stepper25.h

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/****************************************************************************
** Copyright (C) 2026 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 STEPPER25_H
#define STEPPER25_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_spi_master.h"
#include "spi_specifics.h"




#define STEPPER25_REG_FAULT                         0x00
#define STEPPER25_REG_DIAG1                         0x01
#define STEPPER25_REG_DIAG2                         0x02
#define STEPPER25_REG_DIAG3                         0x03
#define STEPPER25_REG_CTRL1                         0x04
#define STEPPER25_REG_CTRL2                         0x05
#define STEPPER25_REG_CTRL3                         0x06
#define STEPPER25_REG_CTRL4                         0x07
#define STEPPER25_REG_CTRL5                         0x08
#define STEPPER25_REG_CTRL6                         0x09
#define STEPPER25_REG_CTRL7                         0x0A
#define STEPPER25_REG_CTRL8                         0x0B
#define STEPPER25_REG_CTRL9                         0x0C
#define STEPPER25_REG_CTRL10                        0x0D
#define STEPPER25_REG_CTRL11                        0x0E
#define STEPPER25_REG_CTRL12                        0x0F
#define STEPPER25_REG_CTRL13                        0x10
#define STEPPER25_REG_INDEX1                        0x11
#define STEPPER25_REG_INDEX2                        0x12
#define STEPPER25_REG_INDEX3                        0x13
#define STEPPER25_REG_INDEX4                        0x14
#define STEPPER25_REG_INDEX5                        0x15
#define STEPPER25_REG_CUSTOM_CTRL1                  0x16
#define STEPPER25_REG_CUSTOM_CTRL2                  0x17
#define STEPPER25_REG_CUSTOM_CTRL3                  0x18
#define STEPPER25_REG_CUSTOM_CTRL4                  0x19
#define STEPPER25_REG_CUSTOM_CTRL5                  0x1A
#define STEPPER25_REG_CUSTOM_CTRL6                  0x1B
#define STEPPER25_REG_CUSTOM_CTRL7                  0x1C
#define STEPPER25_REG_CUSTOM_CTRL8                  0x1D
#define STEPPER25_REG_CUSTOM_CTRL9                  0x1E
#define STEPPER25_REG_ATQ_CTRL1                     0x1F
#define STEPPER25_REG_ATQ_CTRL2                     0x20
#define STEPPER25_REG_ATQ_CTRL3                     0x21
#define STEPPER25_REG_ATQ_CTRL4                     0x22
#define STEPPER25_REG_ATQ_CTRL5                     0x23
#define STEPPER25_REG_ATQ_CTRL6                     0x24
#define STEPPER25_REG_ATQ_CTRL7                     0x25
#define STEPPER25_REG_ATQ_CTRL8                     0x26
#define STEPPER25_REG_ATQ_CTRL9                     0x27
#define STEPPER25_REG_ATQ_CTRL10                    0x28
#define STEPPER25_REG_ATQ_CTRL11                    0x29
#define STEPPER25_REG_ATQ_CTRL12                    0x2A
#define STEPPER25_REG_ATQ_CTRL13                    0x2B
#define STEPPER25_REG_ATQ_CTRL14                    0x2C
#define STEPPER25_REG_ATQ_CTRL15                    0x2D
#define STEPPER25_REG_ATQ_CTRL16                    0x2E
#define STEPPER25_REG_ATQ_CTRL17                    0x2F
#define STEPPER25_REG_ATQ_CTRL18                    0x30
#define STEPPER25_REG_SS_CTRL1                      0x31
#define STEPPER25_REG_SS_CTRL2                      0x32
#define STEPPER25_REG_SS_CTRL3                      0x33
#define STEPPER25_REG_SS_CTRL4                      0x34
#define STEPPER25_REG_SS_CTRL5                      0x35
#define STEPPER25_REG_CTRL14                        0x3C
 // stepper25_reg



