Power Step 2 Click Driver

API for configuring and manipulating Power Step 2 Click driver. More...

Topics
	Power Step 2 Registers List
	List of registers of Power Step 2 Click driver.
	Power Step 2 Registers Settings
	Settings for registers of Power Step 2 Click driver.
	Power Step 2 MikroBUS Map
	MikroBUS pin mapping of Power Step 2 Click driver.

Functions
void	powerstep2_cfg_setup (powerstep2_cfg_t *cfg)
	Power Step 2 configuration object setup function.
err_t	powerstep2_init (powerstep2_t *ctx, powerstep2_cfg_t *cfg)
	Power Step 2 initialization function.
err_t	powerstep2_default_cfg (powerstep2_t *ctx)
	Power Step 2 default configuration function.
err_t	powerstep2_spi_transfer (powerstep2_t *ctx, uint8_t *data_io, uint8_t len)
	Power Step 2 SPI transfer function.
void	powerstep2_set_rst_pin (powerstep2_t *ctx, uint8_t state)
	Power Step 2 set rst pin function.
void	powerstep2_set_step_pin (powerstep2_t *ctx, uint8_t state)
	Power Step 2 set step pin function.
uint8_t	powerstep2_get_busy_pin (powerstep2_t *ctx)
	Power Step 2 get busy pin function.
uint8_t	powerstep2_get_flag_pin (powerstep2_t *ctx)
	Power Step 2 get flag pin function.
void	powerstep2_hw_reset_device (powerstep2_t *ctx)
	Power Step 2 reset device function.
err_t	powerstep2_set_param (powerstep2_t *ctx, uint8_t param, uint32_t data_in)
	Power Step 2 set parameter function.
err_t	powerstep2_get_param (powerstep2_t *ctx, uint8_t param, uint32_t *data_out)
	Power Step 2 get parameter function.
err_t	powerstep2_run (powerstep2_t *ctx, uint8_t dir, uint32_t speed)
	Power Step 2 run motor function.
err_t	powerstep2_step_clock (powerstep2_t *ctx, uint8_t dir)
	Power Step 2 step clock function.
err_t	powerstep2_move (powerstep2_t *ctx, uint8_t dir, uint32_t n_step)
	Power Step 2 move motor function.
err_t	powerstep2_go_to (powerstep2_t *ctx, uint32_t abs_pos)
	Power Step 2 go to position function.
err_t	powerstep2_go_to_dir (powerstep2_t *ctx, uint8_t dir, uint32_t abs_pos)
	Power Step 2 go to position with direction function.
err_t	powerstep2_go_until (powerstep2_t *ctx, uint8_t act, uint8_t dir, uint32_t speed)
	Power Step 2 go until function.
err_t	powerstep2_release_sw (powerstep2_t *ctx, uint8_t act, uint8_t dir)
	Power Step 2 release switch function.
err_t	powerstep2_go_home (powerstep2_t *ctx)
	Power Step 2 go home function.
err_t	powerstep2_go_mark (powerstep2_t *ctx)
	Power Step 2 go mark function.
err_t	powerstep2_reset_pos (powerstep2_t *ctx)
	Power Step 2 reset position function.
err_t	powerstep2_reset_device (powerstep2_t *ctx)
	Power Step 2 reset device function.
err_t	powerstep2_soft_stop (powerstep2_t *ctx)
	Power Step 2 soft stop function.
err_t	powerstep2_hard_stop (powerstep2_t *ctx)
	Power Step 2 hard stop function.
err_t	powerstep2_soft_hiz (powerstep2_t *ctx)
	Power Step 2 soft HiZ function.
err_t	powerstep2_hard_hiz (powerstep2_t *ctx)
	Power Step 2 hard HiZ function.
err_t	powerstep2_get_status (powerstep2_t *ctx, uint16_t *status)
	Power Step 2 get status function.
err_t	powerstep2_clear_status (powerstep2_t *ctx)
	Power Step 2 clear status function.
err_t	powerstep2_set_control_mode (powerstep2_t *ctx, uint8_t ctrl_mode)
	Power Step 2 set control mode function.
err_t	powerstep2_set_step_mode (powerstep2_t *ctx, uint8_t step_mode)
	Power Step 2 set step mode function.
err_t	powerstep2_set_acc_dec (powerstep2_t *ctx, float acc_step_s2, float dec_step_s2)
	Power Step 2 set acceleration and deceleration function.
err_t	powerstep2_set_speed (powerstep2_t *ctx, float min_speed, float max_speed)
	Power Step 2 set speed function.
void	powerstep2_drive_motor (powerstep2_t *ctx, uint32_t steps, uint8_t speed)
	Power Step 2 drive motor function.

