPER28_REG_INPUT_0                   0x00
#define STEPPER28_REG_INPUT_1                   0x01
#define STEPPER28_REG_OUTPUT_0                  0x02
#define STEPPER28_REG_OUTPUT_1                  0x03
#define STEPPER28_REG_POLARITY_0                0x04
#define STEPPER28_REG_POLARITY_1                0x05
#define STEPPER28_REG_CONFIG_0                  0x06
#define STEPPER28_REG_CONFIG_1                  0x07
 // stepper28_reg



#define STEPPER28_P0_DMODE0_PIN                 0x01
#define STEPPER28_P0_DMODE1_PIN                 0x02
#define STEPPER28_P0_DMODE2_PIN                 0x04
#define STEPPER28_P0_DECAY1_PIN                 0x08
#define STEPPER28_P0_DECAY2_PIN                 0x10
#define STEPPER28_P0_TRQ0_PIN                   0x20
#define STEPPER28_P0_TRQ1_PIN                   0x40
#define STEPPER28_P0_SLEEP_X_PIN                0x80
#define STEPPER28_P1_LO1_PIN                    0x01
#define STEPPER28_P1_LO2_PIN                    0x02
#define STEPPER28_P1_MO_PIN                     0x04
#define STEPPER28_P1_RST_PIN                    0x08

#define STEPPER28_P0_DEFAULT_CONFIG             0x00
#define STEPPER28_P1_DEFAULT_CONFIG             0xF7

#define STEPPER28_DIR_CW                        1
#define STEPPER28_DIR_CCW                       0

#define STEPPER28_PIN_LOW_LEVEL                 0
#define STEPPER28_PIN_HIGH_LEVEL                1

#define STEPPER28_MODE_FULL_STEP                0x00
#define STEPPER28_MODE_1_OVER_8                 0x01
#define STEPPER28_MODE_HALF_STEP_TYPE_B         0x02
#define STEPPER28_MODE_1_OVER_32                0x03
#define STEPPER28_MODE_HALF_STEP_TYPE_A         0x04
#define STEPPER28_MODE_1_OVER_16                0x05
#define STEPPER28_MODE_QUARTER_STEP             0x06
#define STEPPER28_MODE_MASK                     0x07

#define STEPPER28_TORQUE_100_PCT                0x00
#define STEPPER28_TORQUE_75_PCT                 0x01
#define STEPPER28_TORQUE_50_PCT                 0x02
#define STEPPER28_TORQUE_25_PCT                 0x03
#define STEPPER28_TORQUE_MASK                   0x03

#define STEPPER28_DECAY_MIXED                   0x00
#define STEPPER28_DECAY_SLOW                    0x01
#define STEPPER28_DECAY_FAST                    0x02
#define STEPPER28_DECAY_ADMD                    0x03
#define STEPPER28_DECAY_MASK                    0x03

#define STEPPER28_SPEED_VERY_SLOW               0
#define STEPPER28_SPEED_SLOW                    1
#define STEPPER28_SPEED_MEDIUM                  2
#define STEPPER28_SPEED_FAST                    3
#define STEPPER28_SPEED_VERY_FAST               4 

#define STEPPER28_DEVICE_ADDRESS_A2A1A0_000     0x20
#define STEPPER28_DEVICE_ADDRESS_A2A1A0_001     0x21
#define STEPPER28_DEVICE_ADDRESS_A2A1A0_010     0x22
#define STEPPER28_DEVICE_ADDRESS_A2A1A0_011     0x23
#define STEPPER28_DEVICE_ADDRESS_A2A1A0_100     0x24
#define STEPPER28_DEVICE_ADDRESS_A2A1A0_101     0x25
#define STEPPER28_DEVICE_ADDRESS_A2A1A0_110     0x26
#define STEPPER28_DEVICE_ADDRESS_A2A1A0_111     0x27
 // stepper28_set



#define STEPPER28_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.scl = MIKROBUS( mikrobus, MIKROBUS_SCL ); \
    cfg.sda = MIKROBUS( mikrobus, MIKROBUS_SDA ); \
    cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.en = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.clk = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 // stepper28_map // stepper28

typedef struct
{
    // Output pins
    digital_out_t en;           
    digital_out_t dir;          
    digital_out_t clk;          
 
    // Input pins
    digital_in_t int_pin;       
 
    // Modules
    i2c_master_t i2c;           
 
    // I2C slave address
    uint8_t slave_address;      
 
} stepper28_t;

typedef struct
{
    pin_name_t scl;             
    pin_name_t sda;             
 
    pin_name_t en;              
    pin_name_t dir;             
    pin_name_t clk;             
    pin_name_t int_pin;         
 
    uint32_t   i2c_speed;       
    uint8_t    i2c_address;     
 
} stepper28_cfg_t;

typedef enum
{
    STEPPER28_OK = 0,
    STEPPER28_ERROR = -1
 
} stepper28_return_value_t;


void stepper28_cfg_setup ( stepper28_cfg_t *cfg );

err_t stepper28_init ( stepper28_t *ctx, stepper28_cfg_t *cfg );

err_t stepper28_default_cfg ( stepper28_t *ctx );

err_t stepper28_write_register ( stepper28_t *ctx, uint8_t reg, uint8_t data_in );

err_t stepper28_read_register ( stepper28_t *ctx, uint8_t reg, uint8_t *data_out );

err_t stepper28_get_step_mode ( stepper28_t *ctx, uint8_t *mode );

err_t stepper28_set_step_mode ( stepper28_t *ctx, uint8_t mode );

err_t stepper28_get_torque ( stepper28_t *ctx, uint8_t *torque );

err_t stepper28_set_torque ( stepper28_t *ctx, uint8_t torque );

err_t stepper28_get_decay ( stepper28_t *ctx, uint8_t *decay );

err_t stepper28_set_decay ( stepper28_t *ctx, uint8_t decay );

err_t stepper28_get_sleep_x_pin ( stepper28_t *ctx, uint8_t *state );

err_t stepper28_set_sleep_x_pin ( stepper28_t *ctx, uint8_t state );

err_t stepper28_get_lo1_pin ( stepper28_t *ctx, uint8_t *state );

err_t stepper28_get_lo2_pin ( stepper28_t *ctx, uint8_t *state );

err_t stepper28_get_mo_pin ( stepper28_t *ctx, uint8_t *state );

err_t stepper28_get_rst_pin ( stepper28_t *ctx, uint8_t *state );

err_t stepper28_set_rst_pin ( stepper28_t *ctx, uint8_t state );

err_t stepper28_reset_device ( stepper28_t *ctx );

void stepper28_drive_motor ( stepper28_t *ctx, uint32_t steps, uint8_t speed );

void stepper28_enable_device ( stepper28_t *ctx );

void stepper28_disable_device ( stepper28_t *ctx );

void stepper28_set_direction ( stepper28_t *ctx, uint8_t dir );

void stepper28_switch_direction ( stepper28_t *ctx );

uint8_t stepper28_get_int_pin ( stepper28_t *ctx );

void stepper28_set_clk_pin ( stepper28_t *ctx, uint8_t state );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER28_H
 // stepper28
 
// ------------------------------------------------------------------------ END