#define STEPPER25_FAULT_FAULT                       0x80
#define STEPPER25_FAULT_SPI_ERROR                   0x40
#define STEPPER25_FAULT_UVLO                        0x20
#define STEPPER25_FAULT_CPUV                        0x10
#define STEPPER25_FAULT_OCP                         0x08
#define STEPPER25_FAULT_STL                         0x04
#define STEPPER25_FAULT_TF                          0x02
#define STEPPER25_FAULT_OL                          0x01

#define STEPPER25_CTRL1_EN_OUT_DISABLED             0x00
#define STEPPER25_CTRL1_EN_OUT_ENABLED              0x80
#define STEPPER25_CTRL1_EN_OUT_MASK                 0x80
#define STEPPER25_CTRL1_SR_140_NS                   0x00
#define STEPPER25_CTRL1_SR_70_NS                    0x40
#define STEPPER25_CTRL1_SR_MASK                     0x40
#define STEPPER25_CTRL1_IDX_RST_LOW                 0x00
#define STEPPER25_CTRL1_IDX_RST_HIGH                0x20
#define STEPPER25_CTRL1_IDX_RST_MASK                0x20
#define STEPPER25_CTRL1_TOFF_9_5_US                 0x00
#define STEPPER25_CTRL1_TOFF_19_US                  0x08
#define STEPPER25_CTRL1_TOFF_27_US                  0x10
#define STEPPER25_CTRL1_TOFF_35_US                  0x18
#define STEPPER25_CTRL1_TOFF_MASK                   0x18
#define STEPPER25_CTRL1_DECAY_SLOW                  0x00
#define STEPPER25_CTRL1_DECAY_MIXED_30_PCT          0x04
#define STEPPER25_CTRL1_DECAY_MIXED_60_PCT          0x05
#define STEPPER25_CTRL1_DECAY_SMART_DYNAMIC         0x06
#define STEPPER25_CTRL1_DECAY_SMART_RIPPLE          0x07
#define STEPPER25_CTRL1_DECAY_MASK                  0x07

#define STEPPER25_CTRL2_DIR_LOW                     0x00
#define STEPPER25_CTRL2_DIR_HIGH                    0x80
#define STEPPER25_CTRL2_DIR_MASK                    0x80
#define STEPPER25_CTRL2_STEP_LOW                    0x00
#define STEPPER25_CTRL2_STEP_HIGH                   0x40
#define STEPPER25_CTRL2_STEP_MASK                   0x40
#define STEPPER25_CTRL2_SPI_DIR_PIN                 0x00
#define STEPPER25_CTRL2_SPI_DIR_BIT                 0x20
#define STEPPER25_CTRL2_SPI_DIR_MASK                0x20
#define STEPPER25_CTRL2_SPI_STEP_PIN                0x00
#define STEPPER25_CTRL2_SPI_STEP_BIT                0x10
#define STEPPER25_CTRL2_SPI_STEP_MASK               0x10
#define STEPPER25_CTRL2_MICROSTEP_MODE_FULL_100     0x00
#define STEPPER25_CTRL2_MICROSTEP_MODE_FULL_71      0x01
#define STEPPER25_CTRL2_MICROSTEP_MODE_HALF_NO_CIRC 0x02
#define STEPPER25_CTRL2_MICROSTEP_MODE_HALF         0x03
#define STEPPER25_CTRL2_MICROSTEP_MODE_QUARTER      0x04
#define STEPPER25_CTRL2_MICROSTEP_MODE_1_OVER_8     0x05
#define STEPPER25_CTRL2_MICROSTEP_MODE_1_OVER_16    0x06
#define STEPPER25_CTRL2_MICROSTEP_MODE_1_OVER_32    0x07
#define STEPPER25_CTRL2_MICROSTEP_MODE_1_OVER_64    0x08
#define STEPPER25_CTRL2_MICROSTEP_MODE_1_OVER_128   0x09
#define STEPPER25_CTRL2_MICROSTEP_MODE_1_OVER_256   0x0A
#define STEPPER25_CTRL2_MICROSTEP_MODE_MASK         0x0F