Detailed Description

API for configuring and manipulating Power Step 2 Click driver.

Any initialization code needed for MCU to function properly. Do not remove this line or clock might not be set correctly.

Function Documentation

powerstep2_cfg_setup()

void powerstep2_cfg_setup

(

powerstep2_cfg_t *

cfg

)

Power Step 2 configuration object setup function.

This function initializes Click configuration structure to initial values.

Parameters

[out]

cfg

: Click configuration structure. See powerstep2_cfg_t object definition for detailed explanation.

Returns

Nothing.

Note

The all used pins will be set to unconnected state.

powerstep2_clear_status()

err_t powerstep2_clear_status

(

powerstep2_t *

ctx

)

Power Step 2 clear status function.

This function clears the status register by reading it.

Parameters

[in]

ctx

: Click context object. See powerstep2_t object definition for detailed explanation.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_default_cfg()

err_t powerstep2_default_cfg

(

powerstep2_t *

ctx

)

Power Step 2 default configuration function.

This function executes a default configuration of Power Step 2 Click board.

Parameters

[in]

ctx

: Click context object. See powerstep2_t object definition for detailed explanation.

Returns

• 0 - Success,
• -1 - Error. See #err_t definition for detailed explanation.

Note

This function can consist any necessary configuration or setting to put device into operating mode.

powerstep2_drive_motor()

void powerstep2_drive_motor	(	powerstep2_t *	ctx,
		uint32_t	steps,
		uint8_t	speed )

Power Step 2 drive motor function.

This function drives the motor in step-clock mode for a specified number of steps at a given speed.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	steps	: Number of steps to move.
[in]	speed	: Speed of the motor movement. 0 - Very slow, 1 - Slow, 2 - Medium, 3 - Fast, 4 - Very fast.

Returns

None.

powerstep2_get_busy_pin()

uint8_t powerstep2_get_busy_pin

(

powerstep2_t *

ctx

)

Power Step 2 get busy pin function.

This function returns the BUSY pin logic state.

Parameters

[in]

ctx

: Click context object. See powerstep2_t object definition for detailed explanation.

Returns

Pin logic state.

Note

None.

powerstep2_get_flag_pin()

uint8_t powerstep2_get_flag_pin

(

powerstep2_t *

ctx

)

Power Step 2 get flag pin function.

This function returns the FLAG pin logic state.

Parameters

[in]

ctx

: Click context object. See powerstep2_t object definition for detailed explanation.

Returns

Pin logic state.

Note

None.

powerstep2_get_param()

err_t powerstep2_get_param	(	powerstep2_t *	ctx,
		uint8_t	param,
		uint32_t *	data_out )

Power Step 2 get parameter function.

This function retrieves the value of a specific parameter register from the Power Step 2 device.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	param	: Parameter register to read.
[out]	data_out	: Pointer to store the retrieved parameter value.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_get_status()

err_t powerstep2_get_status	(	powerstep2_t *	ctx,
		uint16_t *	status )

Power Step 2 get status function.

This function retrieves the status register of the Power Step 2 device.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[out]	status	: Pointer to store the status register value.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_go_home()

err_t powerstep2_go_home

(

powerstep2_t *

ctx

)

Power Step 2 go home function.

This function moves the motor to its home position.

Parameters

[in]

ctx

: Click context object. See powerstep2_t object definition for detailed explanation.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_go_mark()

err_t powerstep2_go_mark

(

powerstep2_t *

ctx

)

Power Step 2 go mark function.

This function moves the motor to a marked position.

