mahd/implementation/software/include/stepper.h

#ifndef STEPPER_H
#define STEPPER_H

#include <stdint.h>
#include "periph/gpio.h"
#include "periph/uart.h"
#include "sensor.h"

#ifdef __cplusplus
extern "C" {
#endif

#define STEPPER_PARAM_VEL_MAX (25)
#define STEPPER_PARAM_ACC_MAX (200)
#define STEPPER_PARAM_VELOCITY_DEFAULT (0)
#define STEPPER_PARAM_MICROSTEP_DEFAULT (16)
#define STEPPER_PARAM_DIVISION_DEFAULT (200)
#define STEPPER_PARAM_ANGLE_DEFAULT (0)
#define STEPPER_PARAM_HOMING_ANGLE_DEFAULT (20)

/**
 * @brief   Status and error codes
 */
    enum {
        STEPPER_OK  =  0,
        STEPPER_NO  = -1,
    };

    /**
     * @brief   Direction for stepper
     */
    typedef enum {
        STEPPER_FORWARD = 0x0,
        STEPPER_REVERSE = 0x1,
    } stepper_direction_t;

/**
 * @brief   Data structure holding the device parameters needed for initialization
 */
typedef struct {
    gpio_t step_pin;
    gpio_t dir_pin;
    uint8_t uart;
    uint8_t vel_max;
    uint8_t acc_max;
    uint8_t microstep;
    uint16_t division;
    float angle;
    float velocity;
    sensor_t sensor;
    float homing_angle;
} stepper_params_t;

/**
 * @brief   Device Descriptor for Stepper controller
 */
typedef struct {
    stepper_params_t p;
} stepper_t;

int stepper_init(stepper_t *dev, const stepper_params_t *params);

int stepper_set_velocity(stepper_t *dev, float *velocity);

int stepper_homing(stepper_t *dev);

int stepper_get_angle(stepper_t *dev, float *angle);

int stepper_step(stepper_t *dev, stepper_direction_t *direction);



#ifdef __cplusplus
}
#endif

#endif /* STEPPER_H */