#define STEPPER25_CTRL3_CLR_FLT_LOW                 0x00
#define STEPPER25_CTRL3_CLR_FLT_HIGH                0x80
#define STEPPER25_CTRL3_CLR_FLT_MASK                0x80
#define STEPPER25_CTRL3_LOCK_UNLOCK                 0x30
#define STEPPER25_CTRL3_LOCK_LOCK                   0x60
#define STEPPER25_CTRL3_LOCK_MASK                   0x70
#define STEPPER25_CTRL3_TOCP_1_2_US                 0x00
#define STEPPER25_CTRL3_TOCP_2_2_US                 0x08
#define STEPPER25_CTRL3_TOCP_MASK                   0x08
#define STEPPER25_CTRL3_OCP_MODE_LATCHED            0x00
#define STEPPER25_CTRL3_OCP_MODE_AUTO_RETRY         0x04
#define STEPPER25_CTRL3_OCP_MODE_MASK               0x04
#define STEPPER25_CTRL3_OTSD_MODE_LATCHED           0x00
#define STEPPER25_CTRL3_OTSD_MODE_AUTO_RETRY        0x02
#define STEPPER25_CTRL3_OTSD_MODE_MASK              0x02
#define STEPPER25_CTRL3_TW_REP_DISABLED             0x00
#define STEPPER25_CTRL3_TW_REP_ENABLED              0x01
#define STEPPER25_CTRL3_TW_REP_MASK                 0x01

#define STEPPER25_CTRL4_TBLANK_TIME_1_US            0x00
#define STEPPER25_CTRL4_TBLANK_TIME_1_5_US          0x40
#define STEPPER25_CTRL4_TBLANK_TIME_2_US            0x80
#define STEPPER25_CTRL4_TBLANK_TIME_2_5_US          0xC0
#define STEPPER25_CTRL4_TBLANK_TIME_MASK            0xC0
#define STEPPER25_CTRL4_STL_LRN_DIS                 0x00
#define STEPPER25_CTRL4_STL_LRN_EN                  0x20
#define STEPPER25_CTRL4_STL_LRN_MASK                0x20
#define STEPPER25_CTRL4_EN_STL_DIS                  0x00
#define STEPPER25_CTRL4_EN_STL_EN                   0x10
#define STEPPER25_CTRL4_EN_STL_MASK                 0x10
#define STEPPER25_CTRL4_STL_REP_DIS                 0x00
#define STEPPER25_CTRL4_STL_REP_EN                  0x08
#define STEPPER25_CTRL4_STL_REP_MASK                0x08
#define STEPPER25_CTRL4_FRQ_CHG_FILTERED            0x00
#define STEPPER25_CTRL4_FRQ_CHG_NOT_FILTERED        0x04
#define STEPPER25_CTRL4_FRQ_CHG_MASK                0x04
#define STEPPER25_CTRL4_STEP_FRQ_TOL_1_PCT          0x00
#define STEPPER25_CTRL4_STEP_FRQ_TOL_2_PCT          0x01
#define STEPPER25_CTRL4_STEP_FRQ_TOL_4_PCT          0x02
#define STEPPER25_CTRL4_STEP_FRQ_TOL_6_PCT          0x03
#define STEPPER25_CTRL4_STEP_FRQ_TOL_MASK           0x03

#define STEPPER25_CTRL11_TRQ_DAC_100_PCT            0xFF
#define STEPPER25_CTRL11_TRQ_DAC_87_5_PCT           0xDF
#define STEPPER25_CTRL11_TRQ_DAC_75_PCT             0xBF
#define STEPPER25_CTRL11_TRQ_DAC_62_5_PCT           0x9F
#define STEPPER25_CTRL11_TRQ_DAC_50_PCT             0x7F
#define STEPPER25_CTRL11_TRQ_DAC_37_5_PCT           0x5F
#define STEPPER25_CTRL11_TRQ_DAC_25_PCT             0x3F
#define STEPPER25_CTRL11_TRQ_DAC_12_5_PCT           0x1F