Parameters

[in]

ctx

: Click context object. See powerstep2_t object definition for detailed explanation.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_go_to()

err_t powerstep2_go_to	(	powerstep2_t *	ctx,
		uint32_t	abs_pos )

Power Step 2 go to position function.

This function moves the motor to an absolute position.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	abs_pos	: Absolute position to move to (22-bit value).

Returns

• 0 - Success,
• -1 - Error.

powerstep2_go_to_dir()

err_t powerstep2_go_to_dir	(	powerstep2_t *	ctx,
		uint8_t	dir,
		uint32_t	abs_pos )

Power Step 2 go to position with direction function.

This function moves the motor to an absolute position in a specified direction.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	dir	: Direction of movement.
[in]	abs_pos	: Absolute position to move to (22-bit value).

Returns

• 0 - Success,
• -1 - Error.

powerstep2_go_until()

err_t powerstep2_go_until	(	powerstep2_t *	ctx,
		uint8_t	act,
		uint8_t	dir,
		uint32_t	speed )

Power Step 2 go until function.

This function moves the motor until SW is closed.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	act	: If 1, copies ABS_POS to MARK, else, reset ABS_POS.
[in]	dir	: Direction of movement.
[in]	speed	: Speed of movement (20-bit value).

Returns

• 0 - Success,
• -1 - Error.

powerstep2_hard_hiz()

err_t powerstep2_hard_hiz

(

powerstep2_t *

ctx

)

Power Step 2 hard HiZ function.

This function sets the device to high-impedance mode abruptly.

Parameters

[in]

ctx

: Click context object. See powerstep2_t object definition for detailed explanation.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_hard_stop()

err_t powerstep2_hard_stop

(

powerstep2_t *

ctx

)

Power Step 2 hard stop function.

This function stops the motor immediately using a hard stop.

Parameters

[in]

ctx

: Click context object. See powerstep2_t object definition for detailed explanation.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_hw_reset_device()

void powerstep2_hw_reset_device

(

powerstep2_t *

ctx

)

Power Step 2 reset device function.

This function resets the device by toggling the RST pin.

Parameters

[in]

ctx

: Click context object. See powerstep2_t object definition for detailed explanation.

Returns

None.

Note

None.

powerstep2_init()

err_t powerstep2_init	(	powerstep2_t *	ctx,
		powerstep2_cfg_t *	cfg )

Power Step 2 initialization function.

This function initializes all necessary pins and peripherals used for this Click board.

Parameters

[out]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	cfg	: Click configuration structure. See powerstep2_cfg_t object definition for detailed explanation.

Returns

• 0 - Success,
• -1 - Error. See #err_t definition for detailed explanation.

Note

None.

powerstep2_move()

err_t powerstep2_move	(	powerstep2_t *	ctx,
		uint8_t	dir,
		uint32_t	n_step )

Power Step 2 move motor function.

This function moves the motor a specified number of steps in a given direction.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	dir	: Direction of motor movement.
[in]	n_step	: Number of steps to move (22-bit value).

Returns

• 0 - Success,
• -1 - Error.

powerstep2_release_sw()

err_t powerstep2_release_sw	(	powerstep2_t *	ctx,
		uint8_t	act,
		uint8_t	dir )

Power Step 2 release switch function.

This function moves the motor at minimum speed until the SW is released.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	act	: If 1, copies ABS_POS to MARK, else, reset ABS_POS.
[in]	dir	: Direction of movement.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_reset_device()

err_t powerstep2_reset_device

(

powerstep2_t *

ctx

)

Power Step 2 reset device function.

This function resets the Power Step 2 device.

Parameters

[in]

ctx

: Click context object. See powerstep2_t object definition for detailed explanation.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_reset_pos()

err_t powerstep2_reset_pos

(

powerstep2_t *

ctx

)

Power Step 2 reset position function.

This function resets the ABS_POS register to zero.

Parameters

[in]

ctx

: Click context object. See powerstep2_t object definition for detailed explanation.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_run()

err_t powerstep2_run	(	powerstep2_t *	ctx,
		uint8_t	dir,
		uint32_t	speed )

Power Step 2 run motor function.

This function runs the motor in a specified direction at a given speed.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	dir	: Direction of motor rotation.
[in]	speed	: Motor speed (20-bit value).

Returns

• 0 - Success,
• -1 - Error.

powerstep2_set_acc_dec()

err_t powerstep2_set_acc_dec	(	powerstep2_t *	ctx,
		float	acc_step_s2,
		float	dec_step_s2 )

Power Step 2 set acceleration and deceleration function.

This function sets the acceleration and deceleration rates for motor movement.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	acc_step_s2	: Acceleration rate in steps per second squared.
[in]	dec_step_s2	: Deceleration rate in steps per second squared.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_set_control_mode()

err_t powerstep2_set_control_mode	(	powerstep2_t *	ctx,
		uint8_t	ctrl_mode )

Power Step 2 set control mode function.

This function sets the control mode of the device to either voltage mode or current mode.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	ctrl_mode	: Control mode. 0 : Voltage mode. 1 : Current mode.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_set_param()

err_t powerstep2_set_param	(	powerstep2_t *	ctx,
		uint8_t	param,
		uint32_t	data_in )

Power Step 2 set parameter function.

This function sets a specific parameter register of the Power Step 2 device.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	param	: Parameter register to set.
[in]	data_in	: Data to write to the parameter.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_set_rst_pin()

void powerstep2_set_rst_pin	(	powerstep2_t *	ctx,
		uint8_t	state )

Power Step 2 set rst pin function.

This function sets the RST pin logic state.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	state	: 0 - Low logic state, 1 - High logic state.

Returns

None.

Note

None.

powerstep2_set_speed()

err_t powerstep2_set_speed	(	powerstep2_t *	ctx,
		float	min_speed,
		float	max_speed )

Power Step 2 set speed function.

This function sets the minimum and maximum speeds for motor movement.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	min_speed	: Minimum speed in steps per second.
[in]	max_speed	: Maximum speed in steps per second.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_set_step_mode()

err_t powerstep2_set_step_mode	(	powerstep2_t *	ctx,
		uint8_t	step_mode )

Power Step 2 set step mode function.

This function sets the step mode (microstepping level) of the Power Step 2 device.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	step_mode	: Step mode value (e.g., full-step, half-step, 1/4-step, etc.).

Returns

• 0 - Success,
• -1 - Error.

powerstep2_set_step_pin()

void powerstep2_set_step_pin	(	powerstep2_t *	ctx,
		uint8_t	state )

Power Step 2 set step pin function.

This function sets the STEP clock pin logic state.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	state	: 0 - Low logic state, 1 - High logic state.

Returns

None.

Note

None.

powerstep2_soft_hiz()

err_t powerstep2_soft_hiz

(

powerstep2_t *

ctx

)

Power Step 2 soft HiZ function.

This function sets the device to high-impedance mode softly (without abrupt stops).

Parameters

[in]

ctx

: Click context object. See powerstep2_t object definition for detailed explanation.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_soft_stop()

err_t powerstep2_soft_stop

(

powerstep2_t *

ctx

)

Power Step 2 soft stop function.

This function stops the motor gently using a soft stop.

Parameters

[in]

ctx

: Click context object. See powerstep2_t object definition for detailed explanation.

Returns

• 0 - Success,
• -1 - Error.

powerstep2_spi_transfer()

err_t powerstep2_spi_transfer	(	powerstep2_t *	ctx,
		uint8_t *	data_io,
		uint8_t	len )

Power Step 2 SPI transfer function.

This function performs an SPI transfer for the Power Step 2 device. It sends and receives data using the SPI interface.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in,out]	data_io	: Pointer to the data buffer for sending and receiving data.
[in]	len	: Length of the data buffer.

Returns

• 0 - Success,
• -1 - Error.

Note

The function waits for the busy pin to go low before each data transfer.

powerstep2_step_clock()

err_t powerstep2_step_clock	(	powerstep2_t *	ctx,
		uint8_t	dir )

Power Step 2 step clock function.

This function puts the device in step-clock mode and sets the direction.

Parameters

[in]	ctx	: Click context object. See powerstep2_t object definition for detailed explanation.
[in]	dir	: Direction of the step.

Returns

• 0 - Success,
• -1 - Error.