stepper27.h

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/****************************************************************************
** Copyright (C) 2026 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
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** of this software and associated documentation files (the "Software"), to deal
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** The above copyright notice and this permission notice shall be
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#ifndef STEPPER27_H
#define STEPPER27_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"




#define STEPPER27_DIR_CW                        1
#define STEPPER27_DIR_CCW                       0

#define STEPPER27_PIN_LOW_LEVEL                 0
#define STEPPER27_PIN_HIGH_LEVEL                1

#define STEPPER27_SPEED_VERY_SLOW               0
#define STEPPER27_SPEED_SLOW                    1
#define STEPPER27_SPEED_MEDIUM                  2
#define STEPPER27_SPEED_FAST                    3
#define STEPPER27_SPEED_VERY_FAST               4
 // stepper27_set



#define STEPPER27_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.dir = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.sleep = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.en = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.fault = MIKROBUS( mikrobus, MIKROBUS_INT )
 // stepper27_map // stepper27

typedef struct
{
    digital_out_t dir;          
    digital_out_t sleep;        
    digital_out_t en;           
    digital_out_t step;         
 
    digital_in_t fault;         
 
} stepper27_t;

typedef struct
{
    pin_name_t dir;             
    pin_name_t sleep;           
    pin_name_t en;              
    pin_name_t step;            
    pin_name_t fault;           
 
} stepper27_cfg_t;

typedef enum
{
    STEPPER27_OK = 0,
    STEPPER27_ERROR = -1
 
} stepper27_return_value_t;


void stepper27_cfg_setup ( stepper27_cfg_t *cfg );

err_t stepper27_init ( stepper27_t *ctx, stepper27_cfg_t *cfg );

void stepper27_enable_device ( stepper27_t *ctx );

void stepper27_disable_device ( stepper27_t *ctx );

void stepper27_set_direction ( stepper27_t *ctx, uint8_t dir );

void stepper27_switch_direction ( stepper27_t *ctx );

void stepper27_set_sleep_pin ( stepper27_t *ctx, uint8_t state );

void stepper27_reset_device ( stepper27_t *ctx );

void stepper27_set_step_pin ( stepper27_t *ctx, uint8_t state );

uint8_t stepper27_get_fault_pin ( stepper27_t *ctx );

void stepper27_drive_motor ( stepper27_t *ctx, uint32_t steps, uint8_t speed );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER27_H
 // stepper27
 
// ------------------------------------------------------------------------ END