#define STEPPER25_STEP_MODE_FULL_100                0
#define STEPPER25_STEP_MODE_FULL_71                 1
#define STEPPER25_STEP_MODE_HALF_NO_CIRC            2
#define STEPPER25_STEP_MODE_HALF                    3
#define STEPPER25_STEP_MODE_QUARTER                 4
#define STEPPER25_STEP_MODE_1_OVER_8                5
#define STEPPER25_STEP_MODE_1_OVER_16               6
#define STEPPER25_STEP_MODE_1_OVER_32               7
#define STEPPER25_STEP_MODE_1_OVER_64               8
#define STEPPER25_STEP_MODE_1_OVER_128              9
#define STEPPER25_STEP_MODE_1_OVER_256              10

#define STEPPER25_DIR_CCW                           0
#define STEPPER25_DIR_CW                            1

#define STEPPER25_PIN_LOW_LEVEL                     0
#define STEPPER25_PIN_HIGH_LEVEL                    1

#define STEPPER25_SPEED_VERY_SLOW                   0
#define STEPPER25_SPEED_SLOW                        1
#define STEPPER25_SPEED_MEDIUM                      2
#define STEPPER25_SPEED_FAST                        3
#define STEPPER25_SPEED_VERY_FAST                   4

#define STEPPER25_SET_DATA_SAMPLE_EDGE              SET_SPI_DATA_SAMPLE_EDGE
#define STEPPER25_SET_DATA_SAMPLE_MIDDLE            SET_SPI_DATA_SAMPLE_MIDDLE
 // stepper25_set



#define STEPPER25_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
    cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
    cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
    cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.sleep = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.fault = MIKROBUS( mikrobus, MIKROBUS_INT )
 // stepper25_map // stepper25

typedef struct
{
    // Output pins
    digital_out_t dir;              
    digital_out_t sleep;            
    digital_out_t step;             
 
    // Input pins
    digital_in_t fault;             
 
    // Modules
    spi_master_t spi;               
 
    pin_name_t chip_select;         
 
    uint8_t step_mode;              
    uint8_t status;                 
 
} stepper25_t;

typedef struct
{
    // Communication gpio pins
    pin_name_t miso;                
    pin_name_t mosi;                
    pin_name_t sck;                 
    pin_name_t cs;                  
 
    // Additional gpio pins
    pin_name_t dir;                 
    pin_name_t sleep;               
    pin_name_t step;                
    pin_name_t fault;               
 
    // static variable
    uint32_t                          spi_speed;    
    spi_master_mode_t                 spi_mode;     
    spi_master_chip_select_polarity_t cs_polarity;  
 
} stepper25_cfg_t;

typedef enum
{
    STEPPER25_OK = 0,
    STEPPER25_ERROR = -1
 
} stepper25_return_value_t;


void stepper25_cfg_setup ( stepper25_cfg_t *cfg );

err_t stepper25_init ( stepper25_t *ctx, stepper25_cfg_t *cfg );

err_t stepper25_default_cfg ( stepper25_t *ctx );

err_t stepper25_write_reg ( stepper25_t *ctx, uint8_t reg, uint8_t data_in );

err_t stepper25_read_reg ( stepper25_t *ctx, uint8_t reg, uint8_t *data_out );

void stepper25_enable_device ( stepper25_t *ctx );

void stepper25_disable_device ( stepper25_t *ctx );

void stepper25_set_direction ( stepper25_t *ctx, uint8_t dir );

void stepper25_switch_direction ( stepper25_t *ctx );

uint8_t stepper25_get_fault_pin ( stepper25_t *ctx );

void stepper25_set_step_pin ( stepper25_t *ctx, uint8_t state );

err_t stepper25_clear_fault ( stepper25_t *ctx );

err_t stepper25_enable_output ( stepper25_t *ctx );

err_t stepper25_disable_output ( stepper25_t *ctx );

err_t stepper25_set_step_mode ( stepper25_t *ctx, uint8_t step_mode );

err_t stepper25_drive_motor ( stepper25_t *ctx, uint32_t steps, uint8_t speed );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER25_H
 // stepper25
 
// ------------------------------------------------------------------------ END