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"
#include "byteorder.h"

#include <stdlib.h>
#include <stdio.h>
#include <string.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)

#define STEPPER_UART_SLAVE_ADDR (0x0)
#define STEPPER_UART_SYNC       (0x05)
#define STEPPER_UART_REG_GCONF  (0x00)
#define STEPPER_UART_REG_GSTAT  (0x01)
#define STEPPER_UART_REG_IFCNT  (0x02)
#define STEPPER_UART_REG_SLAVECONF (0x03)

#define STEPPER_GCONF_BIT_I_SCALE_ANALOG (0x0 << 0)
#define STEPPER_GCONF_BIT_INTERNAL_RSENSE (0x1 << 1) // 
#define STEPPER_GCONF_BIT_SPREADCYCLE (0x1 << 2) // enable spreadcycle
#define STEPPER_GCONF_BIT_SHAFT (0x0 << 3) // Non inverse
#define STEPPER_GCONF_BIT_PDN_DISABLE (0x1 << 6) // Set to 1 when using UART
#define STEPPER_GCONF_BIT_MSTEP_SELECT (0x1 << 7)

    // default datagram => 05 ff 00 00 00 01 01 bb
#define STEPPER_GCONF_ADDR (0x00) // 0x00
#define STEPPER_GCONF_VALUES (0xC1000000UL) //(0x83800000UL) // 000001C1 set bit 0,6,7,8. 6: PDN disable is require for UART operation.

    // default datagram => 05 ff 6c 17 01 00 53 3e
#define STEPPER_CHOPCONF_ADDR (0x6c) // 6C
#define STEPPER_CHOPCONF_VALUES (0xB5810132UL)//(0xCA00004CUL) // 32000053 set dedge=0x1, intpol=0x1, mres=0x2, hstrt=0x5, toff=0x3. others are 0x0.
//#define STEPPER_CHOPCONF_VALUES [0x32,0x00,0x00,0x53] // set dedge=0x1, intpol=0x1, mres=0x2, hstrt=0x5, toff=0x3. others are 0x0.



/**
 * @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);

int stepper_write(stepper_t *dev, uint8_t reg, le_uint32_t *data);

int stepper_read(stepper_t *dev, uint8_t reg);

#ifdef __cplusplus
}
#endif

#endif /* STEPPER